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Quella
2025-09-29 15:16:15 +08:00
parent 604cbccb09
commit c0712265d1
7 changed files with 58 additions and 1357 deletions
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12
src/armController.cpp
View File

@@ -222,12 +222,12 @@ void armController::angleRotateAction(double j5)
// 扔垃圾 // 扔垃圾
void armController::throwTrash() void armController::throwTrash()
{ {
this->msgData_.angle0 = -0.800; this->msgData_.angle0 = 70.9;
this->msgData_.angle1 = 62.500; this->msgData_.angle1 = 20.0;
this->msgData_.angle2 = -30.700; this->msgData_.angle2 = 38.7;
this->msgData_.angle3 = 2.099; this->msgData_.angle3 = 10.1;
this->msgData_.angle4 = 44.4; this->msgData_.angle4 = 8.7;
this->msgData_.angle5 = -3.099; this->msgData_.angle5 = -1.4;
this->setAngle(this->msgData_); this->setAngle(this->msgData_);

72
src/build/CMakeFiles/CMakeOutput.log
View File

@@ -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: Determining if the CXX compiler works passed with the following output:
Change Dir: /home/unitree/unitreeApp/src/build/CMakeFiles/CMakeTmp 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' make[1]: Entering directory '/home/unitree/unitreeApp/src/build/CMakeFiles/CMakeTmp'
Building CXX object CMakeFiles/cmTC_725a6.dir/testCXXCompiler.cxx.o Building CXX object CMakeFiles/cmTC_02a10.dir/testCXXCompiler.cxx.o
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Linking CXX executable cmTC_725a6 Linking CXX executable cmTC_02a10
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_725a6.dir/link.txt --verbose=1 /usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_02a10.dir/link.txt --verbose=1
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make[1]: Leaving directory '/home/unitree/unitreeApp/src/build/CMakeFiles/CMakeTmp' 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: Detecting CXX compiler ABI info compiled with the following output:
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GNU C++14 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (aarch64-linux-gnu) GNU C++14 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (aarch64-linux-gnu)
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src/build/CMakeFiles/keybordControl.dir/armController.cpp.o
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src/main.cpp
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@@ -85,7 +85,7 @@ int main(int argc, char *argv[])
armController *arm = new armController(); armController *arm = new armController();
// 开启视频线程进行视频传输 // 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 // 进入机器人控制循环
Go2Control(sport_client, arm, Socket); 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 string recvData; // 接收的数据
sport_client.FreeAvoid(false); // 开启自由避障 sport_client.FreeAvoid(false); // 开启自由避障
double x, y, z, roll, pitch, yaw; double x, y, z, roll, pitch, yaw;
double angleData = 2.0;
while (true) while (true)
{ {
@@ -168,34 +169,34 @@ void Go2Control(unitree::robot::go2::SportClient sport_client, armController *ar
switch (static_cast<char>(recvData[0])) switch (static_cast<char>(recvData[0]))
{ {
case 'W': case 'W':
arm->angleUpDownAction(0, -5, 0); arm->angleUpDownAction(0, -angleData, 0);
break; break;
case 'S': case 'S':
arm->angleUpDownAction(0, 5, 0); arm->angleUpDownAction(0, angleData, 0);
break; break;
case 'A': case 'A':
arm->angleLRAction(-5); arm->angleLRAction(-angleData);
break; break;
case 'D': case 'D':
arm->angleLRAction(5); arm->angleLRAction(angleData);
break; break;
case 'I': case 'I':
arm->angleUpDownAction(-5, 0, 0); arm->angleUpDownAction(-angleData, 0, 0);
break; break;
case 'K': case 'K':
arm->angleUpDownAction(+5, 0, 0); arm->angleUpDownAction(angleData, 0, 0);
break; break;
case 'J': case 'J':
arm->angleUpDownAction(0, 0, 5); arm->angleUpDownAction(0, 0, angleData);
break; break;
case 'L': case 'L':
arm->angleUpDownAction(0, 0, -5); arm->angleUpDownAction(0, 0, -angleData);
break; break;
case 'N': case 'N':
arm->angleRotateAction(-5); arm->angleRotateAction(-angleData);
break; break;
case 'M': case 'M':
arm->angleRotateAction(5); arm->angleRotateAction(angleData);
break; break;
case 'P': case 'P':
arm->throwTrash(); arm->throwTrash();
@@ -206,13 +207,13 @@ void Go2Control(unitree::robot::go2::SportClient sport_client, armController *ar
case 'U': case 'U':
arm->jawRelease(); arm->jawRelease();
break; break;
case 'O': case 'C':
arm->jawClaming(); arm->jawClaming();
break; break;
case 'F': case 'F':
arm->trashActionDefault(); arm->trashActionDefault();
break; break;
case 'C': case 'O':
arm->goHome(); arm->goHome();
break; break;
} }