변경 추가

Brain/Controller.py

@@ -53,7 +53,7 @@ def set_test_mode(cls, mode: Mode) -> None:
             cls.ROI = True
             cls.robot.color=LineColor.YELLOW
             cls.robot.direction = Direction.LEFT
-            cls.mission_done = 3
+            cls.mission_done = 2
 
 
     @classmethod

Brain/RoomMission.py

@@ -109,8 +109,8 @@ def detect_alphabet(cls) -> bool:
             if alphabet_info:
                 cls.alphabet_color, cls.alphabet = "BLUE", alphabet_info
                 return True
-            elif cls.detect_miss > 8 :
-                cls.alphabet_color, cls.alphabet = "BLUE", "B"
+            elif cls.detect_miss > 4 :
+                cls.alphabet_color, cls.alphabet = "BLUE", "D"
                 return True
             else:
                 cls.robot.curr_head4room_alphabet.rotate(-1)

Constant.py

@@ -77,8 +77,8 @@ def __delattr__(self, name):
 ### GREEN ROOM ###
 ## 1) BOX -> AREA
 const.GREEN_ROOM_TURN_FIND_BOX = 3
-const.GREEN_ROOM_DEFAULT_TURN_FIND_AREA = 2
-const.GREEN_ROOM_DEFAULT_WALK_BEFORE_DROP_BOX = 3
+const.GREEN_ROOM_DEFAULT_TURN_FIND_AREA = 1
+const.GREEN_ROOM_DEFAULT_WALK_BEFORE_DROP_BOX = 1
 const.GREEN_ROOM_AREA_IN_LIMIT = 460
 ## 2) AREA -> CORNER
 const.GREEN_ROOM_DEFAULT_TURN_FIND_CORNER = 2
@@ -87,8 +87,8 @@ def __delattr__(self, name):
 ### BLACK ROOM ###
 const.BLACK_ROOM_ALPHABET = "B"
 const.BLACK_ROOM_DEFAULT_TURN_FIND_BOX = 3
-const.BLACK_ROOM_DEFAULT_TURN_FIND_CORNER = 4
-const.BLACK_ROOM_DEFAULT_OUT_ROOM_WALK = 0
+const.BLACK_ROOM_DEFAULT_TURN_FIND_CORNER = 3
+const.BLACK_ROOM_DEFAULT_OUT_ROOM_WALK = 2
 
 
 ### DEBUG MODE ###

Sensor/ImageProcessor.py

@@ -420,7 +420,7 @@ def is_out_of_black(self, visualization=False) -> bool:
             cv2.waitKey(1)
         print(rate)
 
-        return rate <= 40
+        return rate <= 30
 
     def check_area_color(self):
         src = self.get_image()