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标题: CodeMaster第1次任务--三个任务地图全分析与实现 [打印本页]

作者: 总督 时间: 2019-9-13
标题: CodeMaster第1次任务--三个任务地图全分析与实现
本帖最后由总督于 2019-9-13 08:22 编辑

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2.\u5f53\u63a5\u8fd1\u53cc\u7ebf\u540e\uff0cS1\u5c06\u8bc6\u522b\u5230\u53f3\u4fa7\u7684\u7ebf\uff0c\u7b2c\u4e00\u70b9\u7684x\u503c\u5c06\u5927\u4e8e0.8\uff0c\u4ee5\u6b64\u4e3a\u6807\u5fd7\u4f4d\u5c06stage\u8d4b\u503c\u4e3a1\uff0c\u5f00\u59cb\u53cc\u7ebf\u6a21\u5f0f\u3002\u9014\u4e2d\u4ee5\u8bc6\u522b\u51fa\u7684\u53f3\u7ebf\u7684\u7b2c\u4e00\u70b9\u7684x-0.8\u4e3aerror\u8c03\u6574PID\u5b9e\u73b0\u4e0e\u53f3\u7ebf\u4fdd\u6301\u4e00\u5b9a\u5de6\u504f\u79fb\u8ddd\u79bb\u5728\u53cc\u7ebf\u4e2d\u592e\u524d\u8fdb\uff0c\u76f4\u5230\u53f3\u7ebf\u56e0\u62d0\u89d2\u800c\u9000\u51fa\u89c6\u91ce\u65f6\uff0cS1\u8bc6\u522b\u51fa\u5de6\u7ebf\uff08\u81ea\u5b9a\u4e49\u4e86\u5de6\u7ebf\u5224\u522b\u51fd\u6570\uff09\uff0c\u4ee5\u6b64\u4e3a\u6807\u5fd7\u4f4d\u5c06stage\u8d4b\u503c\u4e3a2\u3002\r\n 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4.S1\u7ee7\u7eed\u5411\u524d\u4ee5x-0.8\u9760\u53f3\u7ebf\u884c\u9a76\uff0c\u5f53\u63a5\u8fd1\u7b2c\u4e8c\u4e2a\u5185\u9510\u89d2\u62d0\u89d2\u65f6\uff0cS1\u6b64\u65f6\u5c06\u7ebf\u8def\u7c7b\u578b\u8bc6\u522b\u4e3a1\uff0c\u4e14\u8bc6\u522b\u4e3a\u5de6\u7ebf\uff0c\u4ee5\u6b64\u4e3a\u6807\u5fd7\u4f4d\u5224\u65ad\u5e94\u8be5\u505c\u8f66\u65cb\u8f6c\u4e86\u3002\u6b64\u65f6\u7b2c\u4e00\u70b9\u7684\u5207\u7ebf\u89d2\u03b11\u7ea6\u4e3a60\u5ea6\uff0c\u4e0e\u5939\u89d2\u7edd\u5bf9\u503c\u5927\u5c0f\u76f8\u7b49\uff0c\u6545S1\u9700\u5411\u5de6\u65cb\u8f6c180-\u03b11\uff0c\u4e3a\u8c03\u6574\u59ff\u6001\u5b9e\u9645\u53d6\u503c180+\u03b11-8\u3002\u5c06stage\u8d4b\u503c\u4e3a4\uff0c\u5f00\u59cb\u4e0b\u4e00\u8def\u51b5\u884c\u8d70\u3002\r\n 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= rm_ctrl.PIDCtrl()\r\nlist_LineList = RmList()\r\nvariable_x1 = 0\r\nvariable_x8 = 0\r\nvariable_angle1=0\r\nvariable_angle8=0\r\nvariable_stage = 0\r\n\r\n#\u62d0\u89d2\u9876\u70b9\uff08y\u6700\u5c0f\uff09\u7684\u7d22\u5f15\u53f7\r\ndef index_of_corner():\r\n global list_LineList\r\n y=list_LineList[4]\r\n m=1\r\n for n in range(9):\r\n if y > list_LineList[8+4*n]:\r\n y = list_LineList[8+4*n]\r\n m=n+2\r\n return m\r\n\r\n#\u62d0\u89d2\u9876\u70b9\u5728S1\u5de6\u524d\u65b9\u65f6\u7684\u505c\u8f66\u70b9\r\ndef left_corner_stop_point():\r\n global list_LineList\r\n if len(list_LineList)==42:\r\n n=index_of_corner() \r\n x=list_LineList[(4*n-1)]\r\n y=list_LineList[4*n] \r\n if x<0.5 and y>0.55:\r\n return True\r\n else:\r\n return False\r\n else:\r\n return False\r\n \r\n#\u62d0\u89d2\u9876\u70b9\u5728S1\u53f3\u524d\u65b9\u65f6\u7684\u505c\u8f66\u70b9\uff0cx1\u662f\u4e3a\u4e86\u9632\u6b62\u8bef\u5224\u7b2c\u4e00\u4e2a\u53f3\u62d0\u89d2 \r\ndef right_corner_stop_point():\r\n global list_LineList \r\n n=index_of_corner() \r\n x=list_LineList[(4*n-1)]\r\n y=list_LineList[4*n]\r\n x1=list_LineList[3] \r\n if x>0.5 and y>0.4 and x1<0.6:\r\n return True\r\n else:\r\n return False\r\n \r\n#\u8ba1\u7b97\u524d\u65b9\u7ebf\u8def\u7684\u5939\u89d2 \r\ndef calc_angle():\r\n global list_LineList\r\n x1=list_LineList[3]\r\n r1=list_LineList[5] #\u7b2c1\u70b9\u7684\u5207\u7ebf\u89d2\r\n x8=list_LineList[31]\r\n r8=list_LineList[33] #\u7b2c8\u70b9\u7684\u5207\u7ebf\u89d2\r\n if x1<x8:\r\n angle=180+r1-r8\r\n else:\r\n if r8>0:\r\n angle=r8-r1-180\r\n else:\r\n