diff --git a/src/armController.cpp b/src/armController.cpp index 5e648f3..9bd7be9 100644 --- a/src/armController.cpp +++ b/src/armController.cpp @@ -222,12 +222,12 @@ void armController::angleRotateAction(double j5) // 扔垃圾 void armController::throwTrash() { - this->msgData_.angle0 = -0.800; - this->msgData_.angle1 = 62.500; - this->msgData_.angle2 = -30.700; - this->msgData_.angle3 = 2.099; - this->msgData_.angle4 = 44.4; - this->msgData_.angle5 = -3.099; + 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->setAngle(this->msgData_); diff --git a/src/build/CMakeFiles/CMakeOutput.log b/src/build/CMakeFiles/CMakeOutput.log index 24df58f..21fe391 100644 --- a/src/build/CMakeFiles/CMakeOutput.log +++ b/src/build/CMakeFiles/CMakeOutput.log @@ -15,13 +15,13 @@ The CXX compiler identification is GNU, found in "/home/unitree/unitreeApp/src/b Determining if the CXX compiler works passed with the following output: Change Dir: /home/unitree/unitreeApp/src/build/CMakeFiles/CMakeTmp -Run Build Command(s):/usr/bin/make cmTC_725a6/fast && /usr/bin/make -f CMakeFiles/cmTC_725a6.dir/build.make CMakeFiles/cmTC_725a6.dir/build +Run Build Command(s):/usr/bin/make cmTC_02a10/fast && /usr/bin/make -f CMakeFiles/cmTC_02a10.dir/build.make CMakeFiles/cmTC_02a10.dir/build make[1]: Entering directory '/home/unitree/unitreeApp/src/build/CMakeFiles/CMakeTmp' -Building CXX object CMakeFiles/cmTC_725a6.dir/testCXXCompiler.cxx.o -/usr/bin/c++ -o CMakeFiles/cmTC_725a6.dir/testCXXCompiler.cxx.o -c /home/unitree/unitreeApp/src/build/CMakeFiles/CMakeTmp/testCXXCompiler.cxx -Linking CXX executable cmTC_725a6 -/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_725a6.dir/link.txt --verbose=1 -/usr/bin/c++ CMakeFiles/cmTC_725a6.dir/testCXXCompiler.cxx.o -o cmTC_725a6 +Building CXX object CMakeFiles/cmTC_02a10.dir/testCXXCompiler.cxx.o +/usr/bin/c++ -o CMakeFiles/cmTC_02a10.dir/testCXXCompiler.cxx.o -c /home/unitree/unitreeApp/src/build/CMakeFiles/CMakeTmp/testCXXCompiler.cxx +Linking CXX executable cmTC_02a10 +/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_02a10.dir/link.txt --verbose=1 +/usr/bin/c++ CMakeFiles/cmTC_02a10.dir/testCXXCompiler.cxx.o -o cmTC_02a10 make[1]: Leaving directory '/home/unitree/unitreeApp/src/build/CMakeFiles/CMakeTmp' @@ -29,18 +29,18 @@ make[1]: Leaving directory '/home/unitree/unitreeApp/src/build/CMakeFiles/CMakeT Detecting CXX compiler ABI info compiled with the following output: Change Dir: /home/unitree/unitreeApp/src/build/CMakeFiles/CMakeTmp -Run Build Command(s):/usr/bin/make cmTC_f63dd/fast && /usr/bin/make -f CMakeFiles/cmTC_f63dd.dir/build.make CMakeFiles/cmTC_f63dd.dir/build +Run Build Command(s):/usr/bin/make cmTC_24686/fast && /usr/bin/make -f CMakeFiles/cmTC_24686.dir/build.make CMakeFiles/cmTC_24686.dir/build make[1]: Entering directory '/home/unitree/unitreeApp/src/build/CMakeFiles/CMakeTmp' -Building CXX object CMakeFiles/cmTC_f63dd.dir/CMakeCXXCompilerABI.cpp.o -/usr/bin/c++ -v -o CMakeFiles/cmTC_f63dd.dir/CMakeCXXCompilerABI.cpp.o -c /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp +Building CXX object CMakeFiles/cmTC_24686.dir/CMakeCXXCompilerABI.cpp.o +/usr/bin/c++ -v -o CMakeFiles/cmTC_24686.dir/CMakeCXXCompilerABI.cpp.o -c /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp Using built-in specs. 