feat: 增加最後對準基地運行

feat: 增加原始模型參數和任務版本

cfg_args.toml

@@ -1,5 +1,5 @@
-[kick_ass]
-target_person = 3
+[lane_mode]
+mode_index = 3
 
 [task]
 Subtask_enable = true

cfg_subtask.toml.7154.bak

@@ -0,0 +1,61 @@
+[get_block]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+first_block = "blue"
+
+[put_block]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[get_bball]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[up_tower]
+pid_kp = 1
+pid_ki = 0
+pid_kd = 0
+
+[get_rball]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[put_bball]
+pid_kp = 2
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi1]
+pid_kp = 0.7
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi2]
+pid_kp = 1
+pid_ki = 0
+pid_kd = 0
+pos_gap = 160
+first_target = "mp"
+
+[put_hanoi3]
+pid_kp = 2.5
+pid_ki = 0
+pid_kd = 0
+
+[move_area]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+llm_enable = false
+
+[kick_ass]
+pid_kp = 0.8
+pid_ki = 0
+pid_kd = 0
+pos_gap1 = 150
+pos_gap2 = 80
+target_person = 1

cfg_subtask.toml.raw.bak

@@ -0,0 +1,61 @@
+[get_block]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+first_block = "blue"
+
+[put_block]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[get_bball]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[up_tower]
+pid_kp = 1.0
+pid_ki = 0
+pid_kd = 0
+
+[get_rball]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[put_bball]
+pid_kp = 1.8
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi1]
+pid_kp = 0.7
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi2]
+pid_kp = 1.0
+pid_ki = 0
+pid_kd = 0
+pos_gap = 160
+first_target = "mp"
+
+[put_hanoi3]
+pid_kp = 1.5
+pid_ki = 0
+pid_kd = 0
+
+[move_area]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+llm_enable = false
+
+[kick_ass]
+pid_kp = 0.8
+pid_ki = 0
+pid_kd = 0
+pos_gap1 = 150
+pos_gap2 = 80
+target_person = 1

majtask.py

@@ -67,6 +67,7 @@ class main_task():
             error_abs = abs(self.lane_error)
 
             if error_abs > 50:
+                # speed = 11
                 speed = 13
             elif error_abs > 45:
                 speed = 15

subtask.py

@@ -1439,7 +1439,7 @@ class kick_ass():
         logger.info("扫黑除暴初始化")
         self.pos_gap1 = cfg['kick_ass']['pos_gap1']
         self.pos_gap2 = cfg['kick_ass']['pos_gap2']
-        self.target_person = cfg_args['kick_ass']['target_person']
+        self.target_person = cfg_args['lane_mode']['mode_index']
 
         # by_cmd.send_angle_claw(15)
         by_cmd.send_position_axis_x(1, 160)
@@ -1477,6 +1477,16 @@ class kick_ass():
         by_cmd.send_position_axis_x(1, 120)
         time.sleep(1)
         logger.debug("結束任務，前進四")
+
+        filter.switch_camera(2)
+        for _ in range(3):
+            by_cmd.send_speed_x(15)
+        while True:
+            ret, box = filter.get(tlabel.BASE)
+            if ret:
+                error = (box[0][2] + box[0][0] - 320) / 2
+            by_cmd.send_speed_omega(-error * 0.8)
+            time.sleep(0.02)
         # by_cmd.send_speed_x(25)
         # time.sleep(4)
         pass

subtask_69.py

@@ -118,7 +118,7 @@ def calibrate_right_new(label, offset, run = True, run_speed = 3.5):
             logger.info(f"calibrate_right_new:停车后的误差是{error}")
             if abs(error) > 8:
                 logger.info(f"calibrate_right_new:停车后的误差大于 8 使用 distance 校准")
-                error = error * 3
+                error = error * 1.5
                 if error > 0:
                     by_cmd.send_distance_x(-10, int(error))
                 else:
@@ -241,6 +241,49 @@ def explore_calibrate_new(label, offset, run_direc ,run_speed = 3.5):
                 break
     return True
 
