diff --git a/subtask.py b/subtask.py index 48372c0..b0c1571 100644 --- a/subtask.py +++ b/subtask.py @@ -452,26 +452,26 @@ class get_block1(): calibrate_new(var.first_block, offset = 16, run = True, run_speed = 5) logger.info("抓取块") - by_cmd.send_position_axis_z(30, 60) + by_cmd.send_position_axis_z(30, 80) time.sleep(1) by_cmd.send_angle_claw(63) by_cmd.send_position_axis_x(1, 20) time.sleep(1) by_cmd.send_angle_claw(25) time.sleep(0.5) - by_cmd.send_position_axis_z(30, 90) + by_cmd.send_position_axis_z(30, 110) time.sleep(0.5) by_cmd.send_angle_claw_arm(175) time.sleep(0.1) by_cmd.send_position_axis_x(1, 100) time.sleep(1) - by_cmd.send_position_axis_z(30, 70) + by_cmd.send_position_axis_z(30, 90) time.sleep(0.5) by_cmd.send_angle_claw(63) time.sleep(0.5) - by_cmd.send_position_axis_z(30, 130) + by_cmd.send_position_axis_z(30, 150) time.sleep(1) by_cmd.send_position_axis_x(1, 140) by_cmd.send_angle_claw_arm(225) @@ -565,18 +565,18 @@ class put_block(): # 放置第二個塊 by_cmd.send_angle_storage(20) by_cmd.send_position_axis_x(1, 110) - by_cmd.send_position_axis_z(30, 120) + by_cmd.send_position_axis_z(30, 140) time.sleep(1.5) by_cmd.send_angle_claw_arm(180) by_cmd.send_angle_claw(85) # by_cmd.send_angle_storage(0) time.sleep(1) - by_cmd.send_position_axis_z(30,70) + by_cmd.send_position_axis_z(30,90) time.sleep(1) by_cmd.send_angle_claw(25) by_cmd.send_distance_x(-10, 110) time.sleep(1) - by_cmd.send_position_axis_z(30, 110) + by_cmd.send_position_axis_z(30, 130) time.sleep(1) by_cmd.send_angle_claw_arm(225) time.sleep(1) @@ -592,7 +592,7 @@ class put_block(): def after(self): var.pid_turning.set(cfg["put_block"]["pid_kp"], cfg["put_block"]["pid_ki"], cfg["put_block"]["pid_kd"]) # 下一动作预备位置 - while by_cmd.send_position_axis_z(30, 130) == -1: + while by_cmd.send_position_axis_z(30, 150) == -1: pass time.sleep(1) while by_cmd.send_position_axis_x(1, 0) == -1: @@ -661,7 +661,7 @@ class get_bball(): time.sleep(0.5) by_cmd.send_angle_claw_arm(45) time.sleep(1) - by_cmd.send_position_axis_z(30, 135) + by_cmd.send_position_axis_z(30, 155) # 继续向前走 # by_cmd.send_speed_x(4) pass @@ -671,10 +671,10 @@ class get_bball(): var.pid_turning.set(cfg["get_bball"]["pid_kp"], cfg["get_bball"]["pid_ki"], cfg["get_bball"]["pid_kd"]) # 下一动作预备位置 by_cmd.send_angle_claw(30) - time.sleep(0.5) + # time.sleep(0.5) while by_cmd.send_position_axis_z(30, 0) == -1: pass - time.sleep(1) + time.sleep(0.5) # # 任务检查间隔 # time.sleep(1) @@ -771,7 +771,7 @@ class get_rball(): logger.info("抓红球") # by_cmd.send_angle_scoop(12) time.sleep(0.5) - by_cmd.send_position_axis_z(30, 170) + by_cmd.send_position_axis_z(30, 200) time.sleep(2.5) by_cmd.send_angle_scoop(12) time.sleep(0.5) @@ -863,7 +863,7 @@ class put_hanoi1(): by_cmd.send_speed_omega(0) time.sleep(0.2) - by_cmd.send_position_axis_z(30, 130) + by_cmd.send_position_axis_z(30, 150) # 校准牌子 if utils.direction_right > utils.direction_left: @@ -1005,7 +1005,7 @@ class put_hanoi2(): time.sleep(0.5) logger.info("抓大平台") if