Update README.md

README.md

@@ -62,45 +62,123 @@ import time
 def main():
     rclpy.init()
     
-    node = Node('circle_navigation')
+
+    node = Node('t_shape_movement')
     
+
     publisher = node.create_publisher(Twist, '/cmd_vel', 10)
     
-    node.get_logger().info("=== 开始绕圈导航 ===")
+    node.get_logger().info("=== 开始T字形运动控制 ===")
+    node.get_logger().info("机器人将循环执行T字形路径")
     
 
     time.sleep(2.0)
     
+    cycle_count = 0
+    
     try:
-
-        movements = [
-            {"name": "前进3秒", "linear": 0.2, "angular": 0.0, "duration": 3.0},
-            {"name": "左转2秒", "linear": 0.0, "angular": 0.5, "duration": 2.0},
-            {"name": "前进3秒", "linear": 0.2, "angular": 0.0, "duration": 3.0},
-            {"name": "左转2秒", "linear": 0.0, "angular": 0.5, "duration": 2.0},
-            {"name": "前进3秒", "linear": 0.2, "angular": 0.0, "duration": 3.0},
-            {"name": "左转2秒", "linear": 0.0, "angular": 0.5, "duration": 2.0},
-            {"name": "前进3秒回到起点", "linear": 0.2, "angular": 0.0, "duration": 3.0},
-        ]
-        
-        for i, move in enumerate(movements):
-            node.get_logger().info(f"动作 {i+1}/{len(movements)}: {move['name']}")
+        while True:
+            cycle_count += 1
             
+            # T字向上移动
+            node.get_logger().info("T字竖线: 向前移动")
             twist = Twist()
-            twist.linear.x = move['linear']
-            twist.angular.z = move['angular']
+            twist.linear.x = 0.15  # 前进速度
             publisher.publish(twist)
+            time.sleep(2.5)  # 前进2.5秒
+            
+            # 停止一下
+            node.get_logger().info("暂停")
+            twist = Twist()
+            publisher.publish(twist)
+            time.sleep(0.5)
+            
+            # T字左转并前进
+            node.get_logger().info("T字横线左半: 左转")
+            twist = Twist()
+            twist.angular.z = 0.4  # 左转速度
+            publisher.publish(twist)
+            time.sleep(1.2)  # 左转1.2秒（约45度）
+            
+            node.get_logger().info("暂停")
+            twist = Twist()
+            publisher.publish(twist)
+            time.sleep(0.3)
+            
+            node.get_logger().info("T字横线左半: 向前移动")
+            twist = Twist()
+            twist.linear.x = 0.15
+            publisher.publish(twist)
+            time.sleep(2.0)  # 前进2秒
+            
+            node.get_logger().info("暂停")
+            twist = Twist()
+            publisher.publish(twist)
+            time.sleep(0.5)
+            
+            # 回到T字中心点
+            node.get_logger().info("回到T字中心: 向后移动")
+            twist = Twist()
+            twist.linear.x = -0.15  # 后退速度
+            publisher.publish(twist)
+            time.sleep(2.0)  # 后退2秒
+            
+            node.get_logger().info("暂停")
+            twist = Twist()
+            publisher.publish(twist)
+            time.sleep(0.3)
+            
+            # T字右转并前进
+            node.get_logger().info("T字横线右半: 右转")
+            twist = Twist()
+            twist.angular.z = -0.4  # 右转速度
+            publisher.publish(twist)
+            time.sleep(2.4)  # 右转2.4秒（约90度）
+            
+            node.get_logger().info("暂停")
+            twist = Twist()
+            publisher.publish(twist)
+            time.sleep(0.3)
+            
+            node.get_logger().info("T字横线右半: 向前移动")
+            twist = Twist()
+            twist.linear.x = 0.15
+            publisher.publish(twist)
+            time.sleep(2.0)  # 前进2秒
+            
+            node.get_logger().info("暂停")
+            twist = Twist()
+            publisher.publish(twist)
+            time.sleep(0.5)
+            
+            # 回到起点准备下一次循环
+            node.get_logger().info("回到起点: 向后移动")
+            twist = Twist()
+            twist.linear.x = -0.15
+            publisher.publish(twist)
+            time.sleep(2.0)  # 后退2秒
+            
+            node.get_logger().info("回到起点: 左转")
+            twist = Twist()
+            twist.angular.z = 0.4
+            publisher.publish(twist)
+            time.sleep(1.2)  # 左转1.2秒
+            
+            node.get_logger().info(f"=== 第 {cycle_count} 次T字形完成 ===")
+            node.get_logger().info("等待3秒后开始下一次循环...")
+            
+            # 停止等待
+            twist = Twist()
+            publisher.publish(twist)
+            time.sleep(3.0)
             
-            time.sleep(move['duration'])
-        
-        node.get_logger().info("=== 绕圈导航完成 ===")
-        
     finally:
-        stop_twist = Twist()
-        publisher.publish(stop_twist)
+        # 停止机器人
+        twist = Twist()
+        publisher.publish(twist)
         node.get_logger().info("机器人已停止")
-        node.get_logger().info("很多没明白用AI写的呜呜呜")
         
+        # 关闭节点
         node.destroy_node()
         rclpy.shutdown()