feat(bot4cj/scripts): 13 个 .mt 脚本的 mtc DSL 源码（新格式）
std/stdd/tilt-r/l/f/b/lie-down/jump/rght-hand/left-hand/left-turn/t0/record_stand 全部转为 Python DSL（mtc 编译器输入），与原 .mt 执行级等价：经 RobotStruct dry-run + EpisodeRecorder 验证，actions.npy 形状一致且逐元素相等，record_stand 的 imu.npy (100,8) 形状一致，编译零告警。 关键语义依据：pybot 微步对舵机列线性插值、对 spk.F 列不插值（行级阶跃），分别对应 SetTo 斜坡段与 Beep 恒值段；首行 delay=200 恒等分解对应 stand() 的 10ms 瞬时到位段。原 .mt 保留未动，可用各文件头注释中的编译命令重新生成。
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# jump.py —— jump.mt 的 mtc DSL 源码（新格式）
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# 跳跃：四腿 1 号关节（s2/s4/s6/s8）快速下蹲 10°→20°→30°（各 20ms）后 200ms 弹回站立。
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# 编译：cd mtc && python -m mtc ../bot4cj/scripts/jump.py -o ../bot4cj/scripts/jump.mt
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Alias("A", "angle")
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Alias("F", "frequency")
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I2C("i2c-0", "/dev/i2c-0")
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I2C("i2c-1", "/dev/i2c-1")
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PCA9685("pca9685-0", "i2c-1", "0x40")
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# 姿态传感器按需启用：
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# MPU6050_BIND("mpu6050-0", "i2c-1", "0x69")
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# MPU6050_BIND("mpu6050-1", "i2c-1", "0x68")
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# MPU6050_BIND("mpu6050-2", "i2c-0", "0x68")
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# MPU6050_BIND("mpu6050-3", "i2c-0", "0x69")
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Speaker("spk", 2, 48000, 0.6, 5000, 0)
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# 名 max ch
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_SERVOS = [("s1", 90, 0), # rb0
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("s2", 180, 1), # rb1
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("s3", -90, 2), # lb0
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("s4", -180, 3), # lb1
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("s5", 90, 4), # lf0
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("s6", 180, 5), # lf1
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("s7", -90, 6), # rf0
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("s8", -180, 7), # rf1
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("s9", 180, 8), # cam0
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("s10", 180, 9)] # cam1
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for _name, _max, _ch in _SERVOS:
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Servo(_name, _max, 0, 0, "pca9685-0", _ch)
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_STAND = [45, 0, 45, 0, 45, 0, 45, 0, 90, 90]
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def stand(dur=10):
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for _i, _ang in enumerate(_STAND, 1):
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SetTo(f"s{_i}", _ang, dur)
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# ---- 动作序列（200 + 3×20 + 200，T=460ms） ----
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stand()
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Beep(10, 460) # spk.F=10 贯穿全程
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Delay(200)
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for _ang in (10, 20, 30):
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for _dev in ("s2", "s4", "s6", "s8"):
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SetTo(_dev, _ang, 20)
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Delay(20)
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stand(200) # 弹回站立
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Delay(200)
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# left-hand.py —— left-hand.mt 的 mtc DSL 源码（新格式）
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# 左手：s1/s8 展开维持 1s 后收回；蜂鸣 10→400→1000→10 Hz 阶跃。
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# 编译：cd mtc && python -m mtc ../bot4cj/scripts/left-hand.py -o ../bot4cj/scripts/left-hand.mt
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Alias("A", "angle")
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Alias("F", "frequency")
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I2C("i2c-0", "/dev/i2c-0")