+# 对准应知道是左还是右，右侧需在过滤器中进行翻转
+# flipv 为垂直翻转标志，转右侧开启
+def hanoi_calibrate(target_label, error_label, offset, run_direc ,run_speed = 3.5):
+    stop_error = 0
+    error_record = CountRecord(10)
+    if run_direc == 1:
+        by_cmd.send_speed_x(run_speed)
+    else:
+        by_cmd.send_speed_x(-run_speed)
+        
+    if target_label == tlabel.TPLATFORM:
+        stop_error = 8
+    else:
+        stop_error = 15
+    while True:
+        ret1, ret2, box = filter.get_two_hanoi(target_label, error_label, utils.direction == tlabel.RMARK)
+        while not ret1:
+            # 如果找不到目标且跳过任务队列非空 (即指令跳过)
+            if not global_skip_queue.empty():
+                _ = global_skip_queue.get()
+                logger.error("跳过 hanoi_calibrate")
+                return False
+            # 如果找不到目标且发现错误目标 (上次放置任务失败)
+            if ret2:
+                # 如果连续计数超过阈值，则直接返回
+                if error_record(ret2):
+                    return False
+            ret1, ret2, box = filter.get_two_hanoi(target_label, error_label, utils.direction == tlabel.RMARK)
+        
+        error = (box[0][2] + box[0][0] - 320) / 2 + offset
+        if ret1:
+            # 校准速度越大 停车的条件越宽泛 20 15
+            if abs(error) <= stop_error:
+                car_stop()
+                logger.info("explore_calibrate_new:行进时 误差小于 15 直接停车")
+                
+                ret, box = filter.get(target_label)
+                while not ret:
+                    ret, box = filter.get(target_label)
+                error = (box[0][2] + box[0][0] - 320) / 2 + offset
+                logger.info(f"停车后像素误差:{error}")
+                break
+    return True
 # 任务类
 class task:  
     def __init__(self, name, task_template, find_counts=10, enable=True):  
@@ -406,7 +449,7 @@ class get_block1():
         else:
             var.first_block = tlabel.BBLOCK
             var.second_block = tlabel.RBLOCK
-        calibrate_new(var.first_block, offset = 15, run = True, run_speed = 5)
+        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)
@@ -421,20 +464,21 @@ class get_block1():
 
         by_cmd.send_angle_claw_arm(175)
         time.sleep(0.1)
-        by_cmd.send_position_axis_x(1, 120)
+        by_cmd.send_position_axis_x(1, 100)
         time.sleep(1)
         by_cmd.send_position_axis_z(30, 70)
-        time.sleep(0.1)
+        time.sleep(0.5)
         by_cmd.send_angle_claw(63)
         time.sleep(0.5)
 
         by_cmd.send_position_axis_z(30, 130)
         time.sleep(1)
         by_cmd.send_position_axis_x(1, 140)
-        by_cmd.send_angle_claw_arm(220)
+        by_cmd.send_angle_claw_arm(225)
         time.sleep(0.5)
-        by_cmd.send_angle_storage(55)
-        time.sleep(1)
+        # by_cmd.send_angle_storage(55)
+        # time.sleep(1)
+        by_cmd.send_position_axis_z(30, 60)
 
         pass
     def nexec(self):
@@ -463,13 +507,12 @@ class get_block2():
         return False
     def exec(self):
         car_stop()
-        calibrate_new(var.second_block, offset = 15, run = True, run_speed = 5)
+        calibrate_new(var.second_block, offset = 16, run = True, run_speed = 5)
         logger.info("抓取块")
         time.sleep(0.5)
-        by_cmd.send_angle_claw_arm(220)
+        by_cmd.send_angle_claw_arm(225)
         by_cmd.send_angle_claw(63)
-        by_cmd.send_position_axis_z(30, 60)
-        time.sleep(1)
+        time.sleep(0.1)
         by_cmd.send_position_axis_x(1, 20)
         time.sleep(1)
         by_cmd.send_angle_claw(25)
@@ -521,7 +564,7 @@ class put_block():
 
