forked from xiaozhi/xiaozhi-esp32
Refactor Otto controller (#1388)
* otto v1.4.0 MCP 1.使用MCP协议控制机器人 2.gif继承lcdDisplay，避免修改lcdDisplay * otto v1.4.1 gif as components gif as components * electronBot v1.1.0 mcp 1.增加electronBot支持 2.mcp协议 3.gif 作为组件 4.display子类 * 规范代码 1.规范代码 2.修复切换主题死机bug * fix(ota): 修复 ottoRobot和electronBot OTA 升级崩溃问题 bug * 1.增加robot舵机初始位置校准 2.fix(mcp_sever) 超出范围异常捕获类型 bug * refactor: Update Electron and Otto emoji display implementations - Removed GIF selection from Kconfig for Electron and Otto boards. - Updated Electron and Otto bot versions to 2.0.4 in their respective config files. - Refactored emoji display classes to utilize EmojiCollection for managing emojis. - Enhanced chat label setup and status display functionality in both classes. - Cleaned up unused code and improved initialization logging for emoji displays. * Rename OTTO_ICON_FONT.c to otto_icon_font.c * Rename OTTO_ICON_FONT.c to otto_icon_font.c * refactor: Update Otto emoji display configurations and functionalities - Changed chat label text mode to circular scrolling for both Otto and Electron emoji displays. - Bumped Otto robot version to 2.0.5 in the configuration file. - Added new actions for Otto robot including Sit, WhirlwindLeg, Fitness, Greeting, Shy, RadioCalisthenics, MagicCircle, and Showcase. - Enhanced servo sequence handling and added support for executing custom servo sequences. - Improved logging and error handling for servo sequence execution. * refactor: Update chat label long mode for Electron and Otto emoji displays - Changed chat label text mode from wrap to circular scrolling for both Electron and Otto emoji displays. - Improved consistency in chat label setup across both implementations. * Update Otto robot README with new actions and parameters * Update Otto controller parameters for oscillation settings - Changed default oscillation period from 500ms to 300ms. - Increased default steps from 5.0 to 8.0. - Updated default amplitude from 20 degrees to 0 degrees. - Enhanced documentation with new examples for oscillation modes and sequences. * Fix default amplitude initialization in Otto controller to use a single zero instead of two digits. * chore: update txp666/otto-emoji-gif-component version to 1.0.3 in idf_component.yml * Refactor Otto controller - Consolidated movement actions into a unified tool for the Otto robot, allowing for a single action command with various parameters. - Removed individual movement tools (walk, turn, jump, etc.) and replaced them with a more flexible action system.
This commit is contained in:
小鹏
@@ -528,281 +528,145 @@ public:
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ESP_LOGI(TAG, "开始注册MCP工具...");
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// 基础移动动作
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mcp_server.AddTool("self.otto.walk_forward",
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"行走。steps: 行走步数(1-100); speed: 行走速度(500-1500，数值越小越快); "
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"direction: 行走方向(-1=后退, 1=前进); arm_swing: 手臂摆动幅度(0-170度)",
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PropertyList({Property("steps", kPropertyTypeInteger, 3, 1, 100),
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Property("speed", kPropertyTypeInteger, 1000, 500, 1500),
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Property("arm_swing", kPropertyTypeInteger, 50, 0, 170),
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Property("direction", kPropertyTypeInteger, 1, -1, 1)}),
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// 统一动作工具（除了舵机序列外的所有动作）
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mcp_server.AddTool("self.otto.action",
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"执行机器人动作。action: 动作名称；根据动作类型提供相应参数：direction: 方向，1=前进/左转，-1=后退/右转；0=左右同时"
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"steps: 动作步数，1-100；speed: 动作速度，100-3000，数值越小越快；amount: 动作幅度，0-170；arm_swing: 手臂摆动幅度，0-170；"
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"基础动作：walk(行走，需steps/speed/direction/arm_swing)、turn(转身，需steps/speed/direction/arm_swing)、jump(跳跃，需steps/speed)、"
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"swing(摇摆，需steps/speed/amount)、moonwalk(太空步，需steps/speed/direction/amount)、bend(弯曲，需steps/speed/direction)、"
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"shake_leg(摇腿，需steps/speed/direction)、updown(上下运动，需steps/speed/amount)、whirlwind_leg(旋风腿，需steps/speed/amount)；"
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"固定动作：sit(坐下)、showcase(展示动作)、home(复位)；"
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"手部动作(需手部舵机)：hands_up(举手，需speed/direction)、hands_down(放手，需speed/direction)、hand_wave(挥手，需direction)、"
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"windmill(大风车，需steps/speed/amount)、takeoff(起飞，需steps/speed/amount)、fitness(健身，需steps/speed/amount)、"