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I2C("i2c-1", "/dev/i2c-1")
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PCA9685("pca9685-0", "i2c-1", "0x40")
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# 姿态传感器按需启用：
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# MPU6050_BIND("mpu6050-0", "i2c-1", "0x69")
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# MPU6050_BIND("mpu6050-1", "i2c-1", "0x68")
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# MPU6050_BIND("mpu6050-2", "i2c-0", "0x68")
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# MPU6050_BIND("mpu6050-3", "i2c-0", "0x69")
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Speaker("spk", 2, 48000, 0.6, 5000, 0)
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# 名 max ch
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_SERVOS = [("s1", 90, 0), # rb0
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("s2", 180, 1), # rb1
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("s3", -90, 2), # lb0
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("s4", -180, 3), # lb1
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("s5", 90, 4), # lf0
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("s6", 180, 5), # lf1
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("s7", -90, 6), # rf0
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("s8", -180, 7), # rf1
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("s9", 180, 8), # cam0
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("s10", 180, 9)] # cam1
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for _name, _max, _ch in _SERVOS:
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Servo(_name, _max, 0, 0, "pca9685-0", _ch)
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_STAND = [45, 0, 45, 0, 45, 0, 45, 0, 90, 90]
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def stand(dur=10):
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for _i, _ang in enumerate(_STAND, 1):
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SetTo(f"s{_i}", _ang, dur)
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# ---- 动作序列（200 + 200 + 1000 + 20，T=1420ms） ----
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stand()
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Beep(10, 200) # r1: F=10
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Delay(200)
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Beep(400, 200) # r2: 仅变频率（原行无舵机变化）
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Delay(200)
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SetTo("s1", 0, 1000) # r3: s1 45→0，s8 0→150
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SetTo("s8", 150, 1000)
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Beep(1000, 1000) # r3: F=1000
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Delay(1000)
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SetTo("s1", 45, 20) # r4: 收回
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SetTo("s8", 0, 20)
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Beep(10, 20) # r4: F=10
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Delay(20)
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# left-turn.py —— left-turn.mt 的 mtc DSL 源码（新格式）
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# 左转步态：对角腿轮换抬摆（s2/s6 ↔ s4/s8 为一组，s1/s5、s3/s7 配合）。
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# 编译：cd mtc && python -m mtc ../bot4cj/scripts/left-turn.py -o ../bot4cj/scripts/left-turn.mt
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Alias("A", "angle")
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Alias("F", "frequency")
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I2C("i2c-0", "/dev/i2c-0")
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I2C("i2c-1", "/dev/i2c-1")
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PCA9685("pca9685-0", "i2c-1", "0x40")
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# 姿态传感器按需启用：
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# MPU6050_BIND("mpu6050-0", "i2c-1", "0x69")
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# MPU6050_BIND("mpu6050-1", "i2c-1", "0x68")
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# MPU6050_BIND("mpu6050-2", "i2c-0", "0x68")
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# MPU6050_BIND("mpu6050-3", "i2c-0", "0x69")
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Speaker("spk", 2, 48000, 0.6, 5000, 0)
