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新建8822参数

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bmy
2024-08-10 17:41:11 +08:00
parent 7e3e280257
commit 18154917a1
4 changed files with 1749 additions and 10 deletions
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13
subtask.py
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@@ -770,8 +770,8 @@ class get_rball():
by_cmd.send_angle_scoop(20)
# 上古參數
# by_cmd.send_distance_y(-15, 50) # 50 # 70
by_cmd.send_distance_y(-15, 40) # 50 # 70
time.sleep(1.5)
# by_cmd.send_distance_y(-15, 40) # 50 # 70
# time.sleep(1.5)
# 6_9 參數
# by_cmd.send_distance_y(-15, 35)
# time.sleep(2)
@@ -779,6 +779,9 @@ class get_rball():
# by_cmd.send_distance_y(-15, 45)
# time.sleep(2)
# car_stop()
# 8822 参数
by_cmd.send_distance_y(-15, 40)
time.sleep(1.5)
calibrate_new(tlabel.RBALL,offset = 44, run = True)
time.sleep(1)
logger.info("抓红球")
@@ -826,14 +829,14 @@ class put_bball():
calibrate_new(tlabel.BASKET,offset = -40, run = True, run_speed = 6)
# by_cmd.send_distance_x(10, 10)
# 向左运动
by_cmd.send_distance_y(-10, 35)
# by_cmd.send_distance_y(-10, 35)
# by_cmd.send_angle_storage(10)
# time.sleep(1)
by_cmd.send_angle_storage(50)
logger.info("把球放篮筐里")
time.sleep(1)
time.sleep(2)
# by_cmd.send_distance_y(10, 55)
by_cmd.send_angle_storage(20)
# time.sleep(1)
@@ -959,7 +962,7 @@ class put_hanoi1():
def after(self):
# var.switch_lane_model = True
if utils.direction == tlabel.RMARK:
var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"] - 0.2, cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"] - 0.3, cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
else:
var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"], cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
pass