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pref: 在move_area离开任务区后下发零速度，避免位移指令未执行完时发送速度指令，导致侧向速度未清空的问题

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bmy
2024-06-30 21:53:58 +08:00
parent e82c254dc4
commit 968f225526
1 changed files with 7 additions and 0 deletions
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7
subtask.py
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@@ -1162,7 +1162,14 @@ class move_area2():
delay_time = 300 + (abs(self.delta_y) * 500) delay_time = 300 + (abs(self.delta_y) * 500)
# 离开停车区域 # 离开停车区域
by_cmd.send_distance_y(-15, delay_time) by_cmd.send_distance_y(-15, delay_time)
time.sleep(delay_time / 400 * 1.5) time.sleep(delay_time / 400 * 1.5)
for _ in range(3):
by_cmd.send_speed_x(0)
by_cmd.send_speed_y(0)
by_cmd.send_speed_omega(0)
# FIXME 移动距离指令下发后未完成，再发送速度指令，将不会清除未完成的速度值 # FIXME 移动距离指令下发后未完成，再发送速度指令，将不会清除未完成的速度值
# by_cmd.send_distance_y(-15, 300) # by_cmd.send_distance_y(-15, 300)
pass pass