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# 名 max ch
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_SERVOS = [("s1", 90, 0), # rb0
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("s2", 180, 1), # rb1
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("s3", -90, 2), # lb0
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("s4", -180, 3), # lb1
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("s5", 90, 4), # lf0
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("s6", 180, 5), # lf1
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("s7", -90, 6), # rf0
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("s8", -180, 7), # rf1
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("s9", 180, 8), # cam0
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("s10", 180, 9)] # cam1
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for _name, _max, _ch in _SERVOS:
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Servo(_name, _max, 0, 0, "pca9685-0", _ch)
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_STAND = [45, 0, 45, 0, 45, 0, 45, 0, 90, 90]
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def stand(dur=10):
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for _i, _ang in enumerate(_STAND, 1):
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SetTo(f"s{_i}", _ang, dur)
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def legs(dev_a, dev_b, ang, dur):
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SetTo(dev_a, ang, dur)
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SetTo(dev_b, ang, dur)
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# ---- 动作序列（200+100+50+50+100+10+50+50+100+10+50，T=770ms） ----
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stand()
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Beep(10, 770) # spk.F=10 贯穿全程
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Delay(200)
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legs("s2", "s6", 45, 100) # r2
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Delay(100)
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legs("s1", "s5", 90, 50) # r3
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Delay(50)
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legs("s2", "s6", 0, 50) # r4
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Delay(50)
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legs("s4", "s8", 45, 100) # r5
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Delay(100)
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legs("s1", "s5", 45, 10) # r6
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Delay(10)
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legs("s3", "s7", 0, 50) # r7
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Delay(50)
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legs("s4", "s8", 0, 50) # r8
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Delay(50)
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legs("s2", "s6", 45, 100) # r9
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Delay(100)
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legs("s3", "s7", 45, 10) # r10
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Delay(10)
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legs("s2", "s6", 0, 50) # r11
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Delay(50)
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# lie-down.py —— lie-down.mt 的 mtc DSL 源码（新格式）
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# 趴下：四腿 1 号关节（s2/s4/s6/s8）10°→15°→20°→25°→30° 渐增（各 20ms）。
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# 编译：cd mtc && python -m mtc ../bot4cj/scripts/lie-down.py -o ../bot4cj/scripts/lie-down.mt
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Alias("A", "angle")
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Alias("F", "frequency")
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I2C("i2c-0", "/dev/i2c-0")
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I2C("i2c-1", "/dev/i2c-1")
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PCA9685("pca9685-0", "i2c-1", "0x40")
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# 姿态传感器按需启用：
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# MPU6050_BIND("mpu6050-0", "i2c-1", "0x69")
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# MPU6050_BIND("mpu6050-1", "i2c-1", "0x68")
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# MPU6050_BIND("mpu6050-2", "i2c-0", "0x68")
