40 lines
796 B
Python
40 lines
796 B
Python
import time
|
|
import cv2
|
|
|
|
def run_task_1(ctrl, msg, image_processor):
|
|
print('Running task 1...')
|
|
|
|
# 右前方
|
|
msg.mode = 11
|
|
msg.gait_id = 26 # 26 表示快速 trot 步态
|
|
msg.vel_des = [0.5, 0.5, -1.0]
|
|
msg.duration = 1800
|
|
msg.step_height = [0.06, 0.06]
|
|
msg.life_count += 1
|
|
ctrl.Send_cmd(msg)
|
|
time.sleep(1.8)
|
|
|
|
msg.mode = 11
|
|
msg.gait_id = 26
|
|
msg.vel_des = [1, 0, 0]
|
|
msg.duration = 200
|
|
msg.life_count += 1
|
|
ctrl.Send_cmd(msg)
|
|
time.sleep(0.2)
|
|
|
|
# TAG take photo
|
|
image = image_processor.get_current_image()
|
|
cv2.imwrite('photo.jpg', image)
|
|
|
|
# msg.mode = 11
|
|
# msg.gait_id = 26
|
|
# msg.vel_des = [1, 0, 0]
|
|
# msg.duration = 1000
|
|
# msg.life_count += 1
|
|
# ctrl.Send_cmd(msg)
|
|
# time.sleep(1.0)
|
|
|
|
|
|
|
|
|