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"greeting(打招呼，需direction/steps)、shy(害羞，需direction/steps)、radio_calisthenics(广播体操)、magic_circle(爱的魔力转圈圈)",
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PropertyList({
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Property("action", kPropertyTypeString, "sit"),
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Property("steps", kPropertyTypeInteger, 3, 1, 100),
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Property("speed", kPropertyTypeInteger, 700, 100, 3000),
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Property("direction", kPropertyTypeInteger, 1, -1, 1),
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Property("amount", kPropertyTypeInteger, 30, 0, 170),
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Property("arm_swing", kPropertyTypeInteger, 50, 0, 170)
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}),
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[this](const PropertyList& properties) -> ReturnValue {
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std::string action = properties["action"].value<std::string>();
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// 所有参数都有默认值，直接访问即可
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int steps = properties["steps"].value<int>();
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int speed = properties["speed"].value<int>();
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int direction = properties["direction"].value<int>();
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int amount = properties["amount"].value<int>();
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int arm_swing = properties["arm_swing"].value<int>();
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int direction = properties["direction"].value<int>();
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QueueAction(ACTION_WALK, steps, speed, direction, arm_swing);
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return true;
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});
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mcp_server.AddTool("self.otto.turn_left",
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"转身。steps: 转身步数(1-100); speed: 转身速度(500-1500，数值越小越快); "
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"direction: 转身方向(1=左转, -1=右转); arm_swing: 手臂摆动幅度(0-170度)",
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PropertyList({Property("steps", kPropertyTypeInteger, 3, 1, 100),
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Property("speed", kPropertyTypeInteger, 1000, 500, 1500),
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Property("arm_swing", kPropertyTypeInteger, 50, 0, 170),
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Property("direction", kPropertyTypeInteger, 1, -1, 1)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int steps = properties["steps"].value<int>();
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int speed = properties["speed"].value<int>();
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int arm_swing = properties["arm_swing"].value<int>();
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int direction = properties["direction"].value<int>();
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QueueAction(ACTION_TURN, steps, speed, direction, arm_swing);
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return true;
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});
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mcp_server.AddTool("self.otto.jump",
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"跳跃。steps: 跳跃次数(1-100); speed: 跳跃速度(500-1500，数值越小越快)",
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PropertyList({Property("steps", kPropertyTypeInteger, 1, 1, 100),
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Property("speed", kPropertyTypeInteger, 1000, 500, 1500)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int steps = properties["steps"].value<int>();
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int speed = properties["speed"].value<int>();
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QueueAction(ACTION_JUMP, steps, speed, 0, 0);
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return true;
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});
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// 特殊动作
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mcp_server.AddTool("self.otto.swing",
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"左右摇摆。steps: 摇摆次数(1-100); speed: "
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"摇摆速度(500-1500，数值越小越快); amount: 摇摆幅度(0-170度)",
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PropertyList({Property("steps", kPropertyTypeInteger, 3, 1, 100),
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Property("speed", kPropertyTypeInteger, 1000, 500, 1500),
