feat: 增加任务中巡线指定距离指令

majtask.py

@@ -1,21 +1,9 @@
 
-from simple_pid import PID
 import zmq
 import time
 from loguru import logger
 import utils
-
-class PidWrap:
-    def __init__(self, kp, ki, kd, setpoint=0, output_limits=1):
-        self.pid_t = PID(kp, ki, kd, setpoint, output_limits=(0-output_limits, output_limits))
-    def set_target(self, target):
-        self.pid_t.setpoint = target
-    def set(self, kp, ki, kd):
-        self.pid_t.Kp = kp
-        self.pid_t.Ki = ki
-        self.pid_t.Kd = kd
-    def get(self, val_in):
-        return self.pid_t(val_in)
+from utils import PidWrap
     
 class main_task():
     def __init__(self,by_cmd):