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。
53 lines
1.9 KiB
Python
53 lines
1.9 KiB
Python
# stdd.py —— stdd.mt 的 mtc DSL 源码（新格式）
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# 站立 → 四腿 1 号关节（s2/s4/s6/s8）10°→20°→30°→20°→10° 渐摆 → 收回站立。
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# 编译：cd mtc && python -m mtc ../bot4cj/scripts/stdd.py -o ../bot4cj/scripts/stdd.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) # min_f 原为占位符（首行解析为 0）
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# 名 max ch rb=右后 lb=左后 lf=左前 rf=右前 cam=云台
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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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"""全体回站立姿态（dur ms 线性到位）；首行用默认 10ms = 瞬时跳变"""
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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（对应原 @Action 7 行：200 + 5×50 + 200，T=650ms） ----
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stand() # 首行瞬时到位（原首行分解为恒等微步）
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Beep(10, 650) # spk.F=10 贯穿全程（原各行占位符继承首行）
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Delay(200)
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for _ang in (10, 20, 30, 20, 10):
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for _dev in ("s2", "s4", "s6", "s8"):
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SetTo(_dev, _ang, 50)
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Delay(50)
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for _dev in ("s2", "s4", "s6", "s8"):
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SetTo(_dev, 0, 200) # 收回站立
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Delay(200)
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