# 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)