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# MPU6050_BIND("mpu6050-3", "i2c-0", "0x69")
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Speaker("spk", 2, 48000, 0.6, 5000, 0)
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# 名 max ch
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_SERVOS = [("s1", 90, 0), # rb0
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("s2", 180, 1), # rb1
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("s3", -90, 2), # lb0
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("s4", -180, 3), # lb1
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("s5", 90, 4), # lf0
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("s6", 180, 5), # lf1
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("s7", -90, 6), # rf0
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("s8", -180, 7), # rf1
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("s9", 180, 8), # cam0
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("s10", 180, 9)] # cam1
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for _name, _max, _ch in _SERVOS:
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Servo(_name, _max, 0, 0, "pca9685-0", _ch)
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_STAND = [45, 0, 45, 0, 45, 0, 45, 0, 90, 90]
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def stand(dur=10):
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for _i, _ang in enumerate(_STAND, 1):
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SetTo(f"s{_i}", _ang, dur)
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# ---- 动作序列（200 + 5×20，T=300ms） ----
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stand()
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Beep(10, 300)
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Delay(200)
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for _ang in (10, 15, 20, 25, 30):
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for _dev in ("s2", "s4", "s6", "s8"):
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SetTo(_dev, _ang, 20)
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Delay(20)
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# record_stand.py —— record_stand.mt 的 mtc DSL 源码（新格式）
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# 录制用：stand → s1/s3/s5/s7 依次到 60°/45°/30°/45° 姿态序列（各 200ms），
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# 含 @Camera（合成帧）与激活的 @MPU6050_BIND（imu.npy 录制）。
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# 编译：cd mtc && python -m mtc ../bot4cj/scripts/record_stand.py -o ../bot4cj/scripts/record_stand.mt
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Alias("A", "angle")
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Alias("F", "frequency")
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I2C("i2c-0", "/dev/i2c-0")
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I2C("i2c-1", "/dev/i2c-1")
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PCA9685("pca9685-0", "i2c-1", "0x40")
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MPU6050_BIND("mpu6050-0", "i2c-1", "0x68")
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Speaker("spk", 2, 48000, 0.6, 5000, 0) # min_f 原为占位符（首行解析为 0）
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# 名 max ch
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_SERVOS = [("s1", 90, 0), # rb0
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("s2", 180, 1), # rb1
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("s3", -90, 2), # lb0
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("s4", -180, 3), # lb1
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("s5", 90, 4), # lf0
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("s6", 180, 5), # lf1
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("s7", -90, 6), # rf0
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("s8", -180, 7), # rf1
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("s9", 180, 8), # cam0
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("s10", 180, 9)] # cam1
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for _name, _max, _ch in _SERVOS:
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Servo(_name, _max, 0, 0, "pca9685-0", _ch)
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Camera("cam0", 640, 480, 30, 8)
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_STAND = [45, 0, 45, 0, 45, 0, 45, 0, 90, 90]
