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移植bot4cj

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qing committed 2026-07-28 12:44:07 +08:00
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bot4cj/scripts/jump.mt
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# 在 @Action 矩阵中，硬件变量的参数可以使用别名
@Alias
name alias;
A angle;
F frequency;
@
@I2C
name path;
i2c-0 /dev/i2c-0;
i2c-1 /dev/i2c-1;
@
@PCA9685
name I2C address;
pca9685-0 i2c-1 0x40;
@
@MPU6050_BIND
name I2C addr;
#mpu6050-0 i2c-1 0x69;
#mpu6050-1 i2c-1 0x68;
#mpu6050-2 i2c-0 0x68;
#mpu6050-3 i2c-0 0x69;
@
@Speaker
name channels sample_rate volumn max_f min_f;
spk 2 48000 0.6 5000 -;
@
@Servo
name max min offset controller channel;
s1 90 - - pca9685-0 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
@
# 行动矩阵
@Action
s1.A s2.A s3.A s4.A s5.A s6.A s7.A s8.A s9.A s10.A spk.F spk.delay; # column name
45 - 45 - 45 - 45 - 90 90 10 200; # stand
- 10 - 10 - 10 - 10 - - - 20;
- 20 - 20 - 20 - 20 - - - 20;
- 30 - 30 - 30 - 30 - - - 20;
45 0 45 0 45 0 45 0 90 90 10 200; # stand
@
bot4cj/scripts/left-hand.mt
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# 在 @Action 矩阵中，硬件变量的参数可以使用别名
@Alias
name alias;
A angle;
F frequency;
@
@I2C
name path;
i2c-0 /dev/i2c-0;
i2c-1 /dev/i2c-1;
@
@PCA9685
name I2C address;
pca9685-0 i2c-1 0x40;
@
@MPU6050_BIND
name I2C addr;
#mpu6050-0 i2c-1 0x69;
#mpu6050-1 i2c-1 0x68;
#mpu6050-2 i2c-0 0x68;
#mpu6050-3 i2c-0 0x69;
@
@Speaker
name channels sample_rate volumn max_f min_f;
spk 2 48000 0.6 5000 -;
@
@Servo
name max min offset controller channel;
s1 90 - - pca9685-0 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
@
# 行动矩阵
@Action
s1.A s2.A s3.A s4.A s5.A s6.A s7.A s8.A s9.A s10.A spk.F spk.delay; # column name
45 - 45 - 45 - 45 - 90 90 10 200; # stand
- - - - - - - - - - 400 200;
0 - - - - - - 150 - - 1000 1000;
45 - - - - - - 0 - - 10 20;
@
bot4cj/scripts/left-turn.mt
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# 在 @Action 矩阵中，硬件变量的参数可以使用别名
@Alias
name alias;
A angle;
F frequency;
@
@I2C
name path;
i2c-0 /dev/i2c-0;
i2c-1 /dev/i2c-1;
@
@PCA9685
name I2C address;
pca9685-0 i2c-1 0x40;
@
@MPU6050_BIND
name I2C addr;
#mpu6050-0 i2c-1 0x69;
#mpu6050-1 i2c-1 0x68;
#mpu6050-2 i2c-0 0x68;
#mpu6050-3 i2c-0 0x69;
@
@Speaker
name channels sample_rate volumn max_f min_f;
spk 2 48000 0.6 5000 -;
@
@Servo
name max min offset controller channel;
s1 90 - - pca9685-0 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
@
# 行动矩阵
@Action
s1.A s2.A s3.A s4.A s5.A s6.A s7.A s8.A s9.A s10.A spk.F spk.delay; # column name
45 - 45 - 45 - 45 - 90 90 10 200; # stand
- 45 - - - 45 - - - - - 100;
90 - - - 90 - - - - - - 50; # stand
#
- 0 - - - 0 - - - - - 50;
- - - 45 - - - 45 - - - 100;
45 - - - 45 - - - - - - 10;
- - 0 - - - 0 - - - - 50;
#
- - - 0 - - - 0 - - - 50;
- 45 - - - 45 - - - - - 100;
- - 45 - - - 45 - - - - 10;
- 0 - - - 0 - - - - - 50;
@
bot4cj/scripts/left.bot
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# ONE STEP
#
# legs | neck | free | speaker | delay
~s1 s2 s3 s4 s5 s6 s7 s8 s9 s10 - - - - - - spk delay; # column name
!90 180 -90 -180 90 180 -90 -180 180 180 - - - - - - 5000 1000; # 4-legs spider robot
!- - - - - - - - - 90 - - - - - - - -; # 4-legs spider robot
!- - - - - - - - - - - - - - - - - -; # offset
45 - 45 - 45 - 45 - 90 90 - - - - - - 1000 100; # stand
- - - - - - - - - - - - - - - - 1000 -; # stand
- - - 30 - - - 30 - - - - - - - - 0 50; # right behind up & left front up
- - 40 - - - 90 - - - - - - - - - - -; # right behind forward & left front forward
- - - 0 - - - 0 - - - - - - - - - -; # right behind down & left front down
- 30 - - - 30 - - - - - - - - - - - -; # right front up & left behind up
0 - 90 - 90 - 0 - - - - - - - - - - -; # right front forward & left behind forward
- 0 - - - 0 - - - - - - - - - - - -; # right front down & left behind down
90 - - 30 40 - - 30 - - - - - - - - - -; # right behind up & left front up
- - 40 - - - 90 - - - - - - - - - - -; # right behind forward & left front forward
- - - 0 - - - 0 - - - - - - - - - -; # right behind down & left front down
- 30 - - - 30 - - - - - - - - - - - -; # right front up & left behind up
0 - 90 - 90 - 0 - - - - - - - - - - -; #
- 0 - - - 0 - - - - - - - - - - - -; #
90 - - 30 40 - - 30 - - - - - - - - - -; # right behind up & left front up
- - 40 - - - 90 - - - - - - - - - - -; # right behind forward & left front forward
- - - 0 - - - 0 - - - - - - - - - -; # right behind down & left front down
- 30 - - - 30 - - - - - - - - - - - -; # right front up & left behind up
0 - 90 - 90 - 0 - - - - - - - - - - -; #
- 0 - - - 0 - - - - - - - - - - - -; #
90 - - 30 40 - - 30 - - - - - - - - - -; # right behind up & left front up
- - 40 - - - 90 - - - - - - - - - - -; # right behind forward & left front forward
- - - 0 - - - 0 - - - - - - - - - -; # right behind down & left front down
- 30 - - - 30 - - - - - - - - - - - -; # right front up & left behind up
0 - 90 - 90 - 0 - - - - - - - - - - -; #
- 0 - - - 0 - - - - - - - - - - - -; #
90 - - 30 40 - - 30 - - - - - - - - - -; # right behind up & left front up
- - 40 - - - 90 - - - - - - - - - - -; # right behind forward & left front forward
- - - 0 - - - 0 - - - - - - - - - -; # right behind down & left front down
- 30 - - - 30 - - - - - - - - - - - -; # right front up & left behind up
0 - 90 - 90 - 0 - - - - - - - - - - -; #
- 0 - - - 0 - - - - - - - - - - - -; #
90 - - 30 40 - - 30 - - - - - - - - - -; # right behind up & left front up
- - 40 - - - 90 - - - - - - - - - - -; # right behind forward & left front forward
- - - 0 - - - 0 - - - - - - - - - -; # right behind down & left front down
- 30 - - - 30 - - - - - - - - - - - -; # right front up & left behind up
45 - 45 - 45 - 45 - - - - - - - - - - -; # right front forward & left behind forward
- 0 - - - 0 - - - - - - - - - - - -; # right front down & left behind down
bot4cj/scripts/lie-down.mt
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# 在 @Action 矩阵中，硬件变量的参数可以使用别名
@Alias
name alias;
A angle;
F frequency;
@
@I2C
name path;
i2c-0 /dev/i2c-0;
i2c-1 /dev/i2c-1;
@
@PCA9685
name I2C address;
pca9685-0 i2c-1 0x40;
@
@MPU6050_BIND
name I2C addr;
#mpu6050-0 i2c-1 0x69;
#mpu6050-1 i2c-1 0x68;
#mpu6050-2 i2c-0 0x68;
#mpu6050-3 i2c-0 0x69;
@
@Speaker
name channels sample_rate volumn max_f min_f;
spk 2 48000 0.6 5000 -;
@
@Servo
name max min offset controller channel;
s1 90 - - pca9685-0 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
@
# 行动矩阵
@Action
s1.A s2.A s3.A s4.A s5.A s6.A s7.A s8.A s9.A s10.A spk.F spk.delay; # column name
45 - 45 - 45 - 45 - 90 90 10 200; # stand
- 10 - 10 - 10 - 10 - - - 20;
- 15 - 15 - 15 - 15 - - - 20;
- 20 - 20 - 20 - 20 - - - 20;
- 25 - 25 - 25 - 25 - - - 20;
- 30 - 30 - 30 - 30 - - - 20;
@
bot4cj/scripts/nintyd.bot
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# SNNEAK
# legs | neck | free | delay
~s1 s2 s3 s4 s5 s6 s7 s8 s9 s10 - - - - - - spk delay; # column name
!90 180 -90 -180 90 180 -90 -180 180 180 - - - - - - 5000 1000; # 4-legs spider robot
! - - - - - - - - - - - - - - - - - -; # 4-legs spider robot
! - - - - - - - - - - - - - - - - - -10; # offset
# 俯卧撑
#
90 0 90 0 90 0 90 0 90 90 - - - - - - 1000 200;
- 5 - 5 - 5 - 5 - - - - - - - - 0 50;
- 10 - 10 - 10 - 10 - - - - - - - - - -;
- 15 - 15 - 15 - 15 - - - - - - - - - -;
- 20 - 20 - 20 - 20 - - - - - - - - - -;
- 25 - 25 - 25 - 25 - - - - - - - - - -;
- 30 - 30 - 30 - 30 - - - - - - - - - -;
- 35 - 35 - 35 - 35 - - - - - - - - - -;
#r
- 35 - 35 - 35 - 35 - - - - - - - - 1000 200;
- 30 - 30 - 30 - 30 - - - - - - - - 0 50;
- 25 - 25 - 25 - 25 - - - - - - - - - -;
- 20 - 20 - 20 - 20 - - - - - - - - - -;
- 15 - 15 - 15 - 15 - - - - - - - - - -;
- 10 - 10 - 10 - 10 - - - - - - - - - -;
- 5 - 5 - 5 - 5 - - - - - - - - - -;
- 0 - 0 - 0 - 0 - - - - - - - - - -;
bot4cj/scripts/rght-hand.mt
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# 在 @Action 矩阵中，硬件变量的参数可以使用别名
@Alias
name alias;
A angle;
F frequency;
@
@I2C
name path;
i2c-0 /dev/i2c-0;
i2c-1 /dev/i2c-1;
@
@PCA9685
name I2C address;
pca9685-0 i2c-1 0x40;
@
@MPU6050_BIND
name I2C addr;
#mpu6050-0 i2c-1 0x69;
#mpu6050-1 i2c-1 0x68;
#mpu6050-2 i2c-0 0x68;
#mpu6050-3 i2c-0 0x69;
@
@Speaker
name channels sample_rate volumn max_f min_f;
spk 2 48000 0.6 5000 -;
@
@Servo
name max min offset controller channel;
s1 90 - - pca9685-0 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
@
# 行动矩阵
@Action
s1.A s2.A s3.A s4.A s5.A s6.A s7.A s8.A s9.A s10.A spk.F spk.delay; # column name
45 - 45 - 45 - 45 - 90 90 10 200; # stand
- - - - - 0 - - - - 400 200;
- - 0 - - 150 - - - - 1000 1000;
- - 45 - - 0 - - - - 10 20;
@
bot4cj/scripts/rght.bot
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# ONE STEP
# legs | neck | free | delay
~s1 s2 s3 s4 s5 s6 s7 s8 s9 s10 - - - - - - spk delay; # column name
!90 180 -90 -180 90 180 -90 -180 180 180 - - - - - - 5000 1000; # 4-legs spider robot
! - - - - - - - - - - - - - - - - - -; # 4-legs spider robot
! - - - - - - - - - - - - - - - - - -; # offset
45 - 45 - 45 - 45 - 90 90 - - - - - - 1000 100; # stand
- - - - - - - - - - - - - - - - - -; # stand
#----------------------------------------------------------------
- 30 - - - 25 40 - - - - - - - - - 0 50;
0 - - - 90 - - - - - - - - - - - - -;
- 0 - - - 0 - - - - - - - - - - - -;
- - - 25 - - - 30 - - - - - - - - - -;
50 - 0 - 0 - 90 - - - - - - - - - - -;
- - - 0 - - - 0 - - - - - - - - - -;
#----------------------------------------------------------------
- 30 90 - - 25 40 - - - - - - - - - - -;
0 - - - 90 - - - - - - - - - - - - -;
- 0 - - - 0 - - - - - - - - - - - -;
- - - 25 - - - 30 - - - - - - - - - -;
50 - 0 - 0 - 90 - - - - - - - - - - -;
- - - 0 - - - 0 - - - - - - - - - -;
- 30 90 - - 25 40 - - - - - - - - - - -;
0 - - - 90 - - - - - - - - - - - - -;
- 0 - - - 0 - - - - - - - - - - - -;
- - - 25 - - - 30 - - - - - - - - - -;
50 - 0 - 0 - 90 - - - - - - - - - - -;
- - - 0 - - - 0 - - - - - - - - - -;
- 30 90 - - 25 40 - - - - - - - - - - -;
0 - - - 90 - - - - - - - - - - - - -;
- 0 - - - 0 - - - - - - - - - - - -;
- - - 25 - - - 30 - - - - - - - - - -;
50 - 0 - 0 - 90 - - - - - - - - - - -;
- - - 0 - - - 0 - - - - - - - - - -;
- 30 90 - - 25 40 - - - - - - - - - - -;
0 - - - 90 - - - - - - - - - - - - -;
- 0 - - - 0 - - - - - - - - - - - -;
- - - 25 - - - 30 - - - - - - - - - -;
50 - 0 - 0 - 90 - - - - - - - - - - -;
- - - 0 - - - 0 - - - - - - - - - -;
#----------------------------------------------------------------
- 30 90 - - 25 40 - - - - - - - - - - -;
0 - - - 90 - - - - - - - - - - - - -;
- 0 - - - 0 - - - - - - - - - - - -;
- - - 25 - - - 30 - - - - - - - - - -;
45 - 45 - 45 - 45 - - - - - - - - - - -;
- - - 0 - - - 0 - - - - - - - - - -;
bot4cj/scripts/std.mt
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# 在 @Action 矩阵中，硬件变量的参数可以使用别名
@Alias
name alias;
A angle;
F frequency;
@
@I2C
name path;
i2c-0 /dev/i2c-0;
i2c-1 /dev/i2c-1;
@
@PCA9685
name I2C address;
pca9685-0 i2c-1 0x40;
@
@MPU6050_BIND
name I2C addr;
#mpu6050-0 i2c-1 0x69;
#mpu6050-1 i2c-1 0x68;
#mpu6050-2 i2c-0 0x68;
#mpu6050-3 i2c-0 0x69;
@
@Speaker
name channels sample_rate volumn max_f min_f;
spk 2 48000 0.6 5000 -;
@
@Servo
name max min offset controller channel;
s1 90 - - pca9685-0 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
@
# 行动矩阵
@Action
s1.A s2.A s3.A s4.A s5.A s6.A s7.A s8.A s9.A s10.A spk.F spk.delay; # column name
45 - 45 - 45 - 45 - 90 90 10 200; # stand
@
bot4cj/scripts/stdd.mt
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# 在 @Action 矩阵中，硬件变量的参数可以使用别名
@Alias
name alias;
A angle;
F frequency;
@
@I2C
name path;
i2c-0 /dev/i2c-0;
i2c-1 /dev/i2c-1;
@
@PCA9685
name I2C address;
pca9685-0 i2c-1 0x40;
@
@MPU6050_BIND
name I2C addr;
#mpu6050-0 i2c-1 0x69;
#mpu6050-1 i2c-1 0x68;
#mpu6050-2 i2c-0 0x68;
#mpu6050-3 i2c-0 0x69;
@
@Speaker
name channels sample_rate volumn max_f min_f;
spk 2 48000 0.6 5000 -;
@
@Servo
name max min offset controller channel;
s1 90 - - pca9685-0 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
@
# 行动矩阵
@Action
s1.A s2.A s3.A s4.A s5.A s6.A s7.A s8.A s9.A s10.A spk.F spk.delay; # column name
45 - 45 - 45 - 45 - 90 90 10 200; # stand
- 10 - 10 - 10 - 10 - - - 50;
- 20 - 20 - 20 - 20 - - - -;
- 30 - 30 - 30 - 30 - - - -;
- 20 - 20 - 20 - 20 - - - -;
- 10 - 10 - 10 - 10 - - - -;
- 0 - 0 - 0 - 0 - - - 200; # stand
@
bot4cj/scripts/t0.mt
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# 在 @Action 矩阵中，硬件变量的参数可以使用别名
@Alias
name alias;
A angle;
F frequency;
@
@I2C
name path;
#i2c-0 /dev/i2c-0;
i2c-1 /dev/i2c-1;
@
@PCA9685
name I2C address;
pca9685-0 i2c-1 0x40;
@
@Speaker
name channels sample_rate volumn max_f min_f;
spk 2 48000 0.6 5000 -;
@
@Servo
name max min offset controller channel;
s1 90 - - pca9685-0 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
@
# 行动矩阵
@Action
s1.A s2.A s3.A s4.A s5.A s6.A s7.A s8.A s9.A s10.A spk.F spk.delay; # column name
45 - 45 - 45 - 45 - 90 90 10 200; # stand
90 - - - - - - - - - - 20; # left-behind
45 - - - - - - - - - 0 500; # stand
- - 90 - - - 45 - - - - 20; # right-behind
- - 45 - - - - - - 45 200 500; # stand
- - - - 90 - - - - - 0 20; # right-front
- - - - 45 - - - - - - 500; # stand
- - - - - - 90 - - - - 20; # left-front
- - - - - - 45 - - - - 500; # stand
- - - - - - - - - 90 - 20; # stand
@
bot4cj/scripts/t1.mt
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# 无硬件情况下的测试脚本
# 在 @Action 矩阵中，硬件变量的参数可以使用别名
@Alias
name alias;
A angle;
F frequency;
@
@TEST
name parameter0 patameter1;
t0 p0 p1;
t1 p2 p3;
@
@Action
t0.A t1.F;
10 20;
@
bot4cj/scripts/tilt-b.mt
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# 在 @Action 矩阵中，硬件变量的参数可以使用别名
@Alias
name alias;
A angle;
F frequency;
@
@I2C
name path;
i2c-0 /dev/i2c-0;
i2c-1 /dev/i2c-1;
@
@PCA9685
name I2C address;
pca9685-0 i2c-1 0x40;
@
@MPU6050_BIND
name I2C addr;
#mpu6050-0 i2c-1 0x69;
#mpu6050-1 i2c-1 0x68;
#mpu6050-2 i2c-0 0x68;
#mpu6050-3 i2c-0 0x69;
@
@Speaker
name channels sample_rate volumn max_f min_f;
spk 2 48000 0.6 5000 -;
@
@Servo
name max min offset controller channel;
s1 90 - - pca9685-0 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
@
# 行动矩阵
@Action
s1.A s2.A s3.A s4.A s5.A s6.A s7.A s8.A s9.A s10.A spk.F spk.delay; # column name
45 - 45 - 45 - 45 - 90 90 10 200; # stand
- 10 - 10 - - - - - - - 50;
- 20 - 20 - - - - - - - -;
- 30 - 30 - - - - - - - -;
- 20 - 20 - - - - - - - -;
- 10 - 10 - - - - - - - -;
- 0 - 0 - - - - - - - 200; # stand
@
bot4cj/scripts/tilt-f.mt
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# 在 @Action 矩阵中，硬件变量的参数可以使用别名
@Alias
name alias;
A angle;
F frequency;
@
@I2C
name path;
i2c-0 /dev/i2c-0;
i2c-1 /dev/i2c-1;
@
@PCA9685
name I2C address;
pca9685-0 i2c-1 0x40;
@
@MPU6050_BIND
name I2C addr;
#mpu6050-0 i2c-1 0x69;
#mpu6050-1 i2c-1 0x68;
#mpu6050-2 i2c-0 0x68;
#mpu6050-3 i2c-0 0x69;
@
@Speaker
name channels sample_rate volumn max_f min_f;
spk 2 48000 0.6 5000 -;
@
@Servo
name max min offset controller channel;
s1 90 - - pca9685-0 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
@
# 行动矩阵
@Action
s1.A s2.A s3.A s4.A s5.A s6.A s7.A s8.A s9.A s10.A spk.F spk.delay; # column name
45 - 45 - 45 - 45 - 90 90 10 200; # stand
