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标题: 跟风玩机械爪 [打印本页]

作者: 灰灰机呦 时间: 2020-1-21
标题: 跟风玩机械爪
[{"nameindex":"_1_1","type":1,"imgsrc":"static/image/text.jpg","url":"","desc":"目前实现了:\r\n1:开启技能后,爪子俯仰按比例跟随云台俯仰运动 , 底盘可以自由移动\r\n2:两次拍手, 爪子开合按比例跟随云台航向运动 , 此时底盘不可移动\r\n3:再次拍手两次,停止爪子开合控制,底盘恢复自由移动\r\n"},{"nameindex":"_1_2","type":1,"imgsrc":"static/image/text.jpg","url":"","desc":"踩过的坑:\r\n\r\n一开始使用云台俯仰到底(到顶)保持2秒钟,来分别进入和退出爪子的开合控制模式,可是进入还好,退出的话都会把东西完全举起来,看着有点尴尬. 另外爪子俯仰到底,比较容易误触发.\r\n\r\n再就是开始控制爪子开合,在云台的操作范围是固定的(比如,固定云台航向轴+5度爪子开到最大,-5度爪子合拢),实际玩时发现,第二次及以后进入开合控制时,云台当时的航向轴角度会影响爪子.最后的逻辑是,再次进入开合模式时,云台当前航向轴角度对应的爪子开合程度(pwm输出),为上次退出开合模式时爪子的开合程度(pwm输出)"},{"nameindex":"_1_3","type":1,"imgsrc":"static/image/text.jpg","url":"","desc":"吐槽一下,玩一会手拍得都疼,可是暂时没有找到更合适的方法触发爪子开合控制\r\n希望:\r\n1.退出技能时,保持pwm输出(或者给个选择,自由选择保持或者不保持)\r\n2.多一些控制入口,现在自主程序和自定义技能二选一,所有操作挤在一个程序里\r\n3.fpv模式能否直接控制PWM输出(比如加个虚拟滑块),而不是非得通过技能"},{"nameindex":"_3_1","type":3,"imgsrc":"static/image/video.jpg","url":"http://v.qq.com/iframe/player.html?vid=e3055ysqayu&tiny=0&auto=0","desc":""},{"nameindex":"_2_609767","type":2,"imgsrc":"202001/21/140022wiiq2e73jiw22qyi.jpg","multi_size":{"small":"202001/21/140022wiiq2e73jiw22qyi.jpg@!550","large":"202001/21/140022wiiq2e73jiw22qyi.jpg@!1920","extra_large":"202001/21/140022wiiq2e73jiw22qyi.jpg@!2560","wide_450_360":"202001/21/140022wiiq2e73jiw22qyi.jpg@!450x360","medium":"202001/21/140022wiiq2e73jiw22qyi.jpg@!1200","square_360_360":"202001/21/140022wiiq2e73jiw22qyi.jpg@!360x360","standard_640_360":"202001/21/140022wiiq2e73jiw22qyi.jpg@!640x360"},"url":"202001/21/140022wiiq2e73jiw22qyi.jpg","desc":""},{"nameindex":"_2_609768","type":2,"imgsrc":"202001/21/140023l78xcz7ehxi8mnrg.jpg","multi_size":{"small":"202001/21/140023l78xcz7ehxi8mnrg.jpg@!550","large":"202001/21/140023l78xcz7ehxi8mnrg.jpg@!1920","extra_large":"202001/21/140023l78xcz7ehxi8mnrg.jpg@!2560","wide_450_360":"202001/21/140023l78xcz7ehxi8mnrg.jpg@!450x360","medium":"202001/21/140023l78xcz7ehxi8mnrg.jpg@!1200","square_360_360":"202001/21/140023l78xcz7ehxi8mnrg.jpg@!360x360","standard_640_360":"202001/21/140023l78xcz7ehxi8mnrg.jpg@!640x360"},"url":"202001/21/140023l78xcz7ehxi8mnrg.jpg","desc":""}]

作者: 大斌 时间: 2020-1-21
感觉夹着水晶弹的瓶子举起来像它在自己喝水。。。

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