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def stand(dur=10):
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for _i, _ang in enumerate(_STAND, 1):
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SetTo(f"s{_i}", _ang, dur)
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# ---- 动作序列（5×200，T=1000ms → 100 栅格行） ----
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# 注：原文件注释「首行不分解，共 81 步」已过时——99c1bc1 起首行也分解为
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# 20 个恒等微步，原版/编译版在现行 pybot 语义下均为 100 步且逐元素相等。
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stand()
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Beep(10, 1000) # spk.F=10 贯穿全程（r2-r5 占位符继承首行）
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Delay(200)
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for _ang in (60, 45, 30, 45):
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for _dev in ("s1", "s3", "s5", "s7"):
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SetTo(_dev, _ang, 200)
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Delay(200)
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@@ -0,0 +1,57 @@
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# rght-hand.py —— rght-hand.mt 的 mtc DSL 源码（新格式）
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# 右手（右前腿 s7/s8 为 rf，本脚本动 s3/s6 = 左后/左前？保持原脚本语义）：
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# s6 收回 → s3/s6 展开维持 1s → 收回；蜂鸣 10→400→1000→10 Hz 阶跃。
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# 编译：cd mtc && python -m mtc ../bot4cj/scripts/rght-hand.py -o ../bot4cj/scripts/rght-hand.mt
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Alias("A", "angle")
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Alias("F", "frequency")
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I2C("i2c-0", "/dev/i2c-0")
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I2C("i2c-1", "/dev/i2c-1")
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PCA9685("pca9685-0", "i2c-1", "0x40")
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# 姿态传感器按需启用：
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# MPU6050_BIND("mpu6050-0", "i2c-1", "0x69")
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# MPU6050_BIND("mpu6050-1", "i2c-1", "0x68")
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# MPU6050_BIND("mpu6050-2", "i2c-0", "0x68")
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# MPU6050_BIND("mpu6050-3", "i2c-0", "0x69")
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Speaker("spk", 2, 48000, 0.6, 5000, 0)
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# 名 max ch
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_SERVOS = [("s1", 90, 0), # rb0
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("s2", 180, 1), # rb1
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("s3", -90, 2), # lb0
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("s4", -180, 3), # lb1
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("s5", 90, 4), # lf0
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("s6", 180, 5), # lf1
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("s7", -90, 6), # rf0
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("s8", -180, 7), # rf1
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("s9", 180, 8), # cam0
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("s10", 180, 9)] # cam1
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for _name, _max, _ch in _SERVOS:
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Servo(_name, _max, 0, 0, "pca9685-0", _ch)
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_STAND = [45, 0, 45, 0, 45, 0, 45, 0, 90, 90]
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def stand(dur=10):
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for _i, _ang in enumerate(_STAND, 1):
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SetTo(f"s{_i}", _ang, dur)
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# ---- 动作序列（200 + 200 + 1000 + 20，T=1420ms） ----
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# spk.F 行级阶跃（pybot 微步对频率列不插值，直接取目标值），与 Beep 恒值段一致
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stand()
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Beep(10, 200) # r1: F=10
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Delay(200)
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SetTo("s6", 0, 200) # r2: s6 45→0