angle=r8-r1+180\r\n return angle\r\n \r\n\r\ndef handle_angle():\r\n global variable_x1\r\n global variable_x8\r\n global list_LineList\r\n global pid_yawRotate\r\n global variable_angle1\r\n global variable_angle8 \r\n global variable_stage\r\n \r\n angle=calc_angle()\r\n if angle<90 and left_corner_stop_point()==True:\r\n chassis_ctrl.stop()\r\n gimbal_ctrl.set_rotate_speed(90)\r\n gimbal_ctrl.rotate_with_degree(rm_define.gimbal_right,(180-angle+10))\r\n chassis_ctrl.move(0)\r\n if angle<90 and right_corner_stop_point()==True:\r\n chassis_ctrl.stop()\r\n gimbal_ctrl.set_rotate_speed(90)\r\n gimbal_ctrl.rotate_with_degree(rm_define.gimbal_left,(180-angle+20))\r\n chassis_ctrl.move(0) \r\n \r\ndef param_init():\r\n global variable_x1\r\n global list_LineList\r\n global variable_angle1\r\n global variable_angle8 \r\n \r\n list_LineList=RmList(vision_ctrl.get_line_detection_info())\r\n variable_x1=list_LineList[3]\r\n variable_angle1=list_LineList[13] \r\n variable_angle8=list_LineList[33] \r\n \r\ndef ctrl_deviation(a=0.8):\r\n global variable_x1\r\n global pid_yawRotate\r\n pid_yawRotate.set_error(variable_x1-a)\r\n gimbal_ctrl.rotate_with_speed(pid_yawRotate.get_output(),0) \r\n\r\ndef start():\r\n global variable_x1\r\n global variable_x8\r\n global list_LineList\r\n global pid_yawRotate\r\n global variable_angle1\r\n global variable_angle8\r\n global variable_stage\r\n \r\n time.sleep(25) #\u653e\u8fd9\u91cc\u53ef\u4ee5\u8fd0\u884c,bug\u653e\u5728while\u524d\u4e0d\u80fd\u8fd0\u884c\r\n robot_ctrl.set_mode(rm_define.robot_mode_chassis_follow)\r\n vision_ctrl.enable_detection(rm_define.vision_detection_line)\r\n vision_ctrl.line_follow_color_set(rm_define.line_follow_color_blue) \r\n \r\n gimbal_ctrl.rotate_with_degree(rm_define.gimbal_down,20)\r\n chassis_ctrl.set_trans_speed(0.4)\r\n pid_yawRotate.set_ctrl_params(200,0,6) \r\n media_ctrl.record(1)\r\n chassis_ctrl.move(0)\r\n \r\n #\u4ece\u5de6\u4fa7\u8fdb\u5165\u53cc\u7ebf\r\n while variable_stage==0:\r\n param_init()\r\n ctrl_deviation(a=0.6)\r\n if variable_x1>0.8: \r\n variable_stage=1\r\n \r\n #\u53cc\u7ebf\u884c\u8d70\r\n while variable_stage==1:\r\n param_init()\r\n if variable_x1<0.4:\r\n ctrl_deviation(a=0.2)\r\n elif variable_x1>0.6:\r\n ctrl_deviation(a=0.8)\r\n else:\r\n variable_stage=2\r\n if abs(variable_angle1-variable_angle8)>10: #\u63d0\u9ad8\u76f4\u7ebf\u6bb5\u6548\u7387\r\n handle_angle() \r\n \r\n #\u4ece\u53f3\u4fa7\u51fa\u53cc\u7ebf\r\n while variable_stage==2:\r\n param_init()\r\n ctrl_deviation(a=0.4)\r\n if len(list_LineList)<42: \r\n rmexit()","imgsrc":"static\/image\/text.jpg"},{"nameindex":"_3_4","type":3,"url":"http:\/\/v.qq.com\/iframe\/player.html?vid=u0926tuamoe&tiny=0&auto=0","desc":"\u4fef\u89c6\u6444\u50cf\u548cFPV\u89c6\u56fe","imgsrc":"static\/image\/video.jpg"},{"nameindex":"_2_584776","type":2,"url":"201909\/13\/082135rtelay7aa3rtpb6t.png","desc":"\u7a0b\u5e8f\u4e2d\u5939\u89d2\u8ba1\u7b97\u51fd\u6570\u7684\u539f\u7406\u56fe","imgsrc":"201909\/13\/082135rtelay7aa3rtpb6t.png"},{"nameindex":"_1_10","type":1,"url":"","desc":"\u6b22\u8fce\u6279\u8bc4\u6307\u6b63\u5171\u540c\u63d0\u9ad8\uff0c\u6709\u95ee\u9898\u53ef\u5fae\u4fe1\u8054\u7cfb\u4ea4\u6d41\uff0c\u5fae\u4fe1\u53f7\uff1acumtzd","imgsrc":"static\/image\/text.jpg"}]

作者: 纳米物语 时间: 2019-9-13
非常详细，直接Python厉害了

作者: CPYCPY 时间: 2019-9-16
本帖最后由 CPYCPY 于 2019-9-16 10:27 编辑

谢谢分享，分析得非常详细，收藏了

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