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运动功能

发送参数

备注:需要使用底盘的功能组件,都是互斥的。比如底盘行走、导航、回冲、焦点跟随等。请不要同时使用他们,会造成错误

        说明:

参数类型必需参数说明
commandstring操作指令   
   
headUp :抬头   
    
headDown :低头   
    
headLeft :左转头     
  
headRight :右转头       
 
bodyForward :前进   
    
bodyBack :后退       
 
bodyLeft :左转     
  
bodyRight :右转

bodyStop :机器人运动停止(非头部运动)
textObject 
paramsObject头部参数:

hMode:左右转动的模式,绝对运动:absolute,相对运动:relative
vMode:上下运动的模式,绝对运动:absolute,相对运动:relative
hAngle:左右转动角度,范围:-120 ~ 120
vAngle:上下运动的角度,范围:0 ~ 90

底盘参数:

lineSpeed:线速度,取值范围:-1.2 ~ 1.2(正数为前进,负数为后退)
angularSpeed:角速度,取值范围:-2.2 ~ 2.2(正数为左转,负数为右转)

示例: 

{“hMode”:”absolute”,”vMode”:”relative”,”hAngle”:10,”vAngle”:10,”lineSpeed”:0.5,”angularSpeed”:1}

示例

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程序示例:
/**
* 测试发送一个 ”运动功能“ 指令, opk demo 中收到播放指令,会将指令通过 MRobotMessenger 再回传回来
*/
JSONObject json = new JSONObject();
json.put("command", "bodyForward");
json.put("text", "body forward");
map.put("params", object); //object 示例:{"hMode":"absolute","vMode":"relative","hAngle":10,"vAngle":10,"lineSpeed":0.5,"angularSpeed":1}
RobotMessengerManager.INSTANCE.triggerCommand(json.toString());
数据示例:
{
"command": "bodyForward",
"text": "body forward",
"params": {
"hMode": "absolute",
"vMode": "relative",
"hAngle": 10,
"vAngle": 10,
"lineSpeed": 0.5,
"angularSpeed": 1
}
}
程序示例: /** * 测试发送一个 ”运动功能“ 指令, opk demo 中收到播放指令,会将指令通过 MRobotMessenger 再回传回来 */ JSONObject json = new JSONObject(); json.put("command", "bodyForward"); json.put("text", "body forward"); map.put("params", object); //object 示例:{"hMode":"absolute","vMode":"relative","hAngle":10,"vAngle":10,"lineSpeed":0.5,"angularSpeed":1} RobotMessengerManager.INSTANCE.triggerCommand(json.toString()); 数据示例: { "command": "bodyForward", "text": "body forward", "params": { "hMode": "absolute", "vMode": "relative", "hAngle": 10, "vAngle": 10, "lineSpeed": 0.5, "angularSpeed": 1 } }
程序示例:
        /**
        * 测试发送一个 ”运动功能“ 指令, opk demo 中收到播放指令,会将指令通过 MRobotMessenger 再回传回来
        */
        JSONObject json = new JSONObject();
        json.put("command", "bodyForward");
        json.put("text", "body forward");
        map.put("params", object); //object 示例:{"hMode":"absolute","vMode":"relative","hAngle":10,"vAngle":10,"lineSpeed":0.5,"angularSpeed":1}
        RobotMessengerManager.INSTANCE.triggerCommand(json.toString());
数据示例:
{
	"command": "bodyForward",
	"text": "body forward",
	"params": {
		"hMode": "absolute",
		"vMode": "relative",
		"hAngle": 10,
		"vAngle": 10,
		"lineSpeed": 0.5,
		"angularSpeed": 1
	}
}

接受参数

        说明:

参数类型必需参数说明
commandstring操作指令       

headAction :头部运动        
bodyForward :前进        
bodyBack :后退        
bodyLeft :左转        
bodyRight :右转       
bodyStop :机器人运动停止(非头部运动)
textObject 
codenumber状态码   
头部参数值:

32610015:执行成功
-32610013:参数无效
-32630005:头部运动超时
-32630006:头部运动失败
-32630007:头部运动被打断   

底盘参数值:   

大于等于1:成功   
-1: 失败
messagestring内容信息说明

示例

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数据示例:
{
"command": "headUp",
"text": "head up",
"code": 1,
"message": ""
}
数据示例: { "command": "headUp", "text": "head up", "code": 1, "message": "" }
数据示例:
{
	"command": "headUp",
	"text": "head up",
	"code": 1,
	"message": ""
}

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