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Quella
2025-11-06 09:27:44 +08:00
parent c0712265d1
commit a3920e1eb0
7 changed files with 1392 additions and 11 deletions
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2
include/armcontroller.hpp
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@@ -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

66
src/armController.cpp
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@@ -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_);

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src/build/CMakeFiles/keybordControl.dir/CXX.includecache
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src/build/CMakeFiles/keybordControl.dir/armController.cpp.o
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31
src/main.cpp
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@@ -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<char>(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<char>(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));
}
}