HiveCoreRD/hivecore_robot_brain
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update sch & params, move back to origin position at last

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NuoDaJia02
2025-10-30 20:16:19 +08:00
parent 4958ba69f8
commit 39828ff636
4 changed files with 18 additions and 4 deletions
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8
src/brain/config/bt_carry_boxes_sch1.params.yaml
View File

@@ -188,7 +188,7 @@
data_array: [-105, -65, -36, 1, -80, -170, -75, 65, 36, -1, 80, -10]
'
- name: s18_wheel_move_back_to_origin
- name: s18_wheel_move_back_to_second_position
params: 'move_distance: -0.5
move_angle: 0.0
@@ -259,4 +259,10 @@
data_array: [-5, -55, -30, 0, 0, -180, -175, 55, 30, 0, 0, 0]
'
- name: s26_wheel_move_back_to_origin
params: 'move_distance: 0.0
move_angle: 0.0
'

3
src/brain/config/bt_carry_boxes_sch1.xml
View File

@@ -21,7 +21,7 @@
<MoveWheel_H name="s15_wheel_move_to_pickup_position" />
<Arm_H name="s16_arm_grasp_box" />
<Arm_H name="s17_arm_pickup_box" />
<MoveWheel_H name="s18_wheel_move_back_to_origin" />
<MoveWheel_H name="s18_wheel_move_back_to_second_position" />
<MoveWaist_H name="s19_waist_turn_around" />
<MoveWaist_H name="s20_waist_bend_down" />
<!-- <Arm_H name="s21_arm_put_down_box" /> -->
@@ -29,6 +29,7 @@
<MoveWaist_H name="s23_waist_bend_up" />
<MoveWaist_H name="s24_waist_turn_around" />
<Arm_H name="s25_arm_move_origin_position" />
<MoveWheel_H name="s26_wheel_move_back_to_origin" />
</Sequence>
</RetryUntilSuccessful>
</Sequence>

8
src/brain/config/bt_carry_boxes_sch2.params.yaml
View File

@@ -188,7 +188,7 @@
data_array: [-105, -65, -36, 1, -80, -170, -75, 65, 36, -1, 80, -10]
'
- name: s18_wheel_move_back_to_origin
- name: s18_wheel_move_back_to_second_position
params: 'move_distance: -0.5
move_angle: 0.0
@@ -259,4 +259,10 @@
data_array: [-5, -55, -30, 0, 0, -180, -175, 55, 30, 0, 0, 0]
'
- name: s26_wheel_move_back_to_origin
params: 'move_distance: 0.0
move_angle: 0.0
'

3
src/brain/config/bt_carry_boxes_sch2.xml
View File

@@ -21,7 +21,7 @@
<MoveWheel_H name="s15_wheel_move_to_pickup_position" />
<Arm_H name="s16_arm_grasp_box" />
<Arm_H name="s17_arm_pickup_box" />
<MoveWheel_H name="s18_wheel_move_back_to_origin" />
<MoveWheel_H name="s18_wheel_move_back_to_second_position" />
<MoveWaist_H name="s19_waist_turn_around" />
<MoveWaist_H name="s20_waist_bend_down" />
<!-- <Arm_H name="s21_arm_put_down_box" /> -->
@@ -29,6 +29,7 @@
<MoveWaist_H name="s23_waist_bend_up" />
<MoveWaist_H name="s24_waist_turn_around" />
<Arm_H name="s25_arm_move_origin_position" />
<MoveWheel_H name="s26_wheel_move_back_to_origin" />
</Sequence>
</RetryUntilSuccessful>
</Sequence>