utils.direction is tlabel.RMARK: - by_cmd.send_position_axis_z(30, 10) + by_cmd.send_position_axis_z(30, 30) by_cmd.send_position_axis_x(1, 150) by_cmd.send_angle_claw(63) time.sleep(2) @@ -1017,7 +1017,7 @@ class put_hanoi2(): time.sleep(1) pass else: - by_cmd.send_position_axis_z(30, 10) + by_cmd.send_position_axis_z(30, 30) by_cmd.send_position_axis_x(1, 40) by_cmd.send_angle_claw(63) time.sleep(2) @@ -1065,7 +1065,7 @@ class put_hanoi2(): time.sleep(0.5) logger.info("抓中平台") if utils.direction is tlabel.RMARK: - by_cmd.send_position_axis_z(30, 10) + by_cmd.send_position_axis_z(30, 30) by_cmd.send_position_axis_x(1, 150) by_cmd.send_angle_claw(55) time.sleep(2) @@ -1077,7 +1077,7 @@ class put_hanoi2(): time.sleep(1) pass else: - by_cmd.send_position_axis_z(30, 10) + by_cmd.send_position_axis_z(30, 30) by_cmd.send_position_axis_x(1, 40) by_cmd.send_angle_claw(55) time.sleep(2) @@ -1096,7 +1096,7 @@ class put_hanoi2(): time.sleep(0.5) logger.info("放中平台") if utils.direction is tlabel.RMARK: - by_cmd.send_position_axis_z(30, 120) + by_cmd.send_position_axis_z(30, 140) time.sleep(2) by_cmd.send_position_axis_x(1, 150) time.sleep(2) @@ -1108,7 +1108,7 @@ class put_hanoi2(): time.sleep(1) pass else: - by_cmd.send_position_axis_z(30, 120) + by_cmd.send_position_axis_z(30, 140) time.sleep(2) by_cmd.send_position_axis_x(1, 40) time.sleep(2) @@ -1126,7 +1126,7 @@ class put_hanoi2(): time.sleep(0.5) logger.info("抓小平台") if utils.direction is tlabel.RMARK: - by_cmd.send_position_axis_z(30, 10) + by_cmd.send_position_axis_z(30, 30) by_cmd.send_position_axis_x(1, 150) by_cmd.send_angle_claw(50) time.sleep(2) @@ -1138,7 +1138,7 @@ class put_hanoi2(): time.sleep(2) pass else: - by_cmd.send_position_axis_z(30, 10) + by_cmd.send_position_axis_z(30, 30) by_cmd.send_position_axis_x(1, 40) by_cmd.send_angle_claw(50) time.sleep(2) @@ -1157,7 +1157,7 @@ class put_hanoi2(): time.sleep(0.5) logger.info("放小平台") if utils.direction is tlabel.RMARK: - by_cmd.send_position_axis_z(30, 190) # 170 + by_cmd.send_position_axis_z(30, 200) # 170 #190(new) time.sleep(1.5) by_cmd.send_position_axis_x(1, 150) time.sleep(2) @@ -1173,7 +1173,7 @@ class put_hanoi2(): # car_stop() pass else: - by_cmd.send_position_axis_z(30, 190) + by_cmd.send_position_axis_z(30, 200) time.sleep(1.5) by_cmd.send_position_axis_x(1, 40) time.sleep(2) @@ -1201,7 +1201,7 @@ class put_hanoi2(): class put_hanoi3(): def init(self): - while by_cmd.send_position_axis_z(30, 130) == -1: + while by_cmd.send_position_axis_z(30, 150) == -1: pass time.sleep(3) logger.info("完成任务，爪回左侧") @@ -1219,7 +1219,7 @@ class put_hanoi3(): time.sleep(1) return True def exec(self): - while by_cmd.send_position_axis_z(30, 100) == -1: + while by_cmd.send_position_axis_z(30, 120) == -1: pass pass def nexec(self): @@ -1460,7 +1460,7 @@ class kick_ass(): 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_z(30, 80) by_cmd.send_position_axis_x(1, 130) if self.target_person == 1: