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）。
72 lines
2.1 KiB
Python
72 lines
2.1 KiB
Python
# left-turn.py —— left-turn.mt 的 mtc DSL 源码（新格式）
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# 左转步态：对角腿轮换抬摆（s2/s6 ↔ s4/s8 为一组，s1/s5、s3/s7 配合）。
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# 编译：cd mtc && python -m mtc ../bot4cj/scripts/left-turn.py -o ../bot4cj/scripts/left-turn.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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def legs(dev_a, dev_b, ang, dur):
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SetTo(dev_a, ang, dur)
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SetTo(dev_b, ang, dur)
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# ---- 动作序列（200+100+50+50+100+10+50+50+100+10+50，T=770ms） ----
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stand()
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Beep(10, 770) # spk.F=10 贯穿全程
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Delay(200)
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legs("s2", "s6", 45, 100) # r2
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Delay(100)
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legs("s1", "s5", 90, 50) # r3
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Delay(50)
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legs("s2", "s6", 0, 50) # r4
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Delay(50)
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legs("s4", "s8", 45, 100) # r5
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Delay(100)
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legs("s1", "s5", 45, 10) # r6
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Delay(10)
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legs("s3", "s7", 0, 50) # r7
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Delay(50)
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legs("s4", "s8", 0, 50) # r8
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Delay(50)
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legs("s2", "s6", 45, 100) # r9
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Delay(100)
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legs("s3", "s7", 45, 10) # r10
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Delay(10)
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legs("s2", "s6", 0, 50) # r11
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Delay(50)
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