53 lines
1.5 KiB
Python
53 lines
1.5 KiB
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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# 设置俯身姿态
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msg.mode = 3 # 姿态控制模式
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msg.gait_id = 0
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msg.pos_des = [0, 0, 0.15] # 设置较低的姿态高度
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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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# 等待姿态稳定
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time.sleep(1.0)
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# 开始前进运动
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msg.mode = 11 # 运动控制模式
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msg.gait_id = 3 # 使用 trot 步态
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msg.vel_des = [0.5, 0, 0] # 设置前进速度，x方向0.5m/s
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msg.duration = 2000 # 运动持续2秒
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msg.step_height = [0.03, 0.03] # 设置步高
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msg.life_count += 1
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ctrl.Send_cmd(msg)
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ctrl.Wait_finish(11, msg.gait_id)
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# 恢复站立姿态
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msg.mode = 3
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msg.gait_id = 0
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msg.pos_des = [0, 0, 0.25] # 恢复到正常站立高度
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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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