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-/usr/local/include/opencv4/opencv2/videoio.hpp -opencv2/core.hpp -/usr/local/include/opencv4/opencv2/opencv2/core.hpp - diff --git a/src/build/CMakeFiles/keybordControl.dir/armController.cpp.o b/src/build/CMakeFiles/keybordControl.dir/armController.cpp.o index 4cbaee5..f12b6e1 100644 Binary files a/src/build/CMakeFiles/keybordControl.dir/armController.cpp.o and b/src/build/CMakeFiles/keybordControl.dir/armController.cpp.o differ diff --git a/src/build/CMakeFiles/keybordControl.dir/main.cpp.o b/src/build/CMakeFiles/keybordControl.dir/main.cpp.o index 560d5be..4f005fd 100644 Binary files a/src/build/CMakeFiles/keybordControl.dir/main.cpp.o and b/src/build/CMakeFiles/keybordControl.dir/main.cpp.o differ diff --git a/src/build/keybordControl b/src/build/keybordControl index 42f57bb..0110882 100755 Binary files a/src/build/keybordControl and b/src/build/keybordControl differ diff --git a/src/main.cpp b/src/main.cpp index 7cfaed4..add9b49 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -85,7 +85,7 @@ int main(int argc, char *argv[]) armController *arm = new armController(); // 开启视频线程进行视频传输 - thread videoThread(SendDogVide, Socket); + thread videoThread(SendMergedVideo, Socket); // 进入机器人控制循环 Go2Control(sport_client, arm, Socket); @@ -137,6 +137,7 @@ void Go2Control(unitree::robot::go2::SportClient sport_client, armController *ar string recvData; // 接收的数据 sport_client.FreeAvoid(false); // 开启自由避障 double x, y, z, roll, pitch, yaw; + double angleData = 2.0; while (true) { @@ -154,7 +155,7 @@ void Go2Control(unitree::robot::go2::SportClient sport_client, armController *ar cout << "Mode:" << (controlStatus ? "DOGControl" : "ARMControl") << endl; continue; } - else if(recvData == "CHANGE:ARM") + else if (recvData == "CHANGE:ARM") { controlStatus = false; cout << "Mode:" << (controlStatus ? "DOGControl" : "ARMControl") << endl; @@ -168,34 +169,34 @@ void Go2Control(unitree::robot::go2::SportClient sport_client, armController *ar switch (static_cast(recvData[0])) { case 'W': - arm->angleUpDownAction(0, -5, 0); + arm->angleUpDownAction(0, -angleData, 0); break; case 'S': - arm->angleUpDownAction(0, 5, 0); + arm->angleUpDownAction(0, angleData, 0); break; case 'A': - arm->angleLRAction(-5); + arm->angleLRAction(-angleData); break; case 'D': - arm->angleLRAction(5); + arm->angleLRAction(angleData); break; case 'I': - arm->angleUpDownAction(-5, 0, 0); + arm->angleUpDownAction(-angleData, 0, 0); break; case 'K': - arm->angleUpDownAction(+5, 0, 0); + arm->angleUpDownAction(angleData, 0, 0); break; case 'J': - arm->angleUpDownAction(0, 0, 5); + arm->angleUpDownAction(0, 0, angleData); break; case 'L': - arm->angleUpDownAction(0, 0, -5); + arm->angleUpDownAction(0, 0, -angleData); break; case 'N': - arm->angleRotateAction(-5); + arm->angleRotateAction(-angleData); break; case 'M': - arm->angleRotateAction(5); + arm->angleRotateAction(angleData); break; case 'P': arm->throwTrash(); @@ -206,13 +207,13 @@ void Go2Control(unitree::robot::go2::SportClient sport_client, armController *ar case 'U': arm->jawRelease(); break; - case 'O': + case 'C': arm->jawClaming(); break; case 'F': arm->trashActionDefault(); break; - case 'C': + case 'O': arm->goHome(); break; }