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Beep(400, 200) # r2: F=400
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Delay(200)
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SetTo("s3", 0, 1000) # r3: s3 45→0，s6 0→150
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SetTo("s6", 150, 1000)
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Beep(1000, 1000) # r3: F=1000
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Delay(1000)
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SetTo("s3", 45, 20) # r4: 收回
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SetTo("s6", 0, 20)
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Beep(10, 20) # r4: F=10
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Delay(20)
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@@ -0,0 +1,53 @@
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# std.py —— std.mt 的 mtc DSL 源码（新格式）
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# Dashun 蜘蛛机器人站立姿态：10 舵机到位 + spk 10Hz 节拍 200ms。
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#
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# 编译（产物覆盖同目录 std.mt）：
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# cd mtc && python -m mtc ../bot4cj/scripts/std.py -o ../bot4cj/scripts/std.mt
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#
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# 与原手写 std.mt 的执行等价性：
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# 原 @Action 单行 delay=200，pybot 分解为 20 个恒等微步（首行不插值）；
|
||||
# 本脚本编译为 20 行 delay=10 的常量栅格（servo 段 10ms 到位后保持，
|
||||
# spk.frequency 段覆盖全程），两者微步序列完全一致
|
||||
# （tests 验证：两版本 recorder 录制的 actions.npy 逐元素相等）。
|
||||
|
||||
Alias("A", "angle")
|
||||
Alias("F", "frequency")
|
||||
|
||||
I2C("i2c-0", "/dev/i2c-0")
|
||||
I2C("i2c-1", "/dev/i2c-1")
|
||||
|
||||
PCA9685("pca9685-0", "i2c-1", "0x40")
|
||||
|
||||
# 姿态传感器按需启用（对应原 std.mt 中的注释行）：
|
||||
# MPU6050_BIND("mpu6050-0", "i2c-1", "0x69")
|
||||
# MPU6050_BIND("mpu6050-1", "i2c-1", "0x68")
|
||||
# MPU6050_BIND("mpu6050-2", "i2c-0", "0x68")
|
||||
# MPU6050_BIND("mpu6050-3", "i2c-0", "0x69")
|
||||
|
||||
Speaker("spk", 2, 48000, 0.6, 5000, 0) # min_f 原为占位符 '-'（首行解析为 0）
|
||||
|
||||
Servo("s1", 90, 0, 0, "pca9685-0", 0) # rb0
|
||||
Servo("s2", 180, 0, 0, "pca9685-0", 1) # rb1
|
||||
Servo("s3", -90, 0, 0, "pca9685-0", 2) # lb0
|
||||
Servo("s4", -180, 0, 0, "pca9685-0", 3) # lb1
|
||||
Servo("s5", 90, 0, 0, "pca9685-0", 4) # lf0
|
||||
Servo("s6", 180, 0, 0, "pca9685-0", 5) # lf1
|
||||
Servo("s7", -90, 0, 0, "pca9685-0", 6) # rf0
|
||||
Servo("s8", -180, 0, 0, "pca9685-0", 7) # rf1
|
||||
Servo("s9", 180, 0, 0, "pca9685-0", 8) # cam0
|
||||
Servo("s10", 180, 0, 0, "pca9685-0", 9) # cam1
|
||||
|
||||
# stand：10ms（一个栅格步）内到位并保持；首行即目标值，无爬升
|
||||
SetTo("s1", 45, 10)
|
||||
SetTo("s2", 0, 10)
|
||||
SetTo("s3", 45, 10)
|
||||
SetTo("s4", 0, 10)
|
||||
SetTo("s5", 45, 10)
|
||||
SetTo("s6", 0, 10)
|
||||
SetTo("s7", 45, 10)
|
||||
SetTo("s8", 0, 10)
|
||||
SetTo("s9", 90, 10)
|
||||
SetTo("s10", 90, 10)
|
||||
|
||||
# spk 10Hz 持续 200ms —— 对齐原行 spk.F=10 + delay=200；T=200（20 栅格行）
|
||||
Beep(10, 200)
|
||||
@@ -0,0 +1,52 @@
|
||||
# stdd.py —— stdd.mt 的 mtc DSL 源码（新格式）
|
||||
# 站立 → 四腿 1 号关节（s2/s4/s6/s8）10°→20°→30°→20°→10° 渐摆 → 收回站立。
|
||||
# 编译：cd mtc && python -m mtc ../bot4cj/scripts/stdd.py -o ../bot4cj/scripts/stdd.mt
|
||||
|
||||
Alias("A", "angle")
|
||||
Alias("F", "frequency")
|
||||
|
||||
I2C("i2c-0", "/dev/i2c-0")
|
||||
I2C("i2c-1", "/dev/i2c-1")
|
||||
|
||||
PCA9685("pca9685-0", "i2c-1", "0x40")
|
||||
|
||||
# 姿态传感器按需启用：
|
||||
# MPU6050_BIND("mpu6050-0", "i2c-1", "0x69")
|
||||
# MPU6050_BIND("mpu6050-1", "i2c-1", "0x68")
|
||||
# MPU6050_BIND("mpu6050-2", "i2c-0", "0x68")
|
||||
# MPU6050_BIND("mpu6050-3", "i2c-0", "0x69")
|
||||
|
||||
Speaker("spk", 2, 48000, 0.6, 5000, 0) # min_f 原为占位符（首行解析为 0）
|
||||
|
||||
# 名 max ch rb=右后 lb=左后 lf=左前 rf=右前 cam=云台
|
||||
_SERVOS = [("s1", 90, 0), # rb0
|
||||
("s2", 180, 1), # rb1
|
||||
("s3", -90, 2), # lb0
|
||||
("s4", -180, 3), # lb1
|
||||
("s5", 90, 4), # lf0
|
||||
("s6", 180, 5), # lf1
|
||||
("s7", -90, 6), # rf0
|
||||
("s8", -180, 7), # rf1
|
||||
("s9", 180, 8), # cam0
|
||||
("s10", 180, 9)] # cam1
|
||||
for _name, _max, _ch in _SERVOS:
|
||||
Servo(_name, _max, 0, 0, "pca9685-0", _ch)
|
||||
|
||||
_STAND = [45, 0, 45, 0, 45, 0, 45, 0, 90, 90]
|
||||
|
||||
def stand(dur=10):
|
||||
"""全体回站立姿态（dur ms 线性到位）；首行用默认 10ms = 瞬时跳变"""
