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feat: 初步增加抓取第二个物块和放置动作

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bmy
2024-06-12 20:33:32 +08:00
parent 6f426d9576
commit 21ac0f773e
6 changed files with 328 additions and 152 deletions
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6
main.py
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@@ -18,9 +18,9 @@ logger.add(cfg_main['debug']['logger_filename'], format=cfg_main['debug']['logge
# 向任务队列添加任务
task_queue = queue.Queue()
task_queue.put(sb.task(sb.get_block, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable']))
# task_queue.put(sb.task(sb.get_block, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable']))
task_queue.put(sb.task(sb.put_block, cfg_main['find_counts']['PutBlock_counts'], cfg_main['task']['GetBlock_enable'] and cfg_main['task']['PutBlock_enable']))
task_queue.put(sb.task(sb.get_block1, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable']))
task_queue.put(sb.task(sb.get_block2, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable']))
task_queue.put(sb.task(sb.put_block, cfg_main['find_counts']['PutBlock_counts'], cfg_main['task']['GetBlock_enable']))
task_queue.put(sb.task(sb.get_bball, cfg_main['find_counts']['GetBBall_counts'], cfg_main['task']['GetBBall_enable']))
# TODO 添加一个空任务用于提前降 z 轴
task_queue.put(sb.task(sb.up_tower, cfg_main['find_counts']['UpTower_counts'], cfg_main['task']['UpTower_enable']))