qing
d8b601ab9a
动作脚本统一加入 Camera("cam0",640,480,30,8)（record_stand.py 已有），
编译产物自带 @Camera 块，pybot --record 直接可录，取代 v2 的
"注入式录制"变体方案。手写 .mt 保持不动（bot4cj 共享、美化格式）。
54 lines
1.6 KiB
Python
54 lines
1.6 KiB
Python
# 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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# 录制源（pybot --record 需要 @Camera 块）
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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（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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