58 lines
1.8 KiB
Mathematica
58 lines
1.8 KiB
Mathematica
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# 在 @Action 矩阵中，硬件变量的参数可以使用别名
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@Alias
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name alias;
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A angle;
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F frequency;
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@
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@I2C
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name path;
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i2c-0 /dev/i2c-0;
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i2c-1 /dev/i2c-1;
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@
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@PCA9685
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name I2C address;
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pca9685-0 i2c-1 0x40;
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@
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@MPU6050_BIND
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name I2C addr;
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#mpu6050-0 i2c-1 0x69;
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#mpu6050-1 i2c-1 0x68;
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#mpu6050-2 i2c-0 0x68;
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#mpu6050-3 i2c-0 0x69;
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@
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@Speaker
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name channels sample_rate volumn max_f min_f;
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spk 2 48000 0.6 5000 -;
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@
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@Servo
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name max min offset controller channel;
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s1 90 - - pca9685-0 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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@
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# 行动矩阵
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@Action
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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
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45 - 45 - 45 - 45 - 90 90 10 200; # stand
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- 10 - 10 - 10 - 10 - - - 50;
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- 20 - 20 - 20 - 20 - - - -;
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- 30 - 30 - 30 - 30 - - - -;
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- 20 - 20 - 20 - 20 - - - -;
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- 10 - 10 - 10 - 10 - - - -;
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- 0 - 0 - 0 - 0 - - - 200; # stand
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@
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