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Code Pull Requests Activity

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 (#817)

Browse Source 
* 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
This commit is contained in:
小鹏
2025-06-13 21:02:03 +08:00
committed by GitHub
parent bf125446b3
commit 7435c98609
7 changed files with 246 additions and 17 deletions
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120
main/boards/otto-robot/otto_controller.cc
View File

@@ -13,6 +13,7 @@
#include "mcp_server.h"
#include "otto_movements.h"
#include "sdkconfig.h"
#include "settings.h"
#define TAG "OttoController"
@@ -48,7 +49,8 @@ private:
ACTION_FLAPPING = 13,
ACTION_HANDS_UP = 14,
ACTION_HANDS_DOWN = 15,
ACTION_HAND_WAVE = 16
ACTION_HAND_WAVE = 16,
ACTION_HOME = 17
};
static void ActionTask(void* arg) {
@@ -121,11 +123,16 @@ private:
controller->otto_.HandWave(params.speed, params.direction);
}
break;
case ACTION_HOME:
controller->otto_.Home(params.direction == 1);
break;
}
if (params.action_type != ACTION_HOME) {
controller->otto_.Home(params.action_type < ACTION_HANDS_UP);
}
controller->otto_.Home(params.action_type < ACTION_HANDS_UP);
controller->is_action_in_progress_ = false;
vTaskDelay(pdMS_TO_TICKS(20));
}
vTaskDelay(pdMS_TO_TICKS(20));
}
}
@@ -151,6 +158,22 @@ private:
StartActionTaskIfNeeded();
}
void LoadTrimsFromNVS() {
Settings settings("otto_trims", false);
int left_leg = settings.GetInt("left_leg", 0);
int right_leg = settings.GetInt("right_leg", 0);
int left_foot = settings.GetInt("left_foot", 0);
int right_foot = settings.GetInt("right_foot", 0);
int left_hand = settings.GetInt("left_hand", 0);
int right_hand = settings.GetInt("right_hand", 0);
ESP_LOGI(TAG, "从NVS加载微调设置: 左腿=%d, 右腿=%d, 左脚=%d, 右脚=%d, 左手=%d, 右手=%d",
left_leg, right_leg, left_foot, right_foot, left_hand, right_hand);
otto_.SetTrims(left_leg, right_leg, left_foot, right_foot, left_hand, right_hand);
}
public:
OttoController() {
otto_.Init(LEFT_LEG_PIN, RIGHT_LEG_PIN, LEFT_FOOT_PIN, RIGHT_FOOT_PIN, LEFT_HAND_PIN,
@@ -159,9 +182,12 @@ public:
has_hands_ = (LEFT_HAND_PIN != -1 && RIGHT_HAND_PIN != -1);
ESP_LOGI(TAG, "Otto机器人初始化%s手部舵机", has_hands_ ? "带" : "不带");
otto_.Home(true);
LoadTrimsFromNVS();
action_queue_ = xQueueCreate(10, sizeof(OttoActionParams));
QueueAction(ACTION_HOME, 1, 1000, 1, 0); // direction=1表示复位手部
RegisterMcpTools();
}
@@ -338,10 +364,94 @@ public:
}
is_action_in_progress_ = false;
xQueueReset(action_queue_);
otto_.Home(true);
QueueAction(ACTION_HOME, 1, 1000, 1, 0);
return true;
});
mcp_server.AddTool(
"self.otto.set_trim",
"校准单个舵机位置。设置指定舵机的微调参数以调整Otto的初始站立姿态，设置将永久保存。"
"servo_type: 舵机类型(left_leg/right_leg/left_foot/right_foot/left_hand/right_hand); "
"trim_value: 微调值(-50到50度)",
PropertyList({Property("servo_type", kPropertyTypeString, "left_leg"),
Property("trim_value", kPropertyTypeInteger, 0, -50, 50)}),
[this](const PropertyList& properties) -> ReturnValue {
std::string servo_type = properties["servo_type"].value<std::string>();
int trim_value = properties["trim_value"].value<int>();
ESP_LOGI(TAG, "设置舵机微调: %s = %d度", servo_type.c_str(), trim_value);
// 获取当前所有微调值
Settings settings("otto_trims", true);
int left_leg = settings.GetInt("left_leg", 0);
int right_leg = settings.GetInt("right_leg", 0);
int left_foot = settings.GetInt("left_foot", 0);
int right_foot = settings.GetInt("right_foot", 0);
int left_hand = settings.GetInt("left_hand", 0);
int right_hand = settings.GetInt("right_hand", 0);
// 更新指定舵机的微调值
if (servo_type == "left_leg") {
left_leg = trim_value;
settings.SetInt("left_leg", left_leg);
} else if (servo_type == "right_leg") {
right_leg = trim_value;
settings.SetInt("right_leg", right_leg);
} else if (servo_type == "left_foot") {
left_foot = trim_value;
settings.SetInt("left_foot", left_foot);
} else if (servo_type == "right_foot") {
right_foot = trim_value;
settings.SetInt("right_foot", right_foot);
} else if (servo_type == "left_hand") {
if (!has_hands_) {
return "错误：机器人没有配置手部舵机";
}
left_hand = trim_value;
settings.SetInt("left_hand", left_hand);
} else if (servo_type == "right_hand") {
if (!has_hands_) {
return "错误：机器人没有配置手部舵机";
}
right_hand = trim_value;
settings.SetInt("right_hand", right_hand);
} else {
return "错误：无效的舵机类型，请使用: left_leg, right_leg, left_foot, "
"right_foot, left_hand, right_hand";
}
otto_.SetTrims(left_leg, right_leg, left_foot, right_foot, left_hand, right_hand);
QueueAction(ACTION_JUMP, 1, 500, 0, 0);
return "舵机 " + servo_type + " 微调设置为 " + std::to_string(trim_value) +
" 度，已永久保存";
});
mcp_server.AddTool("self.otto.get_trims", "获取当前的舵机微调设置", PropertyList(),
[this](const PropertyList& properties) -> ReturnValue {
Settings settings("otto_trims", false);
int left_leg = settings.GetInt("left_leg", 0);
int right_leg = settings.GetInt("right_leg", 0);
int left_foot = settings.GetInt("left_foot", 0);
int right_foot = settings.GetInt("right_foot", 0);
int left_hand = settings.GetInt("left_hand", 0);
int right_hand = settings.GetInt("right_hand", 0);
std::string result =
"{\"left_leg\":" + std::to_string(left_leg) +
",\"right_leg\":" + std::to_string(right_leg) +
",\"left_foot\":" + std::to_string(left_foot) +
",\"right_foot\":" + std::to_string(right_foot) +
",\"left_hand\":" + std::to_string(left_hand) +
",\"right_hand\":" + std::to_string(right_hand) + "}";
ESP_LOGI(TAG, "获取微调设置: %s", result.c_str());
return result;
});
mcp_server.AddTool("self.otto.get_status", "获取机器人状态，返回 moving 或 idle",
PropertyList(), [this](const PropertyList& properties) -> ReturnValue {
return is_action_in_progress_ ? "moving" : "idle";