         # 放置第二個塊
         by_cmd.send_angle_storage(20)
-        by_cmd.send_position_axis_x(1, 130)
+        by_cmd.send_position_axis_x(1, 110)
         by_cmd.send_position_axis_z(30, 120)
         time.sleep(1.5)
         by_cmd.send_angle_claw_arm(180)
@@ -535,7 +578,7 @@ class put_block():
         time.sleep(1)
         by_cmd.send_position_axis_z(30, 110)
         time.sleep(1)
-        by_cmd.send_angle_claw_arm(220)
+        by_cmd.send_angle_claw_arm(225)
         time.sleep(1)
         by_cmd.send_position_axis_z(30, 0)
         time.sleep(0.5)
@@ -554,7 +597,7 @@ class put_block():
         time.sleep(1)
         while by_cmd.send_position_axis_x(1, 0) == -1:
             pass
-        while by_cmd.send_angle_claw_arm(36) == -1:
+        while by_cmd.send_angle_claw_arm(45) == -1:
             pass
         # 任务检查间隔
         # time.sleep(2)
@@ -569,7 +612,7 @@ class get_bball():
         # time.sleep(0.5)
         # by_cmd.send_position_axis_x(1, 0)
         # time.sleep(2)
-        # by_cmd.send_angle_claw_arm(36)
+        # by_cmd.send_angle_claw_arm(45)
         
         while (by_cmd.send_angle_storage(0) == -1):
             by_cmd.send_angle_storage(0)
@@ -582,13 +625,14 @@ class get_bball():
         self.record = CountRecord(5)
     def find(self):
         # 目标检测蓝球
-        ret = filter.find(tlabel.BBALL)
+        # ret = filter.find(tlabel.BBALL)
+        ret = filter.find_mult([tlabel.BBALL, tlabel.YBALL])
         # ret = filter.find(tlabel.BBALL) or filter.find(tlabel.YBALL)
         # TODO 此处使用连续检出判断感觉不是很好，黄球放置远时停车较晚，可能跟请求速度相关
         # if ret:
         #     if self.record(tlabel.BBALL):
         #         return True
-        if ret:
+        if ret[0] or ret[1]:
             return True
         return False
     def exec(self):
@@ -596,10 +640,10 @@ class get_bball():
         car_stop()
         time.sleep(0.5)
         for _ in range(3):
-            calibrate_right_new(tlabel.BBALL, offset = 16, run = True, run_speed = 5)
+            calibrate_right_new(tlabel.BBALL, offset = 18, run = True, run_speed = 5)
             logger.info("抓蓝色球")
             time.sleep(0.5)
-            by_cmd.send_angle_claw_arm(36)
+            by_cmd.send_angle_claw_arm(45)
             by_cmd.send_angle_claw(54)
             by_cmd.send_position_axis_x(1, 160)
             time.sleep(1.2)
@@ -615,7 +659,7 @@ class get_bball():
             time.sleep(0.5)
             by_cmd.send_angle_claw(54)
             time.sleep(0.5)
-            by_cmd.send_angle_claw_arm(36)
+            by_cmd.send_angle_claw_arm(45)
             time.sleep(1)
             by_cmd.send_position_axis_z(30, 135)
             # 继续向前走
@@ -834,30 +878,40 @@ class put_hanoi1():
             logger.info("应该向左转")
 
