新建8822参数

cfg_subtask.toml

@@ -1,5 +1,5 @@
 [get_block]
-pid_kp = 1.0
+pid_kp = 1.5
 pid_ki = 0
 pid_kd = 0
 first_block = "blue"
@@ -15,7 +15,7 @@ pid_ki = 0
 pid_kd = 0
 
 [up_tower]
-pid_kp = 1.0
+pid_kp = 1.3
 pid_ki = 0
 pid_kd = 0
 
@@ -25,12 +25,12 @@ pid_ki = 0
 pid_kd = 0
 
 [put_bball]
-pid_kp = 1.5
+pid_kp = 1.2
 pid_ki = 0
 pid_kd = 0
 
 [put_hanoi1]
-pid_kp = 0.5
+pid_kp = 0.7
 pid_ki = 0
 pid_kd = 0
 
@@ -53,7 +53,7 @@ pid_kd = 0
 llm_enable = true
 
 [kick_ass]
-pid_kp = 0.8
+pid_kp = 1.2
 pid_ki = 0
 pid_kd = 0
 pos_gap1 = 150

cfg_subtask.toml.8822.bak

@@ -0,0 +1,61 @@
+[get_block]
+pid_kp = 1.5
+pid_ki = 0
+pid_kd = 0
+first_block = "blue"
+
+[put_block]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[get_bball]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[up_tower]
+pid_kp = 1.3
+pid_ki = 0
+pid_kd = 0
+
+[get_rball]
+pid_kp = 1.0
+pid_ki = 0
+pid_kd = 0
+
+[put_bball]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi1]
+pid_kp = 0.7
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi2]
+pid_kp = 1.0
+pid_ki = 0
+pid_kd = 0
+pos_gap = 160
+first_target = "mp"
+
+[put_hanoi3]
+pid_kp = 1.5
+pid_ki = 0
+pid_kd = 0
+
+[move_area]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+llm_enable = true
+
+[kick_ass]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+pos_gap1 = 150
+pos_gap2 = 80
+target_person = 1

subtask.py

@@ -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