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

提交 6_9 巡线模型参数和子任务

Browse Source
This commit is contained in:
bmy
2024-07-12 20:31:12 +08:00
parent 326bfb4d9a
commit 6d9fb5b42a
8 changed files with 4378 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

38
subtask.py
View File

@@ -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