Havoc
5cfdb94739
- 修改函数参数顺序，增强可读性 - 根据角度大小调整时间补偿系数和减速阈值，确保不同角度下的运动表现更佳 - 更新停止机制，确保机器人在旋转后平稳停止 - 增加观察输出信息，便于调试和分析旋转过程中的状态
25 lines
632 B
Python
25 lines
632 B
Python
import time
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class BaseMsg:
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def __init__(self, ctrl, msg):
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self.ctrl = ctrl
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self.msg = msg
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def stop_force(self):
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self.msg.mode = 0
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self.msg.gait_id = 0
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self.msg.duration = 0
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self.msg.life_count += 1
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self.ctrl.Send_cmd(self.msg)
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self.ctrl.Wait_finish(0, 0)
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def stop(self, wait_time=1):
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self.msg.mode = 11
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self.msg.gait_id = 26
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self.msg.vel_des = [0, 0, 0]
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self.msg.duration = wait_time * 1000
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self.msg.life_count += 1
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self.ctrl.Send_cmd(self.msg)
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if wait_time:
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time.sleep(wait_time)
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