btl143/project_main
4
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

新结构动作修改

Browse Source
This commit is contained in:
bmy
2024-08-01 14:40:53 +08:00
parent 34504d9ff9
commit e51c126f1f
1 changed files with 26 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files

52
subtask.py
View File

@@ -452,26 +452,26 @@ class get_block1():
calibrate_new(var.first_block, offset = 16, run = True, run_speed = 5) calibrate_new(var.first_block, offset = 16, run = True, run_speed = 5)
logger.info("抓取块") logger.info("抓取块")
by_cmd.send_position_axis_z(30, 60) by_cmd.send_position_axis_z(30, 80)
time.sleep(1) time.sleep(1)
by_cmd.send_angle_claw(63) by_cmd.send_angle_claw(63)
by_cmd.send_position_axis_x(1, 20) by_cmd.send_position_axis_x(1, 20)
time.sleep(1) time.sleep(1)
by_cmd.send_angle_claw(25) by_cmd.send_angle_claw(25)
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_position_axis_z(30, 90) by_cmd.send_position_axis_z(30, 110)
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_angle_claw_arm(175) by_cmd.send_angle_claw_arm(175)
time.sleep(0.1) time.sleep(0.1)
by_cmd.send_position_axis_x(1, 100) by_cmd.send_position_axis_x(1, 100)
time.sleep(1) time.sleep(1)
by_cmd.send_position_axis_z(30, 70) by_cmd.send_position_axis_z(30, 90)
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_angle_claw(63) by_cmd.send_angle_claw(63)
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_position_axis_z(30, 130) by_cmd.send_position_axis_z(30, 150)
time.sleep(1) time.sleep(1)
by_cmd.send_position_axis_x(1, 140) by_cmd.send_position_axis_x(1, 140)
by_cmd.send_angle_claw_arm(225) by_cmd.send_angle_claw_arm(225)
@@ -565,18 +565,18 @@ class put_block():
# 放置第二個塊 # 放置第二個塊
by_cmd.send_angle_storage(20) by_cmd.send_angle_storage(20)
by_cmd.send_position_axis_x(1, 110) 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) time.sleep(1.5)
by_cmd.send_angle_claw_arm(180) by_cmd.send_angle_claw_arm(180)
by_cmd.send_angle_claw(85) by_cmd.send_angle_claw(85)
# by_cmd.send_angle_storage(0) # by_cmd.send_angle_storage(0)
time.sleep(1) time.sleep(1)
by_cmd.send_position_axis_z(30,70) by_cmd.send_position_axis_z(30,90)
time.sleep(1) time.sleep(1)
by_cmd.send_angle_claw(25) by_cmd.send_angle_claw(25)
by_cmd.send_distance_x(-10, 110) by_cmd.send_distance_x(-10, 110)
time.sleep(1) time.sleep(1)
by_cmd.send_position_axis_z(30, 110) by_cmd.send_position_axis_z(30, 130)
time.sleep(1) time.sleep(1)
by_cmd.send_angle_claw_arm(225) by_cmd.send_angle_claw_arm(225)
time.sleep(1) time.sleep(1)
@@ -592,7 +592,7 @@ class put_block():
def after(self): def after(self):
var.pid_turning.set(cfg["put_block"]["pid_kp"], cfg["put_block"]["pid_ki"], cfg["put_block"]["pid_kd"]) 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 # 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 pass
time.sleep(1) time.sleep(1)
while by_cmd.send_position_axis_x(1, 0) == -1: while by_cmd.send_position_axis_x(1, 0) == -1:
@@ -661,7 +661,7 @@ class get_bball():
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_angle_claw_arm(45) by_cmd.send_angle_claw_arm(45)
time.sleep(1) time.sleep(1)
by_cmd.send_position_axis_z(30, 135) by_cmd.send_position_axis_z(30, 155)
# 继续向前走 # 继续向前走
# by_cmd.send_speed_x(4) # by_cmd.send_speed_x(4)
pass 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"]) 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 # 下一动作预备位置
by_cmd.send_angle_claw(30) by_cmd.send_angle_claw(30)
time.sleep(0.5) # time.sleep(0.5)
while by_cmd.send_position_axis_z(30, 0) == -1: while by_cmd.send_position_axis_z(30, 0) == -1:
pass pass
time.sleep(1) time.sleep(0.5)
# # 任务检查间隔 # # 任务检查间隔
# time.sleep(1) # time.sleep(1)
@@ -771,7 +771,7 @@ class get_rball():
logger.info("抓红球") logger.info("抓红球")
# by_cmd.send_angle_scoop(12) # by_cmd.send_angle_scoop(12)
time.sleep(0.5) time.sleep(0.5)
by_cmd.send_position_axis_z(30, 170) by_cmd.send_position_axis_z(30, 200)
time.sleep(2.5) time.sleep(2.5)
by_cmd.send_angle_scoop(12) by_cmd.send_angle_scoop(12)
time.sleep(0.5) time.sleep(0.5)
@@ -863,7 +863,7 @@ class put_hanoi1():