 
-        # # 校准 omega
-        # if error > 0:
-        #     by_cmd.send_angle_omega(-20,abs(var.lane_error))
-        # else:
-        #     by_cmd.send_angle_omega(20,abs(var.lane_error))
-        # time.sleep(0.5)
-        # car_stop()
-        # time.sleep(0.5)
-        # by_cmd.send_distance_x(10, 200)
-
-        # by_cmd.send_distance_x(10, 180)
-        by_cmd.send_distance_x(10, 250)
-        time.sleep(1)
+        # 校准 omega
+        for _ in range(10):
+            ret, box = filter.get(utils.direction)
+            if ret:
+                error = (box[0][2] + box[0][0] - 320) / 2
+            by_cmd.send_speed_omega(-error * 0.8)
+            time.sleep(0.2)
         car_stop()
 
+
+        # 前进
+        # by_cmd.send_distance_x(10, 200)
+        # by_cmd.send_distance_x(10, 180)
+        # by_cmd.send_distance_x(10, 180)
+        # time.sleep(1.5)
+        # car_stop()
+        
+        while True:
+            by_cmd.send_speed_x(8.5)
+            ret, box = filter.get(utils.direction)
+            if ret:
+                if abs(box[0][2] - box[0][0]) > 41:
+                    car_stop()
+                    break
+        
         # 根据方向初始化执行器位置
         if utils.direction is tlabel.RMARK:
             # FIXME 右侧的爪子会被 storage 挡住
             by_cmd.send_position_axis_x(1, 0)
-            by_cmd.send_angle_claw_arm(36)
+            by_cmd.send_angle_claw_arm(45)
             by_cmd.send_angle_storage(0)
         else:
             by_cmd.send_position_axis_x(1, 150)
-            by_cmd.send_angle_claw_arm(220)
+            by_cmd.send_angle_claw_arm(225)
             by_cmd.send_angle_storage(55)
         time.sleep(1)
 
@@ -866,16 +920,20 @@ class put_hanoi1():
         if utils.direction_right > utils.direction_left:
             utils.direction = tlabel.RMARK
             # by_cmd.send_angle_omega(-25,430)
-            by_cmd.send_angle_omega(-45,238)
             # by_cmd.send_angle_omega(-55,194)
+            # by_cmd.send_angle_omega(-45,238)
+            # by_cmd.send_angle_omega(-45,252)
+            by_cmd.send_angle_omega(-45,260)
             time.sleep(2)
             while (by_cmd.send_angle_camera(90) == -1):
                 by_cmd.send_angle_camera(90)
         else:
             utils.direction = tlabel.LMARK
             # by_cmd.send_angle_omega(25,430)
-            by_cmd.send_angle_omega(45,238)
             # by_cmd.send_angle_omega(55,194)
+            # by_cmd.send_angle_omega(45,238)
+            # by_cmd.send_angle_omega(45,252)
+            by_cmd.send_angle_omega(45,260)
             time.sleep(2)
             while (by_cmd.send_angle_camera(0) == -1):
                 by_cmd.send_angle_camera(0)
@@ -884,11 +942,17 @@ class put_hanoi1():
     def nexec(self):
         pass
     def after(self):
+        # var.switch_lane_model = True
+        if utils.direction == tlabel.RMARK:
+            var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"] - 0.3, cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
+        else:
             var.pid_turning.set(cfg["put_hanoi1"]["pid_kp"], cfg["put_hanoi1"]["pid_ki"], cfg["put_hanoi1"]["pid_kd"])
         pass
+        # time.sleep(1.5)
 
