forked from xiaozhi/xiaozhi-esp32
e39a46c1a0
* 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
91 lines
2.9 KiB
C++
91 lines
2.9 KiB
C++
//--------------------------------------------------------------
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//-- Oscillator.pde
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//-- Generate sinusoidal oscillations in the servos
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//--------------------------------------------------------------
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//-- (c) Juan Gonzalez-Gomez (Obijuan), Dec 2011
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//-- (c) txp666 for esp32, 202503
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//-- GPL license
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//--------------------------------------------------------------
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#ifndef __OSCILLATOR_H__
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#define __OSCILLATOR_H__
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#include "driver/ledc.h"
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#include "esp_log.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#define M_PI 3.14159265358979323846
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#ifndef DEG2RAD
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#define DEG2RAD(g) ((g) * M_PI) / 180
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#endif
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#define SERVO_MIN_PULSEWIDTH_US 500 // 最小脉宽（微秒）
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#define SERVO_MAX_PULSEWIDTH_US 2500 // 最大脉宽（微秒）
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#define SERVO_MIN_DEGREE -90 // 最小角度
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#define SERVO_MAX_DEGREE 90 // 最大角度
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#define SERVO_TIMEBASE_RESOLUTION_HZ 1000000 // 1MHz, 1us per tick
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#define SERVO_TIMEBASE_PERIOD 20000 // 20000 ticks, 20ms
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class Oscillator {
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public:
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Oscillator(int trim = 0);
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~Oscillator();
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void Attach(int pin, bool rev = false);
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void Detach();
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void SetA(unsigned int amplitude) { amplitude_ = amplitude; };
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void SetO(int offset) { offset_ = offset; };
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void SetPh(double Ph) { phase0_ = Ph; };
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void SetT(unsigned int period);
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void SetTrim(int trim) { trim_ = trim; };
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void SetLimiter(int diff_limit) { diff_limit_ = diff_limit; };
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void DisableLimiter() { diff_limit_ = 0; };
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int GetTrim() { return trim_; };
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void SetPosition(int position);
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void Stop() { stop_ = true; };
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void Play() { stop_ = false; };
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void Reset() { phase_ = 0; };
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void Refresh();
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int GetPosition() { return pos_; }
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private:
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bool NextSample();
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void Write(int position);
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uint32_t AngleToCompare(int angle);
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private:
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bool is_attached_;
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//-- Oscillators parameters
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unsigned int amplitude_; //-- Amplitude (degrees)
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int offset_; //-- Offset (degrees)
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unsigned int period_; //-- Period (miliseconds)
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double phase0_; //-- Phase (radians)
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//-- Internal variables
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int pos_; //-- Current servo pos
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int pin_; //-- Pin where the servo is connected
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int trim_; //-- Calibration offset
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double phase_; //-- Current phase
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double inc_; //-- Increment of phase
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double number_samples_; //-- Number of samples
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unsigned int sampling_period_; //-- sampling period (ms)
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long previous_millis_;
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long current_millis_;
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//-- Oscillation mode. If true, the servo is stopped
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bool stop_;
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//-- Reverse mode
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bool rev_;
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int diff_limit_;
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long previous_servo_command_millis_;
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ledc_channel_t ledc_channel_;
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ledc_mode_t ledc_speed_mode_;
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};
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#endif // __OSCILLATOR_H__
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