- - - - - 10 - 10 - - - 50;
- - - - - 20 - 20 - - - -;
- - - - - 30 - 30 - - - -;
- - - - - 20 - 20 - - - -;
- - - - - 10 - 10 - - - -;
- - - - - 0 - 0 - - - 200; # stand
@
bot4cj/scripts/tilt-l.mt
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# 在 @Action 矩阵中，硬件变量的参数可以使用别名
@Alias
name alias;
A angle;
F frequency;
@
@I2C
name path;
i2c-0 /dev/i2c-0;
i2c-1 /dev/i2c-1;
@
@PCA9685
name I2C address;
pca9685-0 i2c-1 0x40;
@
@MPU6050_BIND
name I2C addr;
#mpu6050-0 i2c-1 0x69;
#mpu6050-1 i2c-1 0x68;
#mpu6050-2 i2c-0 0x68;
#mpu6050-3 i2c-0 0x69;
@
@Speaker
name channels sample_rate volumn max_f min_f;
spk 2 48000 0.6 5000 -;
@
@Servo
name max min offset controller channel;
s1 90 - - pca9685-0 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
@
# 行动矩阵
@Action
s1.A s2.A s3.A s4.A s5.A s6.A s7.A s8.A s9.A s10.A spk.F spk.delay; # column name
45 - 45 - 45 - 45 - 90 90 10 200; # stand
- 10 - - - - - 10 - - - 50;
- 20 - - - - - 20 - - - -;
- 30 - - - - - 30 - - - -;
- 20 - - - - - 20 - - - -;
- 10 - - - - - 10 - - - -;
- 0 - - - - - 0 - - - 200; # stand
@
bot4cj/scripts/tilt-r.mt
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# 在 @Action 矩阵中，硬件变量的参数可以使用别名
@Alias
name alias;
A angle;
F frequency;
@
@I2C
name path;
i2c-0 /dev/i2c-0;
i2c-1 /dev/i2c-1;
@
@PCA9685
name I2C address;
pca9685-0 i2c-1 0x40;
@
@MPU6050_BIND
name I2C addr;
#mpu6050-0 i2c-1 0x69;
#mpu6050-1 i2c-1 0x68;
#mpu6050-2 i2c-0 0x68;
#mpu6050-3 i2c-0 0x69;
@
@Speaker
name channels sample_rate volumn max_f min_f;
spk 2 48000 0.6 5000 -;
@
@Servo
name max min offset controller channel;
s1 90 - - pca9685-0 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
@
# 行动矩阵
@Action
s1.A s2.A s3.A s4.A s5.A s6.A s7.A s8.A s9.A s10.A spk.F spk.delay; # column name
45 - 45 - 45 - 45 - 90 90 10 200; # stand
- - - 10 - 10 - - - - - 50;
- - - 20 - 20 - - - - - -;
- - - 30 - 30 - - - - - -;
- - - 20 - 20 - - - - - -;
- - - 10 - 10 - - - - - -;
- - - 0 - 0 - - - - - 200; # stand
@
bot4cj/scripts/zerod.bot
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# SNNEAK
# legs | neck | free | delay
#lb rb rf lf
~s1 s2 s3 s4 s5 s6 s7 s8 s9 s10 - - - - - - spk delay; # column name
!90 180 -90 -180 90 180 -90 -180 180 180 - - - - - - 5000 1000; # 4-legs spider robot
! - - - - - - - - - - - - - - - - - -; # 4-legs spider robot
! - - - - - - - - - - - - - - - - - -; # 4-legs spider robot
# 俯卧撑
#
- 0 - 0 - 0 - 0 90 90 - - - - - - 1000 200;
- 5 - 5 - 5 - 5 - - - - - - - - 0 50;
- 10 - 10 - 10 - 10 - - - - - - - - - -;
- 15 - 15 - 15 - 15 - - - - - - - - - -;
- 20 - 20 - 20 - 20 - - - - - - - - - -;
- 25 - 25 - 25 - 25 - - - - - - - - - -;
- 30 - 30 - 30 - 30 - - - - - - - - - -;
- 35 - 35 - 35 - 35 - - - - - - - - - -;
#r
- 35 - 35 - 35 - 35 - - - - - - - - 1000 200;
- 30 - 30 - 30 - 30 - - - - - - - - 0 50;
- 25 - 25 - 25 - 25 - - - - - - - - - -;
- 20 - 20 - 20 - 20 - - - - - - - - - -;
- 15 - 15 - 15 - 15 - - - - - - - - - -;
- 10 - 10 - 10 - 10 - - - - - - - - - -;
- 5 - 5 - 5 - 5 - - - - - - - - - -;
- 0 - 0 - 0 - 0 - - - - - - - - - -;