finnal

2025-09-29 15:16:15 +08:00
parent 604cbccb09
commit c0712265d1
7 changed files with 58 additions and 1357 deletions
--- 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_);

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+  ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'cmTC_24686' '-shared-libgcc' '-mlittle-endian' '-mabi=lp64']
+  link line: [ /usr/lib/gcc/aarch64-linux-gnu/9/collect2 -plugin /usr/lib/gcc/aarch64-linux-gnu/9/liblto_plugin.so -plugin-opt=/usr/lib/gcc/aarch64-linux-gnu/9/lto-wrapper -plugin-opt=-fresolution=/tmp/ccgmJUe8.res -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc --build-id --eh-frame-hdr --hash-style=gnu --as-needed -dynamic-linker /lib/ld-linux-aarch64.so.1 -X -EL -maarch64linux --fix-cortex-a53-843419 -pie -z now -z relro -o cmTC_24686 /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/Scrt1.o /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/crti.o /usr/lib/gcc/aarch64-linux-gnu/9/crtbeginS.o -L/usr/lib/gcc/aarch64-linux-gnu/9 -L/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu -L/usr/lib/gcc/aarch64-linux-gnu/9/../../../../lib -L/lib/aarch64-linux-gnu -L/lib/../lib -L/usr/lib/aarch64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/aarch64-linux-gnu/9/../../.. CMakeFiles/cmTC_24686.dir/CMakeCXXCompilerABI.cpp.o -lstdc++ -lm -lgcc_s -lgcc -lc -lgcc_s -lgcc /usr/lib/gcc/aarch64-linux-gnu/9/crtendS.o /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/crtn.o]
    arg [/usr/lib/gcc/aarch64-linux-gnu/9/collect2] ==> ignore
    arg [-plugin] ==> ignore
    arg [/usr/lib/gcc/aarch64-linux-gnu/9/liblto_plugin.so] ==> ignore
    arg [-plugin-opt=/usr/lib/gcc/aarch64-linux-gnu/9/lto-wrapper] ==> ignore
-    arg [-plugin-opt=-fresolution=/tmp/ccY65Dbn.res] ==> ignore
+    arg [-plugin-opt=-fresolution=/tmp/ccgmJUe8.res] ==> ignore
    arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore
    arg [-plugin-opt=-pass-through=-lgcc] ==> ignore
    arg [-plugin-opt=-pass-through=-lc] ==> ignore
@@ -193,7 +193,7 @@ Parsed CXX implicit link information from above output:
    arg [-znow] ==> ignore
    arg [-zrelro] ==> ignore
    arg [-o] ==> ignore
-    arg [cmTC_f63dd] ==> ignore
+    arg [cmTC_24686] ==> ignore
    arg [/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/Scrt1.o] ==> ignore
    arg [/usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/crti.o] ==> ignore
    arg [/usr/lib/gcc/aarch64-linux-gnu/9/crtbeginS.o] ==> ignore
@@ -205,7 +205,7 @@ Parsed CXX implicit link information from above output:
    arg [-L/usr/lib/aarch64-linux-gnu] ==> dir [/usr/lib/aarch64-linux-gnu]
    arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib]
    arg [-L/usr/lib/gcc/aarch64-linux-gnu/9/../../..] ==> dir [/usr/lib/gcc/aarch64-linux-gnu/9/../../..]
-    arg [CMakeFiles/cmTC_f63dd.dir/CMakeCXXCompilerABI.cpp.o] ==> ignore
+    arg [CMakeFiles/cmTC_24686.dir/CMakeCXXCompilerABI.cpp.o] ==> ignore
    arg [-lstdc++] ==> lib [stdc++]
    arg [-lm] ==> lib [m]
    arg [-lgcc_s] ==> lib [gcc_s]
--- a/src/build/CMakeFiles/keybordControl.dir/CXX.includecache
+++ b/src/build/CMakeFiles/keybordControl.dir/CXX.includecache
--- a/src/build/CMakeFiles/keybordControl.dir/armController.cpp.o
+++ b/src/build/CMakeFiles/keybordControl.dir/armController.cpp.o
--- a/src/build/CMakeFiles/keybordControl.dir/main.cpp.o
+++ b/src/build/CMakeFiles/keybordControl.dir/main.cpp.o
--- a/src/build/keybordControl
+++ b/src/build/keybordControl
--- 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<char>(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;
            }