qing
0be9e5d0d2
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。
69 lines
2.0 KiB
Python
69 lines
2.0 KiB
Python
# 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)
|