diff --git a/include/armcontroller.hpp b/include/armcontroller.hpp index e4a4df4..c10e216 100644 --- a/include/armcontroller.hpp +++ b/include/armcontroller.hpp @@ -118,7 +118,7 @@ private: msg_data msgData_{}; // anglePos anglePos_{}; uint seq = 0; // 唯一识别码 - uint funcdoe = 0; // 指令功能码 + uint funcdoe = 3; // 指令功能码 uint address = 0; // 指令地址码 uint mode = 0; // 控制模式 unitree_arm::msg::dds_::ArmString_ msg_{}; // 传送消息 diff --git a/src/armController.cpp b/src/armController.cpp index 9bd7be9..5a1af3f 100644 --- a/src/armController.cpp +++ b/src/armController.cpp @@ -186,6 +186,7 @@ void armController::angleLRAction(double lr) this->msgData_.angle0 += lr; else this->msgData_.angle0 = this->msgData_.angle0 > 0 ? 135 : -135; + this->mode = 0; this->setAngle(this->msgData_); } @@ -207,6 +208,7 @@ void armController::angleUpDownAction(double j1, double j2, double j4) else this->msgData_.angle4 = this->msgData_.angle4 > 0 ? 90 : -90; + this->mode = 0; this->setAngle(this->msgData_); } @@ -216,24 +218,53 @@ void armController::angleRotateAction(double j5) this->msgData_.angle5 += j5; else this->msgData_.angle5 = this->msgData_.angle5 > 0 ? 135 : -135; + this->mode = 0; this->setAngle(this->msgData_); } // 扔垃圾 void armController::throwTrash() { - this->msgData_.angle0 = 70.9; - this->msgData_.angle1 = 20.0; - this->msgData_.angle2 = 38.7; - this->msgData_.angle3 = 10.1; - this->msgData_.angle4 = 8.7; - this->msgData_.angle5 = -1.4; + // this->msgData_.angle0 = 51.5; + // this->msgData_.angle1 = 39.400; + // this->msgData_.angle2 = -15.3; + // this->msgData_.angle3 = 2.2; + // this->msgData_.angle4 = 66.09999; + // this->msgData_.angle5 = 48.5; + + this->mode = 1; + + this->msgData_.angle0 = -0.899; + this->msgData_.angle1 = 37.2; + this->msgData_.angle2 = -39.2; + this->msgData_.angle3 = 1.7999; + this->msgData_.angle4 = 45.299; + this->msgData_.angle5 = -2.799; this->setAngle(this->msgData_); - std::this_thread::sleep_for(std::chrono::seconds(3)); + // this->msgData_.angle0 = 41.700; + // this->msgData_.angle1 = 1.7999; + // this->msgData_.angle2 = 26.3999; + // this->msgData_.angle3 = 4.19999; + // this->msgData_.angle4 = 11.3000; + // this->msgData_.angle5 = -0.6000; + + // this->setAngle(this->msgData_); + + this->msgData_.angle0 = 54.40; + this->msgData_.angle1 = 20.7000; + this->msgData_.angle2 = 26.5; + this->msgData_.angle3 = 5.300; + this->msgData_.angle4 = 10.800; + this->msgData_.angle5 = 40.0; + + this->setAngle(this->msgData_); + + this->msgData_.angle6 = 44.7; + + this_thread::sleep_for(chrono::seconds(5)); - this->msgData_.angle6 = 68; this->setAngle(this->msgData_); } @@ -259,6 +290,7 @@ void armController::jawRelease() this->msgData_.angle6 += 30; else this->msgData_.angle6 = this->msgData_.angle6 > 0 ? 105 : -105; + this->mode = 0; this->setAngle(this->msgData_); } @@ -269,6 +301,7 @@ void armController::jawClaming() this->msgData_.angle6 -= 30; else this->msgData_.angle6 = this->msgData_.angle6 > 0 ? 105 : -105; + this->mode = 0; this->setAngle(this->msgData_); } @@ -295,6 +328,21 @@ void armController::goHome() // 捡垃圾预设动作 void armController::trashActionDefault() { + // this->mode = 0; + + // this->msgData_.angle0 = -0.899; + // this->msgData_.angle1 = 37.2; + // this->msgData_.angle2 = -39.2; + // this->msgData_.angle3 = 1.7999; + // this->msgData_.angle4 = 45.299; + // this->msgData_.angle5 = -2.799; + + // this->setAngle(this->msgData_); + + // this_thread::sleep_for(chrono::seconds(1)); + + this->mode = 0; + this->msgData_.angle0 = -0.8; this->msgData_.angle1 = 82.5; this->msgData_.angle2 = -45.7; @@ -304,7 +352,7 @@ void armController::trashActionDefault() this->msgData_.angle6 = 66.0999984741211; this->address = 1; - this->mode = 0; + this->funcdoe = 2; this->setAngle(this->msgData_); diff --git a/src/build/CMakeFiles/keybordControl.dir/CXX.includecache b/src/build/CMakeFiles/keybordControl.dir/CXX.includecache index aba032d..6c19584 100644 --- a/src/build/CMakeFiles/keybordControl.dir/CXX.includecache +++ b/src/build/CMakeFiles/keybordControl.dir/CXX.includecache @@ -14,6 +14,20 @@ dds/topic/TopicTraits.hpp org/eclipse/cyclonedds/topic/datatopic.hpp /home/unitree/unitreeApp/arm/src/msg/org/eclipse/cyclonedds/topic/datatopic.hpp +/home/unitree/unitreeApp/include/MySocket.h +iostream +- +string +- +string.h +- +sys/socket.h +- +arpa/inet.h +- +unistd.h +- + /home/unitree/unitreeApp/include/armcontroller.hpp unitree/robot/channel/channel_publisher.hpp - @@ -46,6 +60,30 @@ thread armcontroller.hpp /home/unitree/unitreeApp/src/armcontroller.hpp +/home/unitree/unitreeApp/src/main.cpp +MySocket.h +/home/unitree/unitreeApp/src/MySocket.h +unitree/robot/client/client.hpp +/home/unitree/unitreeApp/src/unitree/robot/client/client.hpp +unitree/robot/go2/sport/sport_client.hpp +/home/unitree/unitreeApp/src/unitree/robot/go2/sport/sport_client.hpp +armcontroller.hpp +/home/unitree/unitreeApp/src/armcontroller.hpp +opencv2/opencv.hpp +- +thread +- +termios.h +- +signal.h +- +condition_variable +- +mutex +- +unitree/robot/go2/obstacles_avoid/obstacles_avoid_client.hpp +- + /home/unitree/unitreeApp/unitree_SDK/include/dds/config.h /home/unitree/unitreeApp/unitree_SDK/include/dds/dds.h @@ -882,6 +920,10 @@ unitree/common/decl.hpp unitree/common/any.hpp - +/home/unitree/unitreeApp/unitree_SDK/include/unitree/common/json/jsonize.hpp +unitree/common/json/json.hpp +- + /home/unitree/unitreeApp/unitree_SDK/include/unitree/common/lock/lock.hpp unitree/common/decl.hpp - @@ -980,10 +1022,166 @@ unitree/common/decl.hpp unitree/common/dds/dds_factory_model.hpp - +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/channel/channel_labor.hpp +unitree/robot/channel/channel_factory.hpp +- +unitree/robot/channel/channel_namer.hpp +- +unitree/common/time/time_tool.hpp +- + +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/channel/channel_namer.hpp +unitree/common/decl.hpp +- + /home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/channel/channel_publisher.hpp unitree/robot/channel/channel_factory.hpp - +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/client/client.hpp +unitree/robot/client/client_base.hpp +- +unitree/robot/client/lease_client.hpp +- + +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/client/client_base.hpp +unitree/robot/client/client_stub.hpp +- + +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/client/client_stub.hpp +unitree/robot/future/request_future.hpp +- +unitree/robot/channel/channel_labor.hpp +- +unitree/common/block_queue.hpp +- + +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/client/lease_client.hpp +unitree/robot/client/client_base.hpp +- +unitree/common/thread/recurrent_thread.hpp +- + +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/future/request_future.hpp +unitree/common/lock/lock.hpp +- +unitree/robot/internal/internal.hpp +- + +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/go2/obstacles_avoid/obstacles_avoid_client.hpp +unitree/robot/client/client.hpp +- + +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/go2/sport/sport_client.hpp +unitree/robot/client/client.hpp +- + +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal.hpp +unitree/robot/internal/internal_api.hpp +- +unitree/robot/internal/internal_error.hpp +- +unitree/robot/internal/internal_request_response.hpp +- + +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_api.hpp +unitree/common/decl.hpp +- +unitree/common/json/jsonize.hpp +- + +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_error.hpp +unitree/common/decl.hpp +- + +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/RequestHeader_.hpp +RequestIdentity_.hpp +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/RequestIdentity_.hpp +RequestLease_.hpp +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/RequestLease_.hpp +RequestPolicy_.hpp +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/RequestPolicy_.hpp +dds/topic/TopicTraits.hpp +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/dds/topic/TopicTraits.hpp +org/eclipse/cyclonedds/topic/datatopic.hpp +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/org/eclipse/cyclonedds/topic/datatopic.hpp + +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/RequestIdentity_.hpp +cstdint +- +dds/topic/TopicTraits.hpp +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/dds/topic/TopicTraits.hpp +org/eclipse/cyclonedds/topic/datatopic.hpp +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/org/eclipse/cyclonedds/topic/datatopic.hpp + +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/RequestLease_.hpp +cstdint +- +dds/topic/TopicTraits.hpp +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/dds/topic/TopicTraits.hpp +org/eclipse/cyclonedds/topic/datatopic.hpp +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/org/eclipse/cyclonedds/topic/datatopic.hpp + +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/RequestPolicy_.hpp +cstdint +- +dds/topic/TopicTraits.hpp +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/dds/topic/TopicTraits.hpp +org/eclipse/cyclonedds/topic/datatopic.hpp +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/org/eclipse/cyclonedds/topic/datatopic.hpp + +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/Request_.hpp +RequestHeader_.hpp +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/RequestHeader_.hpp +cstdint +- +vector +- +string +- +dds/topic/TopicTraits.hpp +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/dds/topic/TopicTraits.hpp +org/eclipse/cyclonedds/topic/datatopic.hpp +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/org/eclipse/cyclonedds/topic/datatopic.hpp + +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/ResponseHeader_.hpp +RequestIdentity_.hpp +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/RequestIdentity_.hpp +ResponseStatus_.hpp +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/ResponseStatus_.hpp +dds/topic/TopicTraits.hpp +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/dds/topic/TopicTraits.hpp +org/eclipse/cyclonedds/topic/datatopic.hpp +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/org/eclipse/cyclonedds/topic/datatopic.hpp + +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/ResponseStatus_.hpp +cstdint +- +dds/topic/TopicTraits.hpp +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/dds/topic/TopicTraits.hpp +org/eclipse/cyclonedds/topic/datatopic.hpp +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/org/eclipse/cyclonedds/topic/datatopic.hpp + +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/Response_.hpp +ResponseHeader_.hpp +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/ResponseHeader_.hpp +cstdint +- +vector +- +string +- +dds/topic/TopicTraits.hpp +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/dds/topic/TopicTraits.hpp +org/eclipse/cyclonedds/topic/datatopic.hpp +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_idl_decl/org/eclipse/cyclonedds/topic/datatopic.hpp + +/home/unitree/unitreeApp/unitree_SDK/include/unitree/robot/internal/internal_request_response.hpp +unitree/robot/internal/internal_idl_decl/Request_.hpp +- +unitree/robot/internal/internal_idl_decl/Response_.hpp +- + /usr/local/include/ddscxx/dds/core/Duration.hpp dds/core/types.hpp - @@ -3288,3 +3486,1109 @@ iceoryx_binding_c/types.h internal/c2cpp_binding.h /usr/local/include/iceoryx/v2.0.2/iceoryx_binding_c/internal/c2cpp_binding.h +/usr/local/include/opencv4/opencv2/calib3d.hpp +opencv2/core.hpp +/usr/local/include/opencv4/opencv2/opencv2/core.hpp +opencv2/core/types.hpp +/usr/local/include/opencv4/opencv2/opencv2/core/types.hpp +opencv2/features2d.hpp 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0110882..6323d82 100755 Binary files a/src/build/keybordControl and b/src/build/keybordControl differ diff --git a/src/main.cpp b/src/main.cpp index add9b49..aa1c538 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -139,8 +139,18 @@ void Go2Control(unitree::robot::go2::SportClient sport_client, armController *ar double x, y, z, roll, pitch, yaw; double angleData = 2.0; + // 冷却时间 + auto lastExec = chrono::steady_clock::now() - chrono::seconds(10); + auto nowExec = chrono::steady_clock::now(); + const auto cooldown = std::chrono::seconds(8); + + auto ZlastExec = chrono::steady_clock::now() - chrono::seconds(10); + auto ZnowExec = chrono::steady_clock::now(); + const auto Zcooldown = std::chrono::seconds(1); + while (true) { + ZnowExec = chrono::steady_clock::now(); // 接收客户端发送的数据 recvData = Socket->ReceiveData(); if (recvData.empty()) @@ -166,6 +176,9 @@ void Go2Control(unitree::robot::go2::SportClient sport_client, armController *ar if (controlStatus == false) { // 机械臂 cout << "ARM:" << recvData << endl; + if (ZnowExec - ZlastExec < Zcooldown) + continue; + ZlastExec = ZnowExec; switch (static_cast(recvData[0])) { case 'W': @@ -199,8 +212,16 @@ void Go2Control(unitree::robot::go2::SportClient sport_client, armController *ar arm->angleRotateAction(angleData); break; case 'P': - arm->throwTrash(); + { + nowExec = chrono::steady_clock::now(); + if (nowExec - lastExec > cooldown) + { + arm->throwTrash(); + lastExec = nowExec; + } break; + } + // case 'B': // yaw += 0.05; // break; @@ -224,6 +245,13 @@ void Go2Control(unitree::robot::go2::SportClient sport_client, armController *ar { // 机械狗 // 根据接收到的指令控制机器人 cout << "DOG:" << recvData << endl; + if (recvData.find("L") != string::npos) + { + sport_client.StopMove(); + isMoving = false; + continue; + } + switch (static_cast(recvData[0])) { case 'P': // 按 'p' 键退出 @@ -303,6 +331,7 @@ void Go2Control(unitree::robot::go2::SportClient sport_client, armController *ar break; } } + this_thread::sleep_for(chrono::milliseconds(500)); } }