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bmy
2024-07-10 18:42:21 +08:00
parent da67c9a62b
commit 326bfb4d9a
6 changed files with 95 additions and 36 deletions
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5
app.py
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@@ -16,7 +16,7 @@ server_command = [
{"path": "/home/evan/Workplace/project_capture/build/", "script": "./capture"},
{"path": "/home/evan/Workplace/project_infer/lane_server/", "script": "lane_infer_server.py"},
{"path": "/home/evan/Workplace/project_infer/yolo_server/", "script": "yolo_infer_server.py"},
{"path": "/home/evan/Workplace/project_infer/ocr_server/", "script": "ocr_infer_server.py"},
# {"path": "/home/evan/Workplace/project_infer/ocr_server/", "script": "ocr_infer_server.py"},
]
processes = []
@@ -168,3 +168,6 @@ if __name__ == '__main__':
server_process.terminate()
if task_process != None:
task_process.terminate()
for process in processes:
logger.error(process.pid)
os.kill(process.pid, signal.SIGINT)

2
cfg_args.toml
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@@ -1,5 +1,5 @@
[kick_ass]
target_person = 3
target_person = 4
[task]
Subtask_enable = true

6
cfg_subtask.toml
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@@ -15,7 +15,7 @@ pid_ki = 0
pid_kd = 0
[up_tower]
pid_kp = 1.2
pid_kp = 1.3
pid_ki = 0
pid_kd = 0
@@ -25,7 +25,7 @@ pid_ki = 0
pid_kd = 0
[put_bball]
pid_kp = 1.2
pid_kp = 1.3
pid_ki = 0
pid_kd = 0
@@ -35,7 +35,7 @@ pid_ki = 0
pid_kd = 0
[put_hanoi2]
pid_kp = 1.0
pid_kp = 1
pid_ki = 0
pid_kd = 0
pos_gap = 160

61
cfg_subtask.toml.bak.7102 Normal file
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@@ -0,0 +1,61 @@
[get_block]
pid_kp = 2.0
pid_ki = 0
pid_kd = 0
first_block = "blue"
[put_block]
pid_kp = 2.0
pid_ki = 0
pid_kd = 0.1
[get_bball]
pid_kp = 2.0
pid_ki = 0
pid_kd = 0
[up_tower]
pid_kp = 2.8
pid_ki = 0
pid_kd = 0
[get_rball]
pid_kp = 2.0
pid_ki = 0
pid_kd = 0
[put_bball]
pid_kp = 2.4
pid_ki = 0
pid_kd = 0
[put_hanoi1]
pid_kp =
pid_ki = 0
pid_kd = 0
[put_hanoi2]
pid_kp = 1.2
pid_ki = 0
pid_kd = 0
pos_gap = 160
first_target = "mp"
[put_hanoi3]
pid_kp = 2.5
pid_ki = 0
pid_kd = 0
[move_area]
pid_kp = 2.0
pid_ki = 0
pid_kd = 0
llm_enable = false
[kick_ass]
pid_kp = 0.8
pid_ki = 0
pid_kd = 0
pos_gap1 = 150
pos_gap2 = 80
target_person = 1

