btl143/project_main
4
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

feat: 增加扫黑除暴假动作

Browse Source
This commit is contained in:
bmy
2024-08-06 15:20:46 +08:00
parent 2e6ce3e1f7
commit 25e3b60cd8
5 changed files with 100 additions and 35 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
test/test_action.py
View File

@@ -147,8 +147,8 @@ class LLM_Action:
self.abs_w += math.radians(_time) # 弧度制
print(f"abs postion ({self.abs_y:.2f}, {self.abs_x:.2f}) - angle {math.degrees(self.abs_w)} drgee")
self.sum_rotate_angle -= _time
speed_time = int(abs(_time) * 7.25)
self.by_cmd.send_angle_omega(30, speed_time)
speed_time = int(abs(_time) * 4.35)
self.by_cmd.send_angle_omega(50, speed_time)
time.sleep(speed_time / 200 + 0.5)
# time.sleep(speed_time / _time / 2)
return True
@@ -156,8 +156,8 @@ class LLM_Action:
self.abs_w -= math.radians(_time) # 弧度制
print(f"abs postion ({self.abs_y:.2f}, {self.abs_x:.2f}) - angle {math.degrees(self.abs_w)} drgee")
self.sum_rotate_angle += _time
speed_time = int(abs(_time) * 7.25)
self.by_cmd.send_angle_omega(-30, speed_time)
speed_time = int(abs(_time) * 4.35)
self.by_cmd.send_angle_omega(-50, speed_time)
time.sleep(speed_time / 200 + 0.5)
# time.sleep(speed_time / _time / 2)
return True
@@ -167,10 +167,10 @@ class LLM_Action:
def reset(self):
print(f"开始复位：[当前位置 ({self.abs_y:.2f}, {self.abs_x:.2f}) - 角度 {math.degrees(self.abs_w)}]")
# 先复位角度
if self.sum_rotate_angle > 0:
self.sum_rotate_angle = self.sum_rotate_angle % 360
else:
self.sum_rotate_angle = -(abs(self.sum_rotate_angle) % 360)
# if self.sum_rotate_angle > 0:
# self.sum_rotate_angle = self.sum_rotate_angle % 360
# else:
# self.sum_rotate_angle = -(abs(self.sum_rotate_angle) % 360)
# if self.sum_rotate_angle > 0:
# # 采用左转回正
# self.go_left_rotate(self.sum_rotate_angle)