 class put_hanoi2():
     def __init__(self):
+        
         if cfg['put_hanoi2']['first_target'] == "lp":
             self.target_label = tlabel.LPILLER
         elif cfg['put_hanoi2']['first_target'] == "mp":
@@ -897,20 +961,25 @@ class put_hanoi2():
             self.target_label = tlabel.SPILLER
     def init(self):
         logger.info("物资盘点 2 初始化")
+        var.task_speed = 8.5
         if utils.direction == tlabel.RMARK:
             # 15
-            self.offset = 19
+            self.offset = 14
             # self.platform_offset = -25
-            self.platform_offset = -10
-        else:
-            self.offset = 10
-            #self.platform_offset = -30
+            # self.platform_offset = -19
             self.platform_offset = -15
+        else:
+            self.offset = 14
+            # self.platform_offset = -30
+            # self.platform_offset = -19
+            self.platform_offset = -15
+        # 延时，防止过早看到 tplatform（虽然此现象相当少见且诡异）
+        time.sleep(1.5)
+
     def find(self):
         # ret, box = filter.get(self.target_label)
         ret, box = filter.get(tlabel.TPLATFORM)
         if ret:
-            var.task_speed = 8.5
             error = (box[0][2] + box[0][0] - 320) / 2 + self.platform_offset
             if error > 0:
                 return True
@@ -935,12 +1004,12 @@ class put_hanoi2():
         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_x(1, 130)
+            by_cmd.send_position_axis_x(1, 150)
             by_cmd.send_angle_claw(63)
             time.sleep(2)
             by_cmd.send_angle_claw(40)
             time.sleep(0.5)
-            by_cmd.send_distance_axis_z(30, 20)
+            by_cmd.send_distance_axis_z(30, 30)
             time.sleep(0.5)
             by_cmd.send_position_axis_x(1, 10)
             time.sleep(1)
@@ -952,7 +1021,7 @@ class put_hanoi2():
             time.sleep(2)
             by_cmd.send_angle_claw(40)
             time.sleep(0.5)
-            by_cmd.send_distance_axis_z(30, 20)
+            by_cmd.send_distance_axis_z(30, 30)
             time.sleep(0.5)
             by_cmd.send_position_axis_x(1, 160)
             time.sleep(1)
@@ -964,15 +1033,15 @@ class put_hanoi2():
         time.sleep(0.5)
         logger.info("放大平台")
         if utils.direction is tlabel.RMARK:
-            by_cmd.send_position_axis_x(1, 130)
+            by_cmd.send_position_axis_x(1, 150)
             time.sleep(1.5)
             by_cmd.send_distance_axis_z(30, -20)
             time.sleep(1)
             by_cmd.send_angle_claw(81)
             time.sleep(0.5)
-            by_cmd.send_angle_claw(63)
-            time.sleep(0.5)
             by_cmd.send_position_axis_x(1, 10)
+            time.sleep(0.5)
+            by_cmd.send_angle_claw(63)
             time.sleep(1)
             pass
         else:
@@ -982,9 +1051,9 @@ class put_hanoi2():
             time.sleep(1)
             by_cmd.send_angle_claw(81)
             time.sleep(0.5)
-            by_cmd.send_angle_claw(63)
-            time.sleep(0.5)
             by_cmd.send_position_axis_x(1, 160)
+            time.sleep(0.5)
+            by_cmd.send_angle_claw(63)
             time.sleep(1)
 
