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fix: 修正上次提交中的错误

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bmy
2024-06-14 15:40:00 +08:00
parent 360e64e957
commit 124c2d02ee
1 changed files with 5 additions and 3 deletions
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8
majtask.py
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@@ -1,6 +1,7 @@
import zmq import zmq
import time import time
import numpy as np
from loguru import logger from loguru import logger
import utils import utils
from utils import PidWrap from utils import PidWrap
@@ -28,9 +29,10 @@ class main_task():
def parse_data(self,data): def parse_data(self,data):
if data.get('code') == 0: if data.get('code') == 0:
ck_val = data.get('data') ck_val = data.get('data')
# logger.debug(ck_val)
if isinstance(ck_val, np.ndarray): if isinstance(ck_val, np.ndarray):
self.x = ck_val[0] self.x += ck_val[0]
self.y = ck_val[1] self.y += ck_val[1]
self.error_counts += 1 self.error_counts += 1
else: else:
pass pass
@@ -92,7 +94,7 @@ class main_task():
# pid_out = self.pid1.get(self.lane_error*0.65) # pid_out = self.pid1.get(self.lane_error*0.65)
pid_out = self.pid1.get(self.lane_error) pid_out = self.pid1.get(self.lane_error)
# pid_out = -pid_out # pid_out = -pid_out
# logger.debug(f"err={self.lane_error}, pwm out={pid_out}") logger.debug(f"err={self.lane_error}, pwm out={pid_out}")
self.by_cmd.send_speed_omega(pid_out) self.by_cmd.send_speed_omega(pid_out)
self.socket.send_string("") self.socket.send_string("")