havoc420ubuntu
49a6a10f63
- Add new functions for turning, going straight, and circling - Implement standing up and lying down movements - Update task_1 to use new movement functions - Decode QR code information from image processor - Refactor main.py to run task_5 instead of task_1
31 lines
814 B
Python
31 lines
814 B
Python
import time
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def run_task_5(ctrl, msg):
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# DEBUG
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# msg.mode = 11 # 运动模式
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# msg.gait_id = 26
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# msg.vel_des = [0, 0, 2] # 期望速度
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# msg.duration = 0 # 零时长表示持续运动，直到接收到新命令
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# msg.step_height = [0.02, 0.02] # 持续运动时摆动腿的离地高度
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# msg.life_count += 1
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# ctrl.Send_cmd(msg)
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# time.sleep(1.1) # 持续5秒钟
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# msg.mode = 11
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# msg.gait_id = 3
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# msg.vel_des = [1, 0, 0]
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# msg.duration = 1000
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# msg.step_height = [0.03, 0.03]
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# msg.life_count += 1
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# print(msg.pos_des)
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# ctrl.Send_cmd(msg)
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# ctrl.Wait_finish(11, msg.gait_id)
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msg.mode = 3
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msg.gait_id = 0
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msg.pos_des = [0, 0, 0.15]
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msg.life_count += 1
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ctrl.Send_cmd(msg)
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ctrl.Wait_finish(3, msg.gait_id)
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