         ret = explore_calibrate_new(tlabel.MPILLER, offset = self.offset, run_direc = 1, run_speed =  5)
@@ -995,8 +1064,8 @@ class put_hanoi2():
         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_x(1, 130)
-            by_cmd.send_angle_claw(63)
+            by_cmd.send_position_axis_x(1, 150)
+            by_cmd.send_angle_claw(55)
             time.sleep(2)
             by_cmd.send_angle_claw(35)
             time.sleep(0.5)
@@ -1008,7 +1077,7 @@ class put_hanoi2():
         else:
             by_cmd.send_position_axis_z(30, 10)
             by_cmd.send_position_axis_x(1, 40)
-            by_cmd.send_angle_claw(63)
+            by_cmd.send_angle_claw(55)
             time.sleep(2)
             by_cmd.send_angle_claw(35)
             time.sleep(0.5)
@@ -1017,32 +1086,33 @@ class put_hanoi2():
             by_cmd.send_position_axis_x(1, 160)
             time.sleep(1)
             pass
-        ret = explore_calibrate_new(tlabel.LPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
+        # ret = explore_calibrate_new(tlabel.LPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
+        ret = hanoi_calibrate(tlabel.LPILLER, tlabel.TPLATFORM, offset = self.offset, run_direc = -1, run_speed = 5)
         if not ret:
-            logger.error("跳过物资盘点 2 exec")
+            logger.error("在放中平台的时候出现问题 跳过物资盘点 2 exec")
             return
         time.sleep(0.5)
         logger.info("放中平台")
         if utils.direction is tlabel.RMARK:
-            by_cmd.send_position_axis_z(30, 100)
+            by_cmd.send_position_axis_z(30, 120)
             time.sleep(2)
-            by_cmd.send_position_axis_x(1, 130)
+            by_cmd.send_position_axis_x(1, 150)
             time.sleep(2)
             by_cmd.send_distance_axis_z(30, -20)
             time.sleep(0.5)
-            by_cmd.send_angle_claw(65)
+            by_cmd.send_angle_claw(55)
             time.sleep(0.5)
             by_cmd.send_position_axis_x(1, 10)
             time.sleep(1)
             pass
         else:
-            by_cmd.send_position_axis_z(30, 100)
+            by_cmd.send_position_axis_z(30, 120)
             time.sleep(2)
             by_cmd.send_position_axis_x(1, 40)
             time.sleep(2)
             by_cmd.send_distance_axis_z(30, -20)
             time.sleep(0.5)
-            by_cmd.send_angle_claw(65)
+            by_cmd.send_angle_claw(55)
             time.sleep(0.5)
             by_cmd.send_position_axis_x(1, 160)
             time.sleep(1)
@@ -1055,15 +1125,15 @@ class put_hanoi2():
         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_x(1, 130)
+            by_cmd.send_position_axis_x(1, 150)
             by_cmd.send_angle_claw(50)
             time.sleep(2)
             by_cmd.send_angle_claw(27)
             time.sleep(1)
             by_cmd.send_distance_axis_z(30, 10)
             time.sleep(0.5)
-            by_cmd.send_position_axis_x(1, 10)
-            time.sleep(1)
+            by_cmd.send_position_axis_x(1, 0)
+            time.sleep(2)
             pass
         else:
             by_cmd.send_position_axis_z(30, 10)
@@ -1074,19 +1144,20 @@ class put_hanoi2():
             time.sleep(1)
             by_cmd.send_distance_axis_z(30, 10)
             time.sleep(0.5)
-            by_cmd.send_position_axis_x(1, 160)
-            time.sleep(1)
+            by_cmd.send_position_axis_x(1, 170)
+            time.sleep(2)
             pass
-        ret = explore_calibrate_new(tlabel.MPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
+        # ret = explore_calibrate_new(tlabel.MPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
+        ret = hanoi_calibrate(tlabel.MPILLER, tlabel.LPILLER, offset = self.offset, run_direc = -1, run_speed = 5)
         if not ret:
-            logger.error("跳过物资盘点 2 exec")
+            logger.error("在放小平台的时候出现问题 跳过物资盘点 2 exec")
             return
         time.sleep(0.5)
         logger.info("放小平台")
         if utils.direction is tlabel.RMARK:
-            by_cmd.send_position_axis_z(30, 170)
+            by_cmd.send_position_axis_z(30, 190) # 170
             time.sleep(1.5)
-            by_cmd.send_position_axis_x(1, 130)
+            by_cmd.send_position_axis_x(1, 150)
             time.sleep(2)
             by_cmd.send_distance_axis_z(30, -20)
             time.sleep(0.5)
@@ -1094,12 +1165,13 @@ class put_hanoi2():
             time.sleep(0.5)
             by_cmd.send_position_axis_x(1, 10)
             time.sleep(1)
-            by_cmd.send_speed_y(15)
-            time.sleep(0.1)
-            car_stop()
+
+            # by_cmd.send_speed_y(10)
+            # time.sleep(0.12)
+            # car_stop()
             pass
         else:
-            by_cmd.send_position_axis_z(30, 170)
+            by_cmd.send_position_axis_z(30, 190)
             time.sleep(1.5)
             by_cmd.send_position_axis_x(1, 40)
             time.sleep(2)
@@ -1111,11 +1183,17 @@ class put_hanoi2():
             time.sleep(1.5)
         # while True:
         #     pass
-        
+        by_cmd.send_speed_x(12)
+        time.sleep(1.5)
     def nexec(self):
         pass
     def after(self):
+        # var.switch_lane_model = False
+        if utils.direction is tlabel.RMARK:
             var.pid_turning.set(cfg["put_hanoi2"]["pid_kp"], cfg["put_hanoi2"]["pid_ki"], cfg["put_hanoi2"]["pid_kd"])
+        else:
+            var.pid_turning.set(cfg["put_hanoi2"]["pid_kp"], cfg["put_hanoi2"]["pid_ki"], cfg["put_hanoi2"]["pid_kd"]) 
+        # time.sleep(2)
         pass
 
