暂存

fix: 修复task多次开启问题
feat: 新增 891 参数（医院停早，红球靠外）
pref: 弃用 action 类

cfg_subtask.toml

@@ -1,5 +1,5 @@
 [get_block]
-pid_kp = 1.0
+pid_kp = 1.5
 pid_ki = 0
 pid_kd = 0
 first_block = "blue"
@@ -15,7 +15,7 @@ pid_ki = 0
 pid_kd = 0
 
 [up_tower]
-pid_kp = 1.0
+pid_kp = 1.8
 pid_ki = 0
 pid_kd = 0
 
@@ -25,12 +25,12 @@ pid_ki = 0
 pid_kd = 0
 
 [put_bball]
-pid_kp = 1.5
+pid_kp = 1.2
 pid_ki = 0
 pid_kd = 0
 
 [put_hanoi1]
-pid_kp = 0.5
+pid_kp = 0.7
 pid_ki = 0
 pid_kd = 0
 
@@ -53,7 +53,7 @@ pid_kd = 0
 llm_enable = true
 
 [kick_ass]
-pid_kp = 0.8
+pid_kp = 1.2
 pid_ki = 0
 pid_kd = 0
 pos_gap1 = 150