|
||||
for _i, _ang in enumerate(_STAND, 1):
|
||||
SetTo(f"s{_i}", _ang, dur)
|
||||
|
||||
# ---- 动作序列（对应原 @Action 7 行：200 + 5×50 + 200，T=650ms） ----
|
||||
stand() # 首行瞬时到位（原首行分解为恒等微步）
|
||||
Beep(10, 650) # spk.F=10 贯穿全程（原各行占位符继承首行）
|
||||
Delay(200)
|
||||
for _ang in (10, 20, 30, 20, 10):
|
||||
for _dev in ("s2", "s4", "s6", "s8"):
|
||||
SetTo(_dev, _ang, 50)
|
||||
Delay(50)
|
||||
for _dev in ("s2", "s4", "s6", "s8"):
|
||||
SetTo(_dev, 0, 200) # 收回站立
|
||||
Delay(200)
|
||||
@@ -0,0 +1,60 @@
|
||||
# t0.py —— t0.mt 的 mtc DSL 源码（新格式）
|
||||
# 对角步态（trot）单周期：左后/右前/左前/右后依次抬摆，spk.F 10→0→200→0 Hz。
|
||||
# 编译：cd mtc && python -m mtc ../bot4cj/scripts/t0.py -o ../bot4cj/scripts/t0.mt
|
||||
|
||||
Alias("A", "angle")
|
||||
Alias("F", "frequency")
|
||||
|
||||
# I2C("i2c-0", "/dev/i2c-0") # 原 t0.mt 中此行为注释
|
||||
I2C("i2c-1", "/dev/i2c-1")
|
||||
|
||||
PCA9685("pca9685-0", "i2c-1", "0x40")
|
||||
|
||||
Speaker("spk", 2, 48000, 0.6, 5000, 0) # min_f 原为占位符（首行解析为 0）
|
||||
|
||||
# 名 max ch
|
||||
_SERVOS = [("s1", 90, 0), # rb0
|
||||
("s2", 180, 1), # rb1
|
||||
("s3", -90, 2), # lb0
|
||||
("s4", -180, 3), # lb1
|
||||
("s5", 90, 4), # lf0
|
||||
("s6", 180, 5), # lf1
|
||||
("s7", -90, 6), # rf0
|
||||
("s8", -180, 7), # rf1
|
||||
("s9", 180, 8), # cam0
|
||||
("s10", 180, 9)] # cam1
|
||||
for _name, _max, _ch in _SERVOS:
|
||||
Servo(_name, _max, 0, 0, "pca9685-0", _ch)
|
||||
|
||||
_STAND = [45, 0, 45, 0, 45, 0, 45, 0, 90, 90]
|
||||
|
||||
def stand(dur=10):
|
||||
for _i, _ang in enumerate(_STAND, 1):
|
||||
SetTo(f"s{_i}", _ang, dur)
|
||||
|
||||
# ---- 动作序列（200+20 + 500+20 + 500+20 + 500+20 + 500+20，T=2300ms） ----
|
||||
# 频率通道：Beep 段外 rest=0 = 静音（对齐原脚本 F=0 / 占位符继承 0 的行）
|
||||
stand()
|
||||
Beep(10, 220) # r1-r2: F=10（r2 占位符继承首行）
|
||||
Delay(200)
|
||||
SetTo("s1", 90, 20) # r2: left-behind
|
||||
Delay(20)
|
||||
SetTo("s1", 45, 500) # r3: stand（F=0 → 段间空隙回落静音）
|
||||
Delay(500)
|
||||
SetTo("s3", 90, 20) # r4: right-behind
|
||||
SetTo("s7", 45, 20)
|
||||
Delay(20)
|
||||
SetTo("s3", 45, 500) # r5: stand + F=200
|
||||
SetTo("s10", 45, 500)
|
||||
Beep(200, 500)
|
||||
Delay(500)
|
||||
SetTo("s5", 90, 20) # r6: right-front（F=0）
|
||||
Delay(20)
|
||||
SetTo("s5", 45, 500) # r7: stand
|
||||
Delay(500)
|
||||
SetTo("s7", 90, 20) # r8: left-front
|
||||
Delay(20)
|
||||
SetTo("s7", 45, 500) # r9: stand
|
||||
Delay(500)
|
||||
SetTo("s10", 90, 20) # r10: 云台回 90
|
||||
Delay(20)
|
||||
@@ -0,0 +1,51 @@
|
||||
# tilt-b.py —— tilt-b.mt 的 mtc DSL 源码（新格式）
|
||||
# 后倾：s2/s4（后腿 1 号关节）10°→30° 渐摆后收回。
|
||||
# 编译：cd mtc && python -m mtc ../bot4cj/scripts/tilt-b.py -o ../bot4cj/scripts/tilt-b.mt
|
||||
|
||||
Alias("A", "angle")
|
||||
Alias("F", "frequency")
|
||||
|
||||
I2C("i2c-0", "/dev/i2c-0")
|
||||
I2C("i2c-1", "/dev/i2c-1")
|
||||
|
||||
PCA9685("pca9685-0", "i2c-1", "0x40")
|
||||
|
||||
# 姿态传感器按需启用：
|
||||
# MPU6050_BIND("mpu6050-0", "i2c-1", "0x69")
|
||||
# MPU6050_BIND("mpu6050-1", "i2c-1", "0x68")
|
||||
# MPU6050_BIND("mpu6050-2", "i2c-0", "0x68")
|
||||
# MPU6050_BIND("mpu6050-3", "i2c-0", "0x69")
|
||||
|
||||
Speaker("spk", 2, 48000, 0.6, 5000, 0)
|
||||
|
||||
# 名 max ch
|
||||
_SERVOS = [("s1", 90, 0), # rb0
|
||||
("s2", 180, 1), # rb1
|
||||
("s3", -90, 2), # lb0
|
||||
("s4", -180, 3), # lb1
|
||||
("s5", 90, 4), # lf0
|
||||
("s6", 180, 5), # lf1
|
||||
("s7", -90, 6), # rf0
|
||||
("s8", -180, 7), # rf1
|
||||
("s9", 180, 8), # cam0
|
||||
("s10", 180, 9)] # cam1
|
||||
for _name, _max, _ch in _SERVOS:
|
||||
Servo(_name, _max, 0, 0, "pca9685-0", _ch)
|
||||
|
||||
_STAND = [45, 0, 45, 0, 45, 0, 45, 0, 90, 90]
|
||||
|
||||
def stand(dur=10):
|
||||
for _i, _ang in enumerate(_STAND, 1):
|
||||
SetTo(f"s{_i}", _ang, dur)
|
||||
|
||||
# ---- 动作序列（200 + 5×50 + 200，T=650ms） ----
|
||||
stand()
|
||||
Beep(10, 650)
|
||||
Delay(200)
|
||||
for _ang in (10, 20, 30, 20, 10):
|
||||
for _dev in ("s2", "s4"):
|
||||
SetTo(_dev, _ang, 50)
|
||||
Delay(50)
|
||||
for _dev in ("s2", "s4"):
|
||||
SetTo(_dev, 0, 200)
|
||||
Delay(200)
|
||||
@@ -0,0 +1,51 @@
|
||||
# tilt-f.py —— tilt-f.mt 的 mtc DSL 源码（新格式）
|
||||
# 前倾：s6/s8（前腿 1 号关节）10°→30° 渐摆后收回。
|
||||
# 编译：cd mtc && python -m mtc ../bot4cj/scripts/tilt-f.py -o ../bot4cj/scripts/tilt-f.mt
|
||||
|
||||
Alias("A", "angle")
|
||||
Alias("F", "frequency")
|
||||
|
||||
I2C("i2c-0", "/dev/i2c-0")
|
||||
I2C("i2c-1", "/dev/i2c-1")
|
||||
|
||||
