feat: 增加部分任务

majtask.py

@@ -2,6 +2,7 @@ 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):
@@ -42,17 +43,18 @@ class main_task():
             
         else:
             pass
+
+        
     def run(self):
-        # TODO 请求和解析回归值待完成
-        try:
-            # data = self.queue.get_nowait()
-            # self.parse_data(data)
-            pass
-        except:
-            pass
         # 运行巡线任务
         self.lane_task()
-            
+
+    def lane_ntask(self):
+        # time.sleep(0.002)
+        # self.socket.send_string("")
+        # resp = self.socket.recv_pyobj()
+        # return resp.get('data')[0] - 160
+        pass
     def lane_task(self):
         # TODO 巡航参数从配置文件中读取
         time.sleep(0.002)
@@ -60,6 +62,7 @@ class main_task():
             self.x = self.x / 3
             self.y = self.y / 3
             self.lane_error = self.x - 160
+            utils.lane_error = self.lane_error # 赋全局变量
             self.error_counts = 0
             self.x = 0
             self.y = 0
@@ -79,9 +82,9 @@ class main_task():
             else:
                 self.pid1.set(0.8, 0, 0)
                 self.by_cmd.send_speed_x(11)
-            # TODO 待引入控制接口
             
-            pid_out = self.pid1.get(self.lane_error*0.65)
+            # pid_out = self.pid1.get(self.lane_error*0.65)
+            pid_out = self.pid1.get(self.lane_error*0.75)
             self.by_cmd.send_speed_omega(pid_out)
         self.socket.send_string("")
         resp = self.socket.recv_pyobj()