 class put_hanoi3():
@@ -1130,10 +1208,10 @@ class put_hanoi3():
         while by_cmd.send_position_axis_x(1, 0) == -1:
             pass
         time.sleep(1)
-        # while by_cmd.send_angle_claw_arm(220) == -1:
-        #     pass
-        # while by_cmd.send_angle_claw(90) == -1:
+        # while by_cmd.send_angle_claw_arm(225) == -1:
         #     pass
+        while by_cmd.send_angle_claw(85) == -1:
+            pass
     def find(self):
         time.sleep(1)
         return True
@@ -1209,7 +1287,7 @@ class move_area1():
         # 任务检查间隔
         by_cmd.send_position_axis_x(1, 150)
         # time.sleep(1)
-        by_cmd.send_angle_claw_arm(220)
+        by_cmd.send_angle_claw_arm(225)
 
         pass
 
@@ -1361,7 +1439,7 @@ class kick_ass():
         logger.info("扫黑除暴初始化")
         self.pos_gap1 = cfg['kick_ass']['pos_gap1']
         self.pos_gap2 = cfg['kick_ass']['pos_gap2']
-        self.target_person = cfg_args['kick_ass']['target_person']
+        self.target_person = cfg_args['lane_mode']['mode_index']
 
         # by_cmd.send_angle_claw(15)
         by_cmd.send_position_axis_x(1, 160)
@@ -1387,17 +1465,28 @@ class kick_ass():
         else:
             target_distance = self.pos_gap1 + (self.target_person - 1) * self.pos_gap2 + (self.target_person - 1) * 10
         by_cmd.send_distance_x(10, target_distance)
+        
         logger.info(f"target distance {target_distance}")
         time.sleep(1.5 + (self.target_person - 1) * 0.7 )
         car_stop()
         
-        # by_cmd.send_angle_claw_arm(220)
+        # by_cmd.send_angle_claw_arm(225)
         # time.sleep(0.5)
         by_cmd.send_position_axis_x(1, 20)
         time.sleep(3)
         by_cmd.send_position_axis_x(1, 120)
         time.sleep(1)
         logger.debug("結束任務，前進四")
+
+        filter.switch_camera(2)
+        for _ in range(3):
+            by_cmd.send_speed_x(15)
+        while True:
+            ret, box = filter.get(tlabel.BASE)
+            if ret:
+                error = (box[0][2] + box[0][0] - 320) / 2
+            by_cmd.send_speed_omega(-error * 0.8)
+            time.sleep(0.02)
         # by_cmd.send_speed_x(25)
         # time.sleep(4)
         pass

subtask_7123.py

@@ -1367,7 +1367,7 @@ class kick_ass():
         logger.info("扫黑除暴初始化")
         self.pos_gap1 = cfg['kick_ass']['pos_gap1']
         self.pos_gap2 = cfg['kick_ass']['pos_gap2']
-        self.target_person = cfg_args['kick_ass']['target_person']
+        self.target_person = cfg_args['lane_mode']['mode_index']
 