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Property("amount", kPropertyTypeInteger, 30, 0, 170)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int steps = properties["steps"].value<int>();
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int speed = properties["speed"].value<int>();
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int amount = properties["amount"].value<int>();
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QueueAction(ACTION_SWING, steps, speed, 0, amount);
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return true;
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});
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mcp_server.AddTool("self.otto.moonwalk",
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"太空步。steps: 太空步步数(1-100); speed: 速度(500-1500，数值越小越快); "
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"direction: 方向(1=左, -1=右); amount: 幅度(0-170度)",
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PropertyList({Property("steps", kPropertyTypeInteger, 3, 1, 100),
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Property("speed", kPropertyTypeInteger, 1000, 500, 1500),
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Property("direction", kPropertyTypeInteger, 1, -1, 1),
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Property("amount", kPropertyTypeInteger, 25, 0, 170)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int steps = properties["steps"].value<int>();
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int speed = properties["speed"].value<int>();
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int direction = properties["direction"].value<int>();
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int amount = properties["amount"].value<int>();
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QueueAction(ACTION_MOONWALK, steps, speed, direction, amount);
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return true;
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});
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mcp_server.AddTool("self.otto.bend",
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"弯曲身体。steps: 弯曲次数(1-100); speed: "
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"弯曲速度(500-1500，数值越小越快); direction: 弯曲方向(1=左, -1=右)",
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PropertyList({Property("steps", kPropertyTypeInteger, 1, 1, 100),
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Property("speed", kPropertyTypeInteger, 1000, 500, 1500),
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Property("direction", kPropertyTypeInteger, 1, -1, 1)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int steps = properties["steps"].value<int>();
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int speed = properties["speed"].value<int>();
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int direction = properties["direction"].value<int>();
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QueueAction(ACTION_BEND, steps, speed, direction, 0);
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return true;
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});
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mcp_server.AddTool("self.otto.shake_leg",
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"摇腿。steps: 摇腿次数(1-100); speed: 摇腿速度(500-1500，数值越小越快); "
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"direction: 腿部选择(1=左腿, -1=右腿)",
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PropertyList({Property("steps", kPropertyTypeInteger, 1, 1, 100),
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Property("speed", kPropertyTypeInteger, 1000, 500, 1500),
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Property("direction", kPropertyTypeInteger, 1, -1, 1)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int steps = properties["steps"].value<int>();
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int speed = properties["speed"].value<int>();
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int direction = properties["direction"].value<int>();
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QueueAction(ACTION_SHAKE_LEG, steps, speed, direction, 0);
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return true;
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});
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mcp_server.AddTool("self.otto.sit",
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"坐下。不需要参数",
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PropertyList(),
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[this](const PropertyList& properties) -> ReturnValue {
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QueueAction(ACTION_SIT, 1, 0, 0, 0);
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return true;
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});
