xsxiaosa/FlyShotHost
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge commit '0952958af7685646cdbf2a4907c6e2ae59d4d352'

Browse Source
This commit is contained in:
yunxiao.zhu
2026-05-28 10:44:03 +08:00
parent 4eeaa3fef3
commit 35bdb08d11
144 changed files with 33730 additions and 392 deletions
Download Patch File Download Diff File Expand all files Collapse all files

305
Config/RobotConfig.json Normal file
View File

@@ -0,0 +1,305 @@
{
"robot": {
"use_do": true,
"io_addr": [
7,
8
],
"io_keep_cycles": 2,
"trigger_sample_index_offset_cycles": 6,
"acc_limit": 1,
"jerk_limit": 1,
"adapt_icsp_try_num": 5,
"speed_ratio": 1,
"planning_speed_scale": 0.74227,
"smooth_start_stop_timing": true
},
"flying_shots": {
"UTTC_MS11": {
"traj_waypoints": [
[
1.056731,
0.011664811,
-0.017892333,
-0.01516874,
0.021492079,
0.009567846
],
[
0.8532358,
0.03837953,
-0.19235304,
0.0071595116,
0.109054826,
0.040055145
],
[
0.96600056,
0.20607172,
-0.12233179,
-1.2394339,
0.10493033,
1.2958988
],
[
0.9618476,
0.15288207,
-0.14867093,
-0.7176314,
0.1764264,
0.73228663
],
[
0.76189893,
-0.028442925,
-0.30919823,
0.10463613,
0.5615024,
-0.39399016
],
[
1.1271763,
0.074403025,
-0.27347943,
-0.5227772,
0.52098846,
0.79633313
],
[
1.0555661,
0.4026262,
-0.08746306,
0.6301835,
0.09644133,
-0.5463328
],
[
1.2300354,
0.28612664,
-0.23486805,
-0.4868128,
0.25369516,
0.55347764
],
[
1.2144431,
-0.29855102,
-0.15202847,
-1.0205934,
0.13317892,
1.1246506
],
[
1.2840607,
-0.11222197,
-0.16805042,
-2.248135,
0.2560587,
2.4434967
],
[
1.3189346,
-0.25620222,
-0.12730704,
-2.285038,
0.30872014,
2.4765089
],
[
1.502615,
-0.25304365,
-0.23878741,
-1.2194318,
0.46674785,
1.5533328
],
[
1.07723,
-0.07387611,
-0.1707704,
-1.8916591,
0.38677844,
2.061968
],
[
1.3920237,
0.08098731,
-0.2672306,
-0.9780007,
0.4561093,
0.9102286
],
[
1.9016331,
0.023924276,
-0.58633333,
-0.8441697,
0.76730615,
1.4842151
],
[
1.9300697,
-0.06738541,
-0.56542397,
-0.892083,
0.77194446,
1.5293273
],
[
2.0611632,
-0.30327517,
-0.54225636,
-1.0395275,
0.8505439,
1.6429617
],
[
1.0921186,
-0.40034482,
-0.1803499,
1.3524796,
0.6210477,
-1.2159473
],
[
1.0521278,
-0.40034503,
-0.1803492,
1.3524843,
0.6210471,
-1.2159531
],
[
1.056731,
0.011664811,
-0.017892333,
-0.01516874,
0.021492079,
0.009567846
]
],
"shot_flags": [
false,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
false,
true,
false
],
"offset_values": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"addr": [
[],
[
2,
4
],
[
3,
4,
2
],
[
3,
4,
2
],
[
4,
2
],
[
4,
2
],
[
3,
4
],
[
3,
4
],
[
4,
2
],
[
4,
2
],
[
4,
2
],
[
4,
2
],
[
4,
2
],
[
4,
3
],
[
4,
2
],
[
4,
2
],
[
4,
2
],
[
4,
2
],
[
4,
3
],
[]
]
}
}
}