提交 6_9 巡线模型参数和子任务

cfg_args.toml

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

cfg_subtask.toml.6_9.bak

@@ -0,0 +1,61 @@
+[get_block]
+pid_kp = 0.9
+pid_ki = 0
+pid_kd = 0
+first_block = "blue"
+
+[put_block]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[get_bball]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[up_tower]
+pid_kp = 1.3
+pid_ki = 0
+pid_kd = 0
+
+[get_rball]
+pid_kp = 0.6
+pid_ki = 0
+pid_kd = 0
+
+[put_bball]
+pid_kp = 1.3
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi1]
+pid_kp = 0.7
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi2]
+pid_kp = 1
+pid_ki = 0
+pid_kd = 0
+pos_gap = 160
+first_target = "mp"
+
+[put_hanoi3]
+pid_kp = 1.3
+pid_ki = 0
+pid_kd = 0
+
+[move_area]
+pid_kp = 1.2
+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

cfg_subtask.toml.7126.bak

@@ -0,0 +1,61 @@
+[get_block]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+first_block = "blue"
+
+[put_block]
+pid_kp = 1.3
+pid_ki = 0
+pid_kd = 0
+
+[get_bball]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[up_tower]
+pid_kp = 1.3
+pid_ki = 0
+pid_kd = 0
+
+[get_rball]
+pid_kp = 1.0
+pid_ki = 0
+pid_kd = 0
+
+[put_bball]
+pid_kp = 1.3
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi1]
+pid_kp = 1.3
+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 = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[move_area]
+pid_kp = 1.4
+pid_ki = 0
+pid_kd = 0
+llm_enable = false
+
+[kick_ass]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+pos_gap1 = 150
+pos_gap2 = 80
+target_person = 1

subtask.py

@@ -657,8 +657,19 @@ class up_tower():
         # calibrate(tlabel.TOWER, 27, False, 6)
         by_cmd.send_distance_x(-10, 120)
         time.sleep(1)
-        by_cmd.send_distance_y(-10, 50)
-        time.sleep(3)
+        # 上古參數
+        # by_cmd.send_distance_y(-10, 50)
+        # 6_9 模型參數
+        by_cmd.send_distance_y(-10, 40)
+        # 7_12_3 模型參數
+        # by_cmd.send_distance_y(-10, 50)
+        # time.sleep(1)
+        car_stop()
+        # FIXME 如果下發 distance 後直接 car_stop，則 distance 執行時間僅由指令間處理延時決定
+        # time.sleep(3)
+        # by_cmd.send_speed_y(-10)
+        # time.sleep(0.15)
+        
         by_cmd.send_angle_zhuan(10)
         time.sleep(12)
         by_cmd.send_speed_y(10)
@@ -702,8 +713,15 @@ class get_rball():
         time.sleep(0.5)
         # 靠近塔
         by_cmd.send_angle_scoop(20)
-        by_cmd.send_distance_y(-15, 45) # 50
+        # 上古參數
+        # by_cmd.send_distance_y(-15, 45) # 50
+        # 6_9 參數
+        by_cmd.send_distance_y(-15, 35)
         time.sleep(2)
+        # 7_12_3 參數
+        # by_cmd.send_distance_y(-15, 45)
+        # time.sleep(2)
+        car_stop()
         calibrate_new(tlabel.RBALL,offset = 44, run = True)
         time.sleep(1)
         logger.info("抓红球")
@@ -826,7 +844,8 @@ class put_hanoi1():
         # time.sleep(0.5)
         # by_cmd.send_distance_x(10, 200)
 
-        by_cmd.send_distance_x(10, 180)
+        # by_cmd.send_distance_x(10, 180)
+        by_cmd.send_distance_x(10, 250)
         time.sleep(1)
         car_stop()
         
@@ -1358,9 +1377,10 @@ class kick_ass():
         car_stop()
         time.sleep(1)
         calibrate_new(tlabel.SIGN, offset = 8, run = True)
+        by_cmd.send_angle_claw(15)
         time.sleep(0.5)
         by_cmd.send_position_axis_z(30, 60)
-        by_cmd.send_position_axis_x(1, 120)
+        by_cmd.send_position_axis_x(1, 130)
 
         if self.target_person == 1:
             target_distance = self.pos_gap1
@@ -1371,15 +1391,15 @@ class kick_ass():
         time.sleep(1.5 + (self.target_person - 1) * 0.7 )
         car_stop()
         
-        by_cmd.send_angle_claw_arm(220)
-        by_cmd.send_angle_claw(15)
+        # by_cmd.send_angle_claw_arm(220)
+        # time.sleep(0.5)
         by_cmd.send_position_axis_x(1, 20)
         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)
+        # by_cmd.send_speed_x(25)
+        # time.sleep(4)
         pass
     def nexec(self):
         pass

variable.py

@@ -6,7 +6,7 @@ lane_error = 0
 task_speed = 0
 
 # pid 参数
-pid_argv = {"kp" : 2, "ki" : 0, "kd" : 0} # 1.2
+pid_argv = {"kp" : 1.2, "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)