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mcp_server.AddTool("self.otto.showcase",
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"展示动作。串联执行多个动作：往前走3步、挥挥手、跳舞（广播体操）、太空步、摇摆、起飞、健身、往后走3步。不需要参数",
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PropertyList(),
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[this](const PropertyList& properties) -> ReturnValue {
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QueueAction(ACTION_SHOWCASE, 1, 0, 0, 0);
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return true;
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});
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mcp_server.AddTool("self.otto.updown",
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"上下运动。steps: 上下运动次数(1-100); speed: "
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"运动速度(500-1500，数值越小越快); amount: 运动幅度(0-170度)",
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PropertyList({Property("steps", kPropertyTypeInteger, 3, 1, 100),
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Property("speed", kPropertyTypeInteger, 1000, 500, 1500),
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Property("amount", kPropertyTypeInteger, 20, 0, 170)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int steps = properties["steps"].value<int>();
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int speed = properties["speed"].value<int>();
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int amount = properties["amount"].value<int>();
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QueueAction(ACTION_UPDOWN, steps, speed, 0, amount);
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return true;
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});
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mcp_server.AddTool("self.otto.whirlwind_leg",
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"旋风腿。"
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"steps: 动作次数(3-100); speed: 动作速度(100-1000，数值越小越快，建议300); "
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"amplitude: 踢腿幅度(20-40度)",
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PropertyList({Property("steps", kPropertyTypeInteger, 3, 3, 100),
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Property("speed", kPropertyTypeInteger, 300, 100, 1000),
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Property("amplitude", kPropertyTypeInteger, 30, 20, 40)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int steps = properties["steps"].value<int>();
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int speed = properties["speed"].value<int>();
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int amplitude = properties["amplitude"].value<int>();
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QueueAction(ACTION_WHIRLWIND_LEG, steps, speed, 0, amplitude);
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return true;
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});
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// 手部动作（仅在有手部舵机时可用）
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if (has_hands_) {
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mcp_server.AddTool(
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"self.otto.hands_up",
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"举手。speed: 举手速度(500-1500，数值越小越快); direction: 手部选择(1=左手, "
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"-1=右手, 0=双手)",
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PropertyList({Property("speed", kPropertyTypeInteger, 1000, 500, 1500),
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Property("direction", kPropertyTypeInteger, 1, -1, 1)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int speed = properties["speed"].value<int>();
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int direction = properties["direction"].value<int>();
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QueueAction(ACTION_HANDS_UP, 1, speed, direction, 0);
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return true;
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});
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mcp_server.AddTool(
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"self.otto.hands_down",
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"放手。speed: 放手速度(500-1500，数值越小越快); direction: 手部选择(1=左手, "
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"-1=右手, 0=双手)",
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PropertyList({Property("speed", kPropertyTypeInteger, 1000, 500, 1500),
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Property("direction", kPropertyTypeInteger, 1, -1, 1)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int speed = properties["speed"].value<int>();
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int direction = properties["direction"].value<int>();