PCA9685("pca9685-0", "i2c-1", "0x40")
|
||||
|
||||
# 姿态传感器按需启用：
|
||||
# MPU6050_BIND("mpu6050-0", "i2c-1", "0x69")
|
||||
# MPU6050_BIND("mpu6050-1", "i2c-1", "0x68")
|
||||
# MPU6050_BIND("mpu6050-2", "i2c-0", "0x68")
|
||||
# MPU6050_BIND("mpu6050-3", "i2c-0", "0x69")
|
||||
|
||||
Speaker("spk", 2, 48000, 0.6, 5000, 0)
|
||||
|
||||
# 名 max ch
|
||||
_SERVOS = [("s1", 90, 0), # rb0
|
||||
("s2", 180, 1), # rb1
|
||||
("s3", -90, 2), # lb0
|
||||
("s4", -180, 3), # lb1
|
||||
("s5", 90, 4), # lf0
|
||||
("s6", 180, 5), # lf1
|
||||
("s7", -90, 6), # rf0
|
||||
("s8", -180, 7), # rf1
|
||||
("s9", 180, 8), # cam0
|
||||
("s10", 180, 9)] # cam1
|
||||
for _name, _max, _ch in _SERVOS:
|
||||
Servo(_name, _max, 0, 0, "pca9685-0", _ch)
|
||||
|
||||
_STAND = [45, 0, 45, 0, 45, 0, 45, 0, 90, 90]
|
||||
|
||||
def stand(dur=10):
|
||||
for _i, _ang in enumerate(_STAND, 1):
|
||||
SetTo(f"s{_i}", _ang, dur)
|
||||
|
||||
# ---- 动作序列（200 + 5×50 + 200，T=650ms） ----
|
||||
stand()
|
||||
Beep(10, 650)
|
||||
Delay(200)
|
||||
for _ang in (10, 20, 30, 20, 10):
|
||||
for _dev in ("s6", "s8"):
|
||||
SetTo(_dev, _ang, 50)
|
||||
Delay(50)
|
||||
for _dev in ("s6", "s8"):
|
||||
SetTo(_dev, 0, 200)
|
||||
Delay(200)
|
||||
@@ -0,0 +1,51 @@
|
||||
# tilt-l.py —— tilt-l.mt 的 mtc DSL 源码（新格式）
|
||||
# 左倾：s2/s8（右侧腿 1 号关节）10°→30° 渐摆后收回。
|
||||
# 编译：cd mtc && python -m mtc ../bot4cj/scripts/tilt-l.py -o ../bot4cj/scripts/tilt-l.mt
|
||||
|
||||
Alias("A", "angle")
|
||||
Alias("F", "frequency")
|
||||
|
||||
I2C("i2c-0", "/dev/i2c-0")
|
||||
I2C("i2c-1", "/dev/i2c-1")
|
||||
|
||||
PCA9685("pca9685-0", "i2c-1", "0x40")
|
||||
|
||||
# 姿态传感器按需启用：
|
||||
# MPU6050_BIND("mpu6050-0", "i2c-1", "0x69")
|
||||
# MPU6050_BIND("mpu6050-1", "i2c-1", "0x68")
|
||||
# MPU6050_BIND("mpu6050-2", "i2c-0", "0x68")
|
||||
# MPU6050_BIND("mpu6050-3", "i2c-0", "0x69")
|
||||
|
||||
Speaker("spk", 2, 48000, 0.6, 5000, 0)
|
||||
|
||||
# 名 max ch
|
||||
_SERVOS = [("s1", 90, 0), # rb0
|
||||
("s2", 180, 1), # rb1
|
||||
("s3", -90, 2), # lb0
|
||||
("s4", -180, 3), # lb1
|
||||
("s5", 90, 4), # lf0
|
||||
("s6", 180, 5), # lf1
|
||||
("s7", -90, 6), # rf0
|
||||
("s8", -180, 7), # rf1
|
||||
("s9", 180, 8), # cam0
|
||||
("s10", 180, 9)] # cam1
|
||||
for _name, _max, _ch in _SERVOS:
|
||||
Servo(_name, _max, 0, 0, "pca9685-0", _ch)
|
||||
|
||||
_STAND = [45, 0, 45, 0, 45, 0, 45, 0, 90, 90]
|
||||
|
||||
def stand(dur=10):
|
||||
for _i, _ang in enumerate(_STAND, 1):
|
||||
SetTo(f"s{_i}", _ang, dur)
|
||||
|
||||
# ---- 动作序列（200 + 5×50 + 200，T=650ms） ----
|
||||
stand()
|
||||
Beep(10, 650)
|
||||
Delay(200)
|
||||
for _ang in (10, 20, 30, 20, 10):
|
||||
for _dev in ("s2", "s8"):
|
||||
SetTo(_dev, _ang, 50)
|
||||
Delay(50)
|
||||
for _dev in ("s2", "s8"):
|
||||
SetTo(_dev, 0, 200)
|
||||
Delay(200)
|
||||
@@ -0,0 +1,51 @@
|
||||
# tilt-r.py —— tilt-r.mt 的 mtc DSL 源码（新格式）
|
||||
# 右倾：s4/s6（左侧腿 1 号关节）10°→30° 渐摆后收回。
|
||||
# 编译：cd mtc && python -m mtc ../bot4cj/scripts/tilt-r.py -o ../bot4cj/scripts/tilt-r.mt
|
||||
|
||||
Alias("A", "angle")
|
||||
Alias("F", "frequency")
|
||||
|
||||
I2C("i2c-0", "/dev/i2c-0")
|
||||
I2C("i2c-1", "/dev/i2c-1")
|
||||
|
||||
PCA9685("pca9685-0", "i2c-1", "0x40")
|
||||
|
||||
# 姿态传感器按需启用：
|
||||
# MPU6050_BIND("mpu6050-0", "i2c-1", "0x69")
|
||||
# MPU6050_BIND("mpu6050-1", "i2c-1", "0x68")
|
||||
# MPU6050_BIND("mpu6050-2", "i2c-0", "0x68")
|
||||
# MPU6050_BIND("mpu6050-3", "i2c-0", "0x69")
|
||||
|
||||
Speaker("spk", 2, 48000, 0.6, 5000, 0)
|
||||
|
||||
# 名 max ch
|
||||
_SERVOS = [("s1", 90, 0), # rb0
|
||||
("s2", 180, 1), # rb1
|
||||
("s3", -90, 2), # lb0
|
||||
("s4", -180, 3), # lb1
|
||||
("s5", 90, 4), # lf0
|
||||
("s6", 180, 5), # lf1
|
||||
("s7", -90, 6), # rf0
|
||||
("s8", -180, 7), # rf1
|
||||
("s9", 180, 8), # cam0
|
||||
("s10", 180, 9)] # cam1
|
||||
for _name, _max, _ch in _SERVOS:
|
||||
Servo(_name, _max, 0, 0, "pca9685-0", _ch)
|
||||
|
||||
_STAND = [45, 0, 45, 0, 45, 0, 45, 0, 90, 90]
|
||||
|
||||
def stand(dur=10):
|
||||
for _i, _ang in enumerate(_STAND, 1):
|
||||
SetTo(f"s{_i}", _ang, dur)
|
||||
|
||||
# ---- 动作序列（200 + 5×50 + 200，T=650ms） ----
|
||||
stand()
|
||||
Beep(10, 650)
|
||||
Delay(200)
|
||||
for _ang in (10, 20, 30, 20, 10):
|
||||
for _dev in ("s4", "s6"):
|
||||
SetTo(_dev, _ang, 50)
|
||||
Delay(50)
|
||||
for _dev in ("s4", "s6"):
|
||||
SetTo(_dev, 0, 200)
|
||||
Delay(200)
|
||||
Reference in new issue
Block a user