From bcddbbde26370505d9adb22217d28b3316160211 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=B0=8F=E9=B9=8F?= <52451470+txp666@users.noreply.github.com> Date: Tue, 4 Nov 2025 04:07:10 +0800 Subject: [PATCH] Update Otto controller parameters for oscillation settings (#1373) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * 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. --- main/boards/otto-robot/otto_controller.cc | 18 ++++++++++++------ 1 file changed, 12 insertions(+), 6 deletions(-) diff --git a/main/boards/otto-robot/otto_controller.cc b/main/boards/otto-robot/otto_controller.cc index 10d452bf..e5d511e5 100644 --- a/main/boards/otto-robot/otto_controller.cc +++ b/main/boards/otto-robot/otto_controller.cc @@ -113,14 +113,14 @@ private: int amplitude[SERVO_COUNT] = {0}; int center_angle[SERVO_COUNT] = {0}; double phase_diff[SERVO_COUNT] = {0}; - int period = 500; // 默认周期500毫秒 - float steps = 5.0; // 默认步数5.0 + int period = 300; // 默认周期300毫秒 + float steps = 8.0; // 默认步数8.0 const char* servo_names[] = {"ll", "rl", "lf", "rf", "lh", "rh"}; - // 读取振幅（短键名 "a"），默认20度 + // 读取振幅（短键名 "a"），默认0度 for (int j = 0; j < SERVO_COUNT; j++) { - amplitude[j] = 20; // 默认振幅20度 + amplitude[j] = 0; // 默认振幅0度 } cJSON* amp_item = cJSON_GetObjectItem(osc_item, "a"); if (cJSON_IsObject(amp_item)) { @@ -818,11 +818,17 @@ public: "振荡模式：'osc'振荡器对象，包含'a'振幅对象(各舵机振幅10-90度，默认20度)，'o'中心角度对象(各舵机振荡中心绝对角度0-180度，默认90度)，'ph'相位差对象(各舵机相位差，度，0-360度，默认0度)，'p'周期100-3000毫秒(默认500)，'c'周期数0.1-20.0(默认5.0)；" "使用方式：AI可以连续多次调用此工具，每次发送一个序列，系统会自动排队按顺序执行。" "重要说明：左右腿脚震荡的时候，有一只脚必须在90度，否则会损坏机器人，如果发送多个序列（序列数>1），完成所有序列后需要复位时，AI应该最后单独调用self.otto.home工具进行复位，不要在序列中设置复位参数。" - "示例：发送3个序列，最后调用复位：" + "普通模式示例：发送3个序列，最后调用复位：" "第1次调用{\"sequence\":\"{\\\"a\\\":[{\\\"s\\\":{\\\"ll\\\":100},\\\"v\\\":1000}],\\\"d\\\":500}\"}，" "第2次调用{\"sequence\":\"{\\\"a\\\":[{\\\"s\\\":{\\\"ll\\\":90},\\\"v\\\":800}],\\\"d\\\":500}\"}，" "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。", + "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}\"}。", PropertyList({Property("sequence", kPropertyTypeString, "{\"a\":[{\"s\":{\"ll\":90,\"rl\":90},\"v\":1000}]}")}), [this](const PropertyList& properties) -> ReturnValue {