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feat: 日常更新，更新对准方法，完成hanoi2对准，get/put_bball动作

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bmy
2024-06-07 20:08:41 +08:00
parent b787ce6ed0
commit eb0b01c8af
8 changed files with 337 additions and 336 deletions
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15
majtask.py
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@@ -68,22 +68,25 @@ class main_task():
self.x = 0
self.y = 0
error_abs = abs(self.lane_error)
if error_abs < 10:
self.pid1.set(0.7, 0, 0)
self.by_cmd.send_speed_x(13) # 12
speed = 13
elif error_abs > 45:
self.by_cmd.send_speed_x(6)
speed = 6
self.pid1.set(1.8, 0, 0)
elif error_abs > 35:
self.by_cmd.send_speed_x(8)
speed = 8
self.pid1.set(1.5, 0, 0)
elif error_abs > 25:
self.by_cmd.send_speed_x(10)
speed = 10
self.pid1.set(1, 0, 0)
else:
self.pid1.set(0.8, 0, 0)
self.by_cmd.send_speed_x(11)
speed = 11
if utils.task_speed != 0:
speed = utils.task_speed
self.by_cmd.send_speed_x(speed)
# pid_out = self.pid1.get(self.lane_error*0.65)
pid_out = self.pid1.get(self.lane_error*0.7)
self.by_cmd.send_speed_omega(pid_out)