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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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38
majtask.py
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@@ -33,7 +33,8 @@ class main_task():
self.by_cmd = by_cmd
# 转向 pid
self.pid1 = PidWrap(1, 0, 0, output_limits=40)
# self.pid1 = PidWrap(0.5, 0, 0, output_limits=55) # 1.2
self.pid1 = PidWrap(1.2, 0, 0, output_limits=55) # 1.2
self.pid1.set_target(0)
def parse_data(self,data):
@@ -68,27 +69,34 @@ class main_task():
self.x = 0
self.y = 0
error_abs = abs(self.lane_error)
if error_abs > 45:
speed = 8
# pid_out = self.lane_error * 1.1
# self.pid1.set(1, 0, 0)
if error_abs > 50:
speed = 10
elif error_abs > 45:
speed = 11
elif error_abs > 35:
speed = 13
# pid_out = self.lane_error * 1
# self.pid1.set(1, 0, 0)
elif error_abs > 25:
speed = 15
# pid_out = self.lane_error * 1
# self.pid1.set(1.8, 0, 0)
elif error_abs > 15:
speed = 15
# pid_out = self.lane_error * 0.8
# self.pid1.set(1.8, 0, 0)
else:
speed = 15
# pid_out = self.lane_error * 0.4
# self.pid1.set(0.7, 0, 0)
speed = 18
# lane_model initial
# if error_abs > 50:
# speed = 10
# elif error_abs > 45:
# speed = 11
# elif error_abs > 35:
# speed = 13
# elif error_abs > 25:
# speed = 15
# elif error_abs > 15:
# speed = 15
# else:
# speed = 18
if utils.task_speed != 0:
speed = utils.task_speed
self.by_cmd.send_speed_x(speed)