         # by_cmd.send_angle_claw(15)
         by_cmd.send_position_axis_x(1, 160)

subtask_7126.py

@@ -1360,7 +1360,7 @@ class kick_ass():
         logger.info("扫黑除暴初始化")
         self.pos_gap1 = cfg['kick_ass']['pos_gap1']
         self.pos_gap2 = cfg['kick_ass']['pos_gap2']
-        self.target_person = cfg_args['kick_ass']['target_person']
+        self.target_person = cfg_args['lane_mode']['mode_index']
 
         # by_cmd.send_angle_claw(15)
         by_cmd.send_position_axis_x(1, 160)

test/test_cali.py

@@ -34,15 +34,16 @@ def signal_handler(sig, frame):
 
 offset = 0
 signal.signal(signal.SIGTERM, signal_handler)
+cmd_py_obj.send_speed_x(15)
 while True:
-    time.sleep(0.2)
-    ret, box = filter.get(tlabel.LMARK)
-    if ret:
-        # 宽度大于 41 停车
-        print(f"width: {box[0][2] - box[0][0]} height: {box[0][3] - box[0][1]}")
-    # if ret:
-    #     error = (box[0][2] + box[0][0] - 320) / 2 + offset
-    #     print(error)
 
-    #     cmd_py_obj.send_speed_omega(-error * 0.8)
+    time.sleep(0.02)
+    ret, box = filter.get(tlabel.BASE)
+    # if ret:
+        # 宽度大于 41 停车
+        # print(f"width: {box[0][2] - box[0][0]} height: {box[0][3] - box[0][1]}")
+    if ret:
+        error = (box[0][2] + box[0][0] - 320) / 2 + offset
+        print(error)
+        cmd_py_obj.send_speed_omega(-error * 0.8)
 car_stop()

test/test_filter.py

@@ -16,18 +16,18 @@ socket.connect("tcp://localhost:6667")
 logger.info("subtask yolo client init")
 
 filter = label_filter(socket)
-filter.switch_camera(1)
+filter.switch_camera(2)
 
 
-find_counts = 0
-offset = 19
-label = [tlabel.LPILLER, tlabel.MPILLER, tlabel.SPILLER]
-label = tlabel.TPLATFORM
+# find_counts = 0
+# offset = 19
+# label = [tlabel.LPILLER, tlabel.MPILLER, tlabel.SPILLER]
+# label = tlabel.TPLATFORM
 while True:
     time.sleep(0.2)
-    ret, box = filter.get(tlabel.TPLATFORM)
+    ret, box = filter.get(tlabel.BASE)
     if ret:
-        error = (box[0][2] + box[0][0] - 320) / 2 + offset
+        error = (box[0][2] + box[0][0] - 320) / 2
         logger.error(error)
 
     # label = tlabel.HOSPITAL

variable.py

@@ -9,7 +9,8 @@ task_speed = 0
 pid_argv = {"kp" : 1.2, "ki" : 0, "kd" : 0} # 1.2
 
 # 转向 pid 对象
-pid_turning = PidWrap(pid_argv["kp"], pid_argv["ki"], pid_argv["kd"], output_limits=60) # FIXME 6_9 模型为 50
+# pid_turning = PidWrap(pid_argv["kp"], pid_argv["ki"], pid_argv["kd"], output_limits=70) # FIXME 6_9 模型为 60
+pid_turning = PidWrap(pid_argv["kp"], pid_argv["ki"], pid_argv["kd"], output_limits=60) # FIXME 6_9 模型为 60
 
 llm_text = ''