82 lines
1.4 KiB
Markdown
82 lines
1.4 KiB
Markdown
|
||
---
|
||
#领域/未知
|
||
|
||
#复盘/0 #临时/备忘 #状态/待处理
|
||
|
||
20260313-备忘-主题名-文件内容
|
||
|
||
## 一句话描述
|
||
|
||
[________]
|
||
|
||
---
|
||
```C
|
||
void InitializeServo()
|
||
|
||
{
|
||
|
||
ESP_LOGI(TAG, "=== 四足机器人向前走三步 ===");
|
||
|
||
// 循环3次执行前进步态
|
||
|
||
for (int step = 0; step < 5; step++)
|
||
|
||
{
|
||
|
||
// --- 初始准备 ---
|
||
|
||
// 所有腿伸到最前或最后位置
|
||
|
||
servo1_.SetAngle(30.0f);
|
||
|
||
servo2_.SetAngle(130.0f);
|
||
|
||
servo3_.SetAngle(130.0f);
|
||
|
||
servo4_.SetAngle(60.0f);
|
||
|
||
vTaskDelay(pdMS_TO_TICKS(100));
|
||
|
||
|
||
|
||
servo1_.SetAngle(10.0f);
|
||
|
||
servo2_.SetAngle(130.0f);
|
||
|
||
servo3_.SetAngle(130.0f);
|
||
|
||
servo4_.SetAngle(80.0f);
|
||
|
||
vTaskDelay(pdMS_TO_TICKS(100));
|
||
|
||
|
||
|
||
servo1_.SetAngle(30.0f);
|
||
|
||
servo2_.SetAngle(170.0f);
|
||
|
||
servo3_.SetAngle(90.0f);
|
||
|
||
servo4_.SetAngle(80.0f);
|
||
|
||
vTaskDelay(pdMS_TO_TICKS(100));
|
||
|
||
}
|
||
|
||
// --- 初始准备 ---
|
||
|
||
// 所有腿伸到最前或最后位置
|
||
|
||
servo1_.SetAngle(30.0f);
|
||
|
||
servo2_.SetAngle(130.0f);
|
||
|
||
servo3_.SetAngle(130.0f);
|
||
|
||
servo4_.SetAngle(60.0f);
|
||
|
||
vTaskDelay(pdMS_TO_TICKS(100));
|
||
|
||
}
|
||
``` |