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QueueAction(ACTION_HANDS_DOWN, 1, speed, direction, 0);
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return true;
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});
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mcp_server.AddTool(
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"self.otto.hand_wave",
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"挥手。direction: 手部选择(1=左手,-1=右手,0=双手)",
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PropertyList({Property("direction", kPropertyTypeInteger, 1, -1, 1)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int direction = properties["direction"].value<int>();
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QueueAction(ACTION_HAND_WAVE, 1, 0, 0, direction);
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return true;
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});
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mcp_server.AddTool(
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"self.otto.windmill",
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"大风车。steps: 动作次数(3-100); "
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"speed: 动作周期(300-2000毫秒，数值越小越快); amplitude: 振荡幅度(50-90度)",
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PropertyList({Property("steps", kPropertyTypeInteger, 6, 3, 100),
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Property("speed", kPropertyTypeInteger, 500, 300, 2000),
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Property("amplitude", kPropertyTypeInteger, 70, 50, 90)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int steps = properties["steps"].value<int>();
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int speed = properties["speed"].value<int>();
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int amplitude = properties["amplitude"].value<int>();
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QueueAction(ACTION_WINDMILL, steps, speed, 0, amplitude);
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return true;
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});
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mcp_server.AddTool(
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"self.otto.takeoff",
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"起飞。双手在90度位置同相快速振荡，模拟起飞动作。steps: 动作次数(5-100); "
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"speed: 动作周期(200-600毫秒，数值越小越快，建议300); amplitude: 振荡幅度(20-60度)",
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PropertyList({Property("steps", kPropertyTypeInteger, 5, 5, 100),
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Property("speed", kPropertyTypeInteger, 300, 200, 600),
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Property("amplitude", kPropertyTypeInteger, 40, 20, 60)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int steps = properties["steps"].value<int>();
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int speed = properties["speed"].value<int>();
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int amplitude = properties["amplitude"].value<int>();
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QueueAction(ACTION_TAKEOFF, steps, speed, 0, amplitude);
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return true;
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});
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mcp_server.AddTool(
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"self.otto.fitness",
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"健身。steps: 动作次数(3-100); speed: 动作速度(500-2000毫秒，数值越小越快); amplitude: 振荡幅度(10-50度)",
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PropertyList({Property("steps", kPropertyTypeInteger, 5, 3, 100),
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Property("speed", kPropertyTypeInteger, 1000, 500, 2000),
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Property("amplitude", kPropertyTypeInteger, 25, 10, 50)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int steps = properties["steps"].value<int>();
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int speed = properties["speed"].value<int>();
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int amplitude = properties["amplitude"].value<int>();
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QueueAction(ACTION_FITNESS, steps, speed, 0, amplitude);
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return true;
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});
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mcp_server.AddTool(
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"self.otto.greeting",
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"打招呼。direction: 手部选择(1=左手, -1=右手); steps: 动作次数(3-100)",
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PropertyList({Property("direction", kPropertyTypeInteger, 1, -1, 1),
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Property("steps", kPropertyTypeInteger, 5, 3, 100)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int direction = properties["direction"].value<int>();
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int steps = properties["steps"].value<int>();
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QueueAction(ACTION_GREETING, steps, 0, direction, 0);
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return true;
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});
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mcp_server.AddTool(
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"self.otto.shy",
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"害羞。direction: 方向(1=左, -1=右); steps: 动作次数(3-100)",
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PropertyList({Property("direction", kPropertyTypeInteger, 1, -1, 1),
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Property("steps", kPropertyTypeInteger, 5, 3, 100)}),
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[this](const PropertyList& properties) -> ReturnValue {
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int direction = properties["direction"].value<int>();
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int steps = properties["steps"].value<int>();
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QueueAction(ACTION_SHY, steps, 0, direction, 0);
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return true;
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});
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mcp_server.AddTool("self.otto.radio_calisthenics",
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"广播体操。不需要参数",
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PropertyList(),
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[this](const PropertyList& properties) -> ReturnValue {
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// 基础移动动作
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if (action == "walk") {
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QueueAction(ACTION_WALK, steps, speed, direction, arm_swing);
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return true;
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} else if (action == "turn") {
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QueueAction(ACTION_TURN, steps, speed, direction, arm_swing);
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return true;
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} else if (action == "jump") {
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QueueAction(ACTION_JUMP, steps, speed, 0, 0);
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return true;
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} else if (action == "swing") {
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QueueAction(ACTION_SWING, steps, speed, 0, amount);
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return true;
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} else if (action == "moonwalk") {
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QueueAction(ACTION_MOONWALK, steps, speed, direction, amount);
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return true;
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} else if (action == "bend") {
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QueueAction(ACTION_BEND, steps, speed, direction, 0);
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return true;
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} else if (action == "shake_leg") {
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QueueAction(ACTION_SHAKE_LEG, steps, speed, direction, 0);
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return true;
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} else if (action == "updown") {
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QueueAction(ACTION_UPDOWN, steps, speed, 0, amount);
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return true;
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} else if (action == "whirlwind_leg") {
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QueueAction(ACTION_WHIRLWIND_LEG, steps, speed, 0, amount);
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return true;
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}
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// 固定动作
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else if (action == "sit") {
|
||||
QueueAction(ACTION_SIT, 1, 0, 0, 0);
|
||||
return true;
|
||||
} else if (action == "showcase") {
|
||||
QueueAction(ACTION_SHOWCASE, 1, 0, 0, 0);
|
||||
return true;
|
||||
} else if (action == "home") {
|
||||
QueueAction(ACTION_HOME, 1, 1000, 1, 0);
|
||||
return true;
|
||||
}
|
||||
// 手部动作
|
||||
else if (action == "hands_up") {
|
||||
