feat: 更新扫黑除暴

cfg_main.toml

@@ -9,8 +9,8 @@ GetBBall_enable = false # 整装上阵使能
 UpTower_enable = false  # 通信抢修使能
 GetRBall_enable = false # 高空排险使能
 PutBBall_enable = false # 派发物资使能
-PutHanoi_enable = true # 物资盘点使能
+PutHanoi_enable = false # 物资盘点使能
-MoveArea_enable = true # 应急避险使能
+MoveArea_enable = false # 应急避险使能
 KickAss_enable = true  # 扫黑除暴使能
 
 [find_counts]

cfg_subtask.toml

@@ -23,4 +23,4 @@ llm_enable = false # 大模型机器人
 [kick_ass]
 pos_gap1 = 150 # 目标牌和第一个 person 之间的距离
 pos_gap2 = 80 # person 之间的距离
-target_person = 3
+target_person = 1

majtask.py

@@ -70,19 +70,19 @@ class main_task():
             error_abs = abs(self.lane_error)
             
             if error_abs > 45:
-                speed = 10
+                speed = 8
                 # pid_out = self.lane_error * 1.1
                 # self.pid1.set(1, 0, 0)
             elif error_abs > 35:
-                speed = 10
+                speed = 13
                 # pid_out = self.lane_error * 1
                 # self.pid1.set(1, 0, 0)
             elif error_abs > 25:
-                speed = 13
+                speed = 15
                 # pid_out = self.lane_error * 1
                 # self.pid1.set(1.8, 0, 0)
             elif error_abs > 15:
-                speed = 13
+                speed = 15
                 # pid_out = self.lane_error * 0.8
                 # self.pid1.set(1.8, 0, 0)
             else:

subtask.py

@@ -603,7 +603,8 @@ class put_hanoi1():
         time.sleep(0.5)
         car_stop()
         time.sleep(0.5)
-        by_cmd.send_distance_x(10, 200)
+        # by_cmd.send_distance_x(10, 200)
+        by_cmd.send_distance_x(10, 180)
         time.sleep(0.5)
         
         # 根据方向初始化执行器位置
@@ -613,7 +614,7 @@ class put_hanoi1():
             by_cmd.send_angle_storage(0)
         else:
             by_cmd.send_position_axis_x(1, 150)
-            by_cmd.send_angle_claw_arm(215)
+            by_cmd.send_angle_claw_arm(220)
             by_cmd.send_angle_storage(55)
         time.sleep(1.5)
 
@@ -823,9 +824,12 @@ class move_area2():
     def nexec(self):
         by_cmd.send_position_axis_z(20, 0)
         pass
+
 # 扫黑除暴
 class kick_ass():
     def init(self):
+        while (by_cmd.send_angle_camera(180) == -1):
+            by_cmd.send_angle_camera(180)
         logger.info("扫黑除暴初始化")
         self.pos_gap1 = cfg['kick_ass']['pos_gap1']
         self.pos_gap2 = cfg['kick_ass']['pos_gap2']
@@ -842,15 +846,22 @@ class kick_ass():
         time.sleep(1)
         calibrate_new(tlabel.SIGN, offset = 8, run = True)
         time.sleep(0.5)
-        
+        by_cmd.send_position_axis_z(20, 60)
 
         if self.target_person == 1:
             target_distance = self.pos_gap1
         else:
             target_distance = self.pos_gap1 + (self.target_person - 1) * self.pos_gap2 + (self.target_person - 1) * 10
         by_cmd.send_distance_x(10, target_distance)
-        time.sleep(2)
         time.sleep(5)
+        by_cmd.send_angle_claw_arm(220)
+        by_cmd.send_angle_claw(15)
+        by_cmd.send_position_axis_x(1, 160)
+        time.sleep(2)
+        by_cmd.send_position_axis_x(1, 0)
+        time.sleep(4)
+        by_cmd.send_position_axis_x(1, 160)
+        time.sleep(3)
         pass
     def nexec(self):
         pass