feat: 增加转塔动作

majtask.py

@@ -62,9 +62,9 @@ class main_task():
             error_abs = abs(self.lane_error)
 
             if error_abs > 50:
-                speed = 15
+                speed = 11
             elif error_abs > 45:
-                speed = 15
+                speed = 13
             elif error_abs > 35:
                 speed = 15
             elif error_abs > 25:
@@ -94,7 +94,7 @@ class main_task():
             # pid_out = self.pid1.get(self.lane_error*0.65)
             pid_out = self.pid1.get(self.lane_error)
             # pid_out = -pid_out
-            logger.debug(f"err={self.lane_error}, pwm out={pid_out}")
+            # logger.debug(f"err={self.lane_error}, pwm out={pid_out}")
             self.by_cmd.send_speed_omega(pid_out)
             
         self.socket.send_string("")

subtask.py

@@ -523,16 +523,20 @@ class up_tower():
     def exec(self):
         logger.info("找到塔")
         car_stop()
+        time.sleep(1)
         calibrate_new(tlabel.TOWER, offset = 27, run = True)
-        by_cmd.send_light(1)
-        time.sleep(0.5)
-        by_cmd.send_light(0)
+        time.sleep(1)
         # calibrate(tlabel.TOWER, 27, False, 6)
         by_cmd.send_distance_x(-10, 130)
         time.sleep(1)
         by_cmd.send_distance_y(-10, 50)
         time.sleep(3)
-        
+        by_cmd.send_angle_zhuan(10)
+        time.sleep(9)
+        by_cmd.send_distance_y(10, 50)
+        time.sleep(1)
+        by_cmd.send_angle_zhuan(0)
+        time.sleep(1)
         # while True:
         #     pass
         # 下一动作预备位置