# left-turn.py —— left-turn.mt 的 mtc DSL 源码（新格式）
# 左转步态：对角腿轮换抬摆（s2/s6 ↔ s4/s8 为一组，s1/s5、s3/s7 配合）。
# 编译：cd mtc && python -m mtc ../bot4cj/scripts/left-turn.py -o ../bot4cj/scripts/left-turn.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)

def legs(dev_a, dev_b, ang, dur):
    SetTo(dev_a, ang, dur)
    SetTo(dev_b, ang, dur)

# ---- 动作序列（200+100+50+50+100+10+50+50+100+10+50，T=770ms） ----
stand()
Beep(10, 770)                       # spk.F=10 贯穿全程
Delay(200)
legs("s2", "s6", 45, 100)           # r2
Delay(100)
legs("s1", "s5", 90, 50)            # r3
Delay(50)
legs("s2", "s6", 0, 50)             # r4
Delay(50)
legs("s4", "s8", 45, 100)           # r5
Delay(100)
legs("s1", "s5", 45, 10)            # r6
Delay(10)
legs("s3", "s7", 0, 50)             # r7
Delay(50)
legs("s4", "s8", 0, 50)             # r8
Delay(50)
legs("s2", "s6", 45, 100)           # r9
Delay(100)
legs("s3", "s7", 45, 10)            # r10
Delay(10)
legs("s2", "s6", 0, 50)             # r11
Delay(50)