by_cmd.send_speed_omega(0) by_cmd.send_speed_omega(0)
time.sleep(0.2) time.sleep(0.2)
by_cmd.send_position_axis_z(30, 130) by_cmd.send_position_axis_z(30, 150)
# 校准牌子 # 校准牌子
if utils.direction_right > utils.direction_left: if utils.direction_right > utils.direction_left:
@@ -1005,7 +1005,7 @@ class put_hanoi2():
time.sleep(0.5) time.sleep(0.5)
logger.info("抓大平台") logger.info("抓大平台")
if utils.direction is tlabel.RMARK: 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_position_axis_x(1, 150)
by_cmd.send_angle_claw(63) by_cmd.send_angle_claw(63)
time.sleep(2) time.sleep(2)
@@ -1017,7 +1017,7 @@ class put_hanoi2():
time.sleep(1) time.sleep(1)
pass pass
else: 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_position_axis_x(1, 40)
by_cmd.send_angle_claw(63) by_cmd.send_angle_claw(63)
time.sleep(2) time.sleep(2)
@@ -1065,7 +1065,7 @@ class put_hanoi2():
time.sleep(0.5) time.sleep(0.5)
logger.info("抓中平台") logger.info("抓中平台")
if utils.direction is tlabel.RMARK: 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_position_axis_x(1, 150)
by_cmd.send_angle_claw(55) by_cmd.send_angle_claw(55)
time.sleep(2) time.sleep(2)
@@ -1077,7 +1077,7 @@ class put_hanoi2():
time.sleep(1) time.sleep(1)
pass pass
else: 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_position_axis_x(1, 40)
by_cmd.send_angle_claw(55) by_cmd.send_angle_claw(55)
time.sleep(2) time.sleep(2)
@@ -1096,7 +1096,7 @@ class put_hanoi2():
time.sleep(0.5) time.sleep(0.5)
logger.info("放中平台") logger.info("放中平台")
if utils.direction is tlabel.RMARK: 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) time.sleep(2)
by_cmd.send_position_axis_x(1, 150) by_cmd.send_position_axis_x(1, 150)
time.sleep(2) time.sleep(2)
@@ -1108,7 +1108,7 @@ class put_hanoi2():
time.sleep(1) time.sleep(1)
pass pass
else: else:
by_cmd.send_position_axis_z(30, 120) by_cmd.send_position_axis_z(30, 140)
time.sleep(2) time.sleep(2)
by_cmd.send_position_axis_x(1, 40) by_cmd.send_position_axis_x(1, 40)
time.sleep(2) time.sleep(2)
@@ -1126,7 +1126,7 @@ class put_hanoi2():
time.sleep(0.5) time.sleep(0.5)
logger.info("抓小平台") logger.info("抓小平台")
if utils.direction is tlabel.RMARK: 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_position_axis_x(1, 150)
by_cmd.send_angle_claw(50) by_cmd.send_angle_claw(50)
time.sleep(2) time.sleep(2)
@@ -1138,7 +1138,7 @@ class put_hanoi2():
time.sleep(2) time.sleep(2)
pass pass
else: 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_position_axis_x(1, 40)
by_cmd.send_angle_claw(50) by_cmd.send_angle_claw(50)
time.sleep(2) time.sleep(2)
@@ -1157,7 +1157,7 @@ class put_hanoi2():
time.sleep(0.5) time.sleep(0.5)
logger.info("放小平台") logger.info("放小平台")
if utils.direction is tlabel.RMARK: 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) time.sleep(1.5)
by_cmd.send_position_axis_x(1, 150) by_cmd.send_position_axis_x(1, 150)
time.sleep(2) time.sleep(2)
@@ -1173,7 +1173,7 @@ class put_hanoi2():
# car_stop() # car_stop()
pass pass
else: else:
by_cmd.send_position_axis_z(30, 190) by_cmd.send_position_axis_z(30, 200)
time.sleep(1.5) time.sleep(1.5)
by_cmd.send_position_axis_x(1, 40) by_cmd.send_position_axis_x(1, 40)
time.sleep(2) time.sleep(2)
@@ -1201,7 +1201,7 @@ class put_hanoi2():
class put_hanoi3(): class put_hanoi3():
def init(self): def init(self):
while by_cmd.send_position_axis_z(30, 130) == -1: while by_cmd.send_position_axis_z(30, 150) == -1:
pass pass
time.sleep(3) time.sleep(3)
logger.info("完成任务，爪回左侧") logger.info("完成任务，爪回左侧")
@@ -1219,7 +1219,7 @@ class put_hanoi3():
time.sleep(1) time.sleep(1)
return True return True
def exec(self): 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
pass pass
def nexec(self): def nexec(self):
@@ -1460,7 +1460,7 @@ class kick_ass():
calibrate_new(tlabel.SIGN, offset = 8, run = True) calibrate_new(tlabel.SIGN, offset = 8, run = True)
by_cmd.send_angle_claw(15) by_cmd.send_angle_claw(15)
time.sleep(0.5) 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) by_cmd.send_position_axis_x(1, 130)
if self.target_person == 1: if self.target_person == 1: