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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); 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 // 恢复到原始角度
// 设备64角度（10通道） // 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 //高兴
void BioHeadRobot::expressionHappy() { 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_64_angles = {90, 90, 90, 90, 80, 125, 100, 60, 90, 90};
const std::vector<double> device_65_angles = {100, 80, 125, 135, 100, 80, 70, 80, 80, 100}; 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); sendExpression(device_64_angles, device_65_angles, 0);
} }
//惊讶 //惊讶
void BioHeadRobot::expressionSurprised() { 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}; 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); sendExpression(device_64_angles, device_65_angles, 0);
} }
//睡觉 //睡觉
void BioHeadRobot::expressionTired() { 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_64_angles = {90, 90, 90, 90, 90, 90, 90, 90, 90, 90};
const std::vector<double> device_65_angles = {90, 90, 90, 90, 90, 90, 90, 90, 85, 95}; 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); sendExpression(device_64_angles, device_65_angles, 0);
} }
//愤怒 //愤怒
void BioHeadRobot::expressionAngry() { 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_64_angles = {90, 70, 90, 110, 70, 125, 110, 80, 70, 90};
const std::vector<double> device_65_angles = {90, 90, 120, 130, 70, 90, 90, 130, 92, 88}; 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); sendExpression(device_64_angles, device_65_angles, 0);
} }
//悲伤 //悲伤
void BioHeadRobot::expressionSadness() { 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_64_angles = {90, 70, 90, 110, 70, 125, 110, 80, 90, 90};
const std::vector<double> device_65_angles = {100, 80, 130, 55, 90, 55, 110, 85, 85, 95}; 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); sendExpression(device_64_angles, device_65_angles, 0);
} }
//打哈欠 //打哈欠