if (!has_hands_) {
|
||||
return "错误：此动作需要手部舵机支持";
|
||||
}
|
||||
QueueAction(ACTION_HANDS_UP, 1, speed, direction, 0);
|
||||
return true;
|
||||
} else if (action == "hands_down") {
|
||||
if (!has_hands_) {
|
||||
return "错误：此动作需要手部舵机支持";
|
||||
}
|
||||
QueueAction(ACTION_HANDS_DOWN, 1, speed, direction, 0);
|
||||
return true;
|
||||
} else if (action == "hand_wave") {
|
||||
if (!has_hands_) {
|
||||
return "错误：此动作需要手部舵机支持";
|
||||
}
|
||||
QueueAction(ACTION_HAND_WAVE, 1, 0, 0, direction);
|
||||
return true;
|
||||
} else if (action == "windmill") {
|
||||
if (!has_hands_) {
|
||||
return "错误：此动作需要手部舵机支持";
|
||||
}
|
||||
QueueAction(ACTION_WINDMILL, steps, speed, 0, amount);
|
||||
return true;
|
||||
} else if (action == "takeoff") {
|
||||
if (!has_hands_) {
|
||||
return "错误：此动作需要手部舵机支持";
|
||||
}
|
||||
QueueAction(ACTION_TAKEOFF, steps, speed, 0, amount);
|
||||
return true;
|
||||
} else if (action == "fitness") {
|
||||
if (!has_hands_) {
|
||||
return "错误：此动作需要手部舵机支持";
|
||||
}
|
||||
QueueAction(ACTION_FITNESS, steps, speed, 0, amount);
|
||||
return true;
|
||||
} else if (action == "greeting") {
|
||||
if (!has_hands_) {
|
||||
return "错误：此动作需要手部舵机支持";
|
||||
}
|
||||
QueueAction(ACTION_GREETING, steps, 0, direction, 0);
|
||||
return true;
|
||||
} else if (action == "shy") {
|
||||
if (!has_hands_) {
|
||||
return "错误：此动作需要手部舵机支持";
|
||||
}
|
||||
QueueAction(ACTION_SHY, steps, 0, direction, 0);
|
||||
return true;
|
||||
} else if (action == "radio_calisthenics") {
|
||||
if (!has_hands_) {
|
||||
return "错误：此动作需要手部舵机支持";
|
||||
}
|
||||
QueueAction(ACTION_RADIO_CALISTHENICS, 1, 0, 0, 0);
|
||||
return true;
|
||||
});
|
||||
|
||||
mcp_server.AddTool("self.otto.magic_circle",
|
||||
"爱的魔力转圈圈。不需要参数",
|
||||
PropertyList(),
|
||||
[this](const PropertyList& properties) -> ReturnValue {
|
||||
} else if (action == "magic_circle") {
|
||||
if (!has_hands_) {
|
||||
return "错误：此动作需要手部舵机支持";
|
||||
}
|
||||
QueueAction(ACTION_MAGIC_CIRCLE, 1, 0, 0, 0);
|
||||
return true;
|
||||
});
|
||||
}
|
||||
} else {
|
||||
return "错误：无效的动作名称。可用动作：walk, turn, jump, swing, moonwalk, bend, shake_leg, updown, whirlwind_leg, sit, showcase, home, hands_up, hands_down, hand_wave, windmill, takeoff, fitness, greeting, shy, radio_calisthenics, magic_circle";
|
||||
}
|
||||
});
|
||||
|
||||
|
||||
// 舵机序列工具（支持分段发送，每次发送一个序列，自动排队执行）
|
||||
mcp_server.AddTool(
|
||||
"self.otto.servo_sequences",
|
||||
"控制每个舵机实现自主动作编程。支持分段发送序列：AI可以连续多次调用此工具，每次发送一个短序列，系统会自动排队按顺序执行。支持普通移动和振荡器两种模式。"
|
||||
"AI自定义动作编程（即兴动作）。支持分段发送序列：超过5个序列建议AI可以连续多次调用此工具，每次发送一个短序列，系统会自动排队按顺序执行。支持普通移动和振荡器两种模式。"
|
||||
"机器人结构：双手可上下摆动，双腿可内收外展，双脚可上下翻转。"
|
||||
"舵机说明："
|
||||
"ll(左腿)：内收外展，0度=完全外展，90度=中立，180度=完全内收；"
|
||||
@@ -824,8 +688,8 @@ public:
|
||||
"第3次调用{\"sequence\":\"{\\\"a\\\":[{\\\"s\\\":{\\\"ll\\\":80},\\\"v\\\":800}]}\"}，"
|
||||
"最后调用self.otto.home工具进行复位。"
|
||||
"振荡器模式示例："
|
||||
"示例1-双臂同步摆动：{\"sequence\":\"{\\\"a\\\":[{\\\"osc\\\":{\\\"a\\\":{\\\"lh\\\":30,\\\"rh\\\":30},\\\"o\\\":{\\\"lh\\\":90,\\\"rh\\\":90},\\\"p\\\":500,\\\"c\\\":5.0}}],\\\"d\\\":0}\"}；"
|
||||
"示例2-双腿交替振荡（波浪效果）：{\"sequence\":\"{\\\"a\\\":[{\\\"osc\\\":{\\\"a\\\":{\\\"ll\\\":20,\\\"rl\\\":20},\\\"o\\\":{\\\"ll\\\":90,\\\"rl\\\":90},\\\"ph\\\":{\\\"rl\\\":180},\\\"p\\\":600,\\\"c\\\":3.0}}],\\\"d\\\":0}\"}；"
|
||||
"示例1-双臂同步摆动：{\"sequence\":\"{\\\"a\\\":[{\\\"osc\\\":{\\\"a\\\":{\\\"lh\\\":30,\\\"rh\\\":30},\\\"o\\\":{\\\"lh\\\":90,\\\"rh\\\":-90},\\\"p\\\":500,\\\"c\\\":5.0}}],\\\"d\\\":0}\"}；"
|
||||
"示例2-双腿交替振荡（波浪效果）：{\"sequence\":\"{\\\"a\\\":[{\\\"osc\\\":{\\\"a\\\":{\\\"ll\\\":20,\\\"rl\\\":20},\\\"o\\\":{\\\"ll\\\":90,\\\"rl\\\":-90},\\\"ph\\\":{\\\"rl\\\":180},\\\"p\\\":600,\\\"c\\\":3.0}}],\\\"d\\\":0}\"}；"
|
||||
"示例3-单腿振荡配合固定脚（安全）：{\"sequence\":\"{\\\"a\\\":[{\\\"osc\\\":{\\\"a\\\":{\\\"ll\\\":45},\\\"o\\\":{\\\"ll\\\":90,\\\"lf\\\":90},\\\"p\\\":400,\\\"c\\\":4.0}}],\\\"d\\\":0}\"}；"
|
||||
"示例4-复杂多舵机振荡（手和腿）：{\"sequence\":\"{\\\"a\\\":[{\\\"osc\\\":{\\\"a\\\":{\\\"lh\\\":25,\\\"rh\\\":25,\\\"ll\\\":15},\\\"o\\\":{\\\"lh\\\":90,\\\"rh\\\":90,\\\"ll\\\":90,\\\"lf\\\":90},\\\"ph\\\":{\\\"rh\\\":180},\\\"p\\\":800,\\\"c\\\":6.0}}],\\\"d\\\":500}\"}；"
|
||||
"示例5-快速摇摆：{\"sequence\":\"{\\\"a\\\":[{\\\"osc\\\":{\\\"a\\\":{\\\"ll\\\":30,\\\"rl\\\":30},\\\"o\\\":{\\\"ll\\\":90,\\\"rl\\\":90},\\\"ph\\\":{\\\"rl\\\":180},\\\"p\\\":300,\\\"c\\\":10.0}}],\\\"d\\\":0}\"}。",
|
||||
@@ -839,12 +703,6 @@ public:
|
||||
return true;
|
||||
});
|
||||
|
||||
// 系统工具
|
||||
mcp_server.AddTool("self.otto.home", "复位机器人到初始位置", PropertyList(),
|
||||
[this](const PropertyList& properties) -> ReturnValue {
|
||||
QueueAction(ACTION_HOME, 1, 1000, 1, 0);
|
||||
return true;
|
||||
});
|
||||
|
||||
mcp_server.AddTool("self.otto.stop", "立即停止所有动作并复位", PropertyList(),
|
||||
[this](const PropertyList& properties) -> ReturnValue {
|
||||
|
||||
Reference in New Issue
Block a user