53
subtask.py
View File

@@ -203,7 +203,7 @@ def explore_calibrate_new(label, offset, run_direc ,run_speed = 3.5):
by_cmd.send_speed_x(-run_speed)
if label == tlabel.TPLATFORM:
stop_error = 10
stop_error = 8
else:
stop_error = 15
while True:
@@ -371,7 +371,7 @@ class task_queuem(task):
# 人员施救
class get_block1():
def init(self):
var.task_speed = 0
var.task_speed = 15
act.cmd.camera(0)
act.cmd.z2(20, 60, 0)
filter.switch_camera(1)
@@ -484,6 +484,7 @@ class get_block2():
# TODO 完成不执行任务的空动作
pass
def after(self):
var.task_speed = 0
var.pid_turning.set(cfg["get_block"]["pid_kp"], cfg["get_block"]["pid_ki"], cfg["get_block"]["pid_kd"])
# 任务检查间隔
time.sleep(7)
@@ -601,7 +602,7 @@ class get_bball():
by_cmd.send_angle_claw_arm(36)
by_cmd.send_angle_claw(54)
by_cmd.send_position_axis_x(1, 160)
time.sleep(1.5)
time.sleep(1.2)
by_cmd.send_angle_claw(25)
time.sleep(1)
by_cmd.send_distance_axis_z(30, 20)
@@ -613,7 +614,7 @@ class get_bball():
by_cmd.send_angle_claw_arm(80)
time.sleep(0.5)
by_cmd.send_angle_claw(54)
time.sleep(1)
time.sleep(0.5)
by_cmd.send_angle_claw_arm(36)
time.sleep(1)
by_cmd.send_position_axis_z(30, 135)
@@ -660,8 +661,8 @@ class up_tower():
time.sleep(3)
by_cmd.send_angle_zhuan(10)
time.sleep(12)
by_cmd.send_distance_y(10, 60)
time.sleep(1)
by_cmd.send_speed_y(10)
time.sleep(0.3)
car_stop()
by_cmd.send_angle_zhuan(0)
# while True:
@@ -712,8 +713,8 @@ class get_rball():
time.sleep(2.5)
by_cmd.send_angle_scoop(7)
time.sleep(0.5)
by_cmd.send_distance_y(15, 70)
time.sleep(1)
by_cmd.send_speed_y(15)
time.sleep(0.2)
car_stop()
# by_cmd.send_angle_omega(-55,30)
# while True:
@@ -745,8 +746,8 @@ class put_bball():
def exec(self):
logger.info("找到篮筐")
car_stop()
calibrate_new(tlabel.BASKET,offset = -21, run = True, run_speed = 6)
by_cmd.send_distance_x(10, 20)
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_angle_storage(10)
@@ -917,9 +918,7 @@ class put_hanoi2():
by_cmd.send_position_axis_z(30, 10)
by_cmd.send_position_axis_x(1, 130)
by_cmd.send_angle_claw(63)
time.sleep(1)
by_cmd.send_angle_claw(78)
time.sleep(1)
time.sleep(2)
by_cmd.send_angle_claw(40)
time.sleep(0.5)
by_cmd.send_distance_axis_z(30, 20)
@@ -931,9 +930,7 @@ class put_hanoi2():
by_cmd.send_position_axis_z(30, 10)
by_cmd.send_position_axis_x(1, 40)
by_cmd.send_angle_claw(63)
time.sleep(1)
by_cmd.send_angle_claw(78)
time.sleep(1)
time.sleep(2)
by_cmd.send_angle_claw(40)
time.sleep(0.5)
by_cmd.send_distance_axis_z(30, 20)
@@ -981,9 +978,7 @@ class put_hanoi2():
by_cmd.send_position_axis_z(30, 10)
by_cmd.send_position_axis_x(1, 130)
by_cmd.send_angle_claw(63)
time.sleep(1)
by_cmd.send_angle_claw(70)
time.sleep(1)
time.sleep(2)
by_cmd.send_angle_claw(35)
time.sleep(0.5)
by_cmd.send_distance_axis_z(30, 20)
@@ -995,9 +990,7 @@ class put_hanoi2():
by_cmd.send_position_axis_z(30, 10)
by_cmd.send_position_axis_x(1, 40)
by_cmd.send_angle_claw(63)
time.sleep(1)
by_cmd.send_angle_claw(70)
time.sleep(1)
time.sleep(2)
by_cmd.send_angle_claw(35)
time.sleep(0.5)
by_cmd.send_distance_axis_z(30, 20)
@@ -1045,9 +1038,7 @@ class put_hanoi2():
by_cmd.send_position_axis_z(30, 10)
by_cmd.send_position_axis_x(1, 130)
by_cmd.send_angle_claw(50)
time.sleep(1)
by_cmd.send_angle_claw(58)
time.sleep(1)
time.sleep(2)
by_cmd.send_angle_claw(27)
time.sleep(1)
by_cmd.send_distance_axis_z(30, 10)
@@ -1059,9 +1050,7 @@ class put_hanoi2():
by_cmd.send_position_axis_z(30, 10)
by_cmd.send_position_axis_x(1, 40)
by_cmd.send_angle_claw(50)
time.sleep(1)
by_cmd.send_angle_claw(58)
time.sleep(1)
time.sleep(2)
by_cmd.send_angle_claw(27)
time.sleep(1)
by_cmd.send_distance_axis_z(30, 10)
@@ -1085,7 +1074,10 @@ class put_hanoi2():
by_cmd.send_angle_claw(80)
time.sleep(0.5)
by_cmd.send_position_axis_x(1, 10)
time.sleep(1.5)
time.sleep(1)
by_cmd.send_speed_y(15)
time.sleep(0.1)
car_stop()
pass
else:
by_cmd.send_position_axis_z(30, 170)
@@ -1385,6 +1377,9 @@ class kick_ass():
time.sleep(3)
by_cmd.send_position_axis_x(1, 120)
time.sleep(1)
logger.debug("結束任務，前進四")
by_cmd.send_speed_x(25)
time.sleep(4)
pass
def nexec(self):
pass

2
variable.py
View File

@@ -6,7 +6,7 @@ lane_error = 0
task_speed = 0
# pid 参数
pid_argv = {"kp" : 1.2, "ki" : 0, "kd" : 0}
pid_argv = {"kp" : 2, "ki" : 0, "kd" : 0} # 1.2
# 转向 pid 对象
pid_turning = PidWrap(pid_argv["kp"], pid_argv["ki"], pid_argv["kd"], output_limits=50)