SmartBench/cmvr-es
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tankaitao 2025-12-19 13:30:37 +08:00
parent a6e7ea5bc1
commit 64100abdf0
1 changed files with 10 additions and 10 deletions
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20
src/devices/biohead/biohead_esp32/src/biohead_esp32.cpp
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@ -527,7 +527,7 @@ void BioHeadRobot::sendExpression(const std::vector<double>& device_64_angles, c
}
serial_->sendRawServoData(raw_data);
std::this_thread::sleep_for(std::chrono::seconds(3));
std::this_thread::sleep_for(std::chrono::seconds(5));
// 恢复到原始角度
// 设备64角度（10通道）
@ -562,33 +562,33 @@ void BioHeadRobot::sendExpression(const std::vector<double>& device_64_angles, c
//高兴
void BioHeadRobot::expressionHappy() {
const std::vector<double> device_64_angles = {90, 90, 90, 90, 70, 135, 120, 50, 90, 90};
const std::vector<double> device_65_angles = {100, 80, 125, 135, 100, 80, 70, 80, 80, 100};
const std::vector<double> device_64_angles = {90, 90, 90, 90, 80, 125, 100, 60, 90, 90};
const std::vector<double> device_65_angles = {100, 80, 125, 135, 100, 105, 110, 90, 90, 90};
sendExpression(device_64_angles, device_65_angles, 0);
}
//惊讶
void BioHeadRobot::expressionSurprised() {
const std::vector<double> device_64_angles = {90, 100, 100, 80, 20, 140, 130, 50, 90, 90};
const std::vector<double> device_64_angles = {90, 100, 100, 70, 20, 140, 130, 50, 90, 90};
const std::vector<double> device_65_angles = {90, 90, 90, 90, 90, 90, 90, 90, 70, 110};
sendExpression(device_64_angles, device_65_angles, 0);
}
//睡觉
void BioHeadRobot::expressionTired() {
const std::vector<double> device_64_angles = {90, 90, 90, 90, 75, 105, 105, 75, 90, 90};
const std::vector<double> device_65_angles = {90, 90, 90, 90, 90, 90, 90, 90, 85, 95};
const std::vector<double> device_64_angles = {90, 90, 90, 90, 90, 90, 90, 90, 90, 90};
const std::vector<double> device_65_angles = {90, 90, 90, 90, 90, 105, 110, 90, 85, 95};
sendExpression(device_64_angles, device_65_angles, 0);
}
//愤怒
void BioHeadRobot::expressionAngry() {
const std::vector<double> device_64_angles = {90, 90, 90, 90, 55, 125, 125, 55, 90, 90};
const std::vector<double> device_65_angles = {90, 90, 120, 130, 70, 90, 90, 130, 92, 88};
const std::vector<double> device_64_angles = {90, 70, 90, 110, 70, 125, 110, 80, 70, 90};
const std::vector<double> device_65_angles = {100, 80, 130, 130, 70, 55, 50, 125, 90, 90};
sendExpression(device_64_angles, device_65_angles, 0);
}
//悲伤
void BioHeadRobot::expressionSadness() {
const std::vector<double> device_64_angles = {90, 70, 90, 110, 70, 115, 110, 70, 90, 90};
const std::vector<double> device_65_angles = {100, 80, 130, 55, 90, 55, 110, 85, 85, 95};
const std::vector<double> device_64_angles = {90, 70, 90, 110, 70, 125, 110, 80, 90, 90};
const std::vector<double> device_65_angles = {100, 80, 130, 130, 70, 55, 50, 125, 90, 90};
sendExpression(device_64_angles, device_65_angles, 0);
}
//打哈欠