Лабораторная работа №8
Шпагат
//Ставим робота в стандартную позу
srv_init(-200,-700,0,0,0,0,0,0,-70,450,-240,0,-200,-700,0,0,0,0,0,0,-70,450,-240,0)
//Подключаем необходимые модули
include "servo_init.bas"
include "std_proc.bas"
//Включаем все сервоприводы
gosub servo_group
gosub servo_on
gosub standard_pose
//Главная программа
main:
gosub standard_pose
gosub jump
stop
goto main
//Стандартная поза
standard_pose:
srv_move_all_ptp(-200,-700,0,0,0,0,0,0,-70,450,-240,0,-200,-700,0,0,0,0,0,0,-70,450,-240,0)
srv_waitmove_all()
return
Лабораторная работа №9
Казачок
dim i=0
//Ставим робота в стандартную позу
srv_init(-200,-700,0,0,0,0,0,0,-70,450,-240,0,-200,-700,0,0,0,0,0,0,-70,450,-240,0)
//Подключаем необходимые модули
include "servo_init.bas"
include "std_proc.bas"
//Включаем все сервоприводы
gosub servo_group
gosub servo_on
gosub standard_pose
//Главная программа
main:
gosub standard_pose
gosub d23_kazachok_start
gosub d23_kazachok
stop
goto main
//Стандартная поза
standard_pose:
srv_move_all_ptp(-200,-700,0,0,0,0,0,0,-70,450,-240,0,-200,-700,0,0,0,0,0,0,-70,450,-240,0)
srv_waitmove_all()
return
d23_backward_standup:
srv_speed_all(5500)
//srv_move_all_ptp(-900,300,0,0,0,0,0,0,150,0,-900,0,-900,300,0,0,0,0,0,0,150,0,-900,0)
//srv_waitmove_all()
srv_move_all_ptp(-950,300,-900,0,0,0,0,0,400,-370,-950,0,-900,300,-900,0,0,0,0,0,400,-370,-900,0)
srv_waitmove_all()
//stop
srv_move_all_ptp(-200,-900,-900,0,0,0,0,0,-500,-550,260,0,-200,-900,-900,0,0,0,0,0,-500,-550,260,0)
srv_waitmove_all()
srv_move_all_ptp(50,-800,-900,0,0,0,0,0,-850,-300,650,0,50,-800,-900,0,0,0,0,0,-850,-300,650,0)
srv_waitmove_all()
srv_move_all_ptp(-500,-300,100,0,0,0,0,0,0,-600,650,0,-500,-300,100,0,0,0,0,0,0,-600,650,0)
srv_waitmove_all()
srv_speed_all(5000)
return
d23_kazachok:
for i = 1 to 16 do
srv_moveptpg5(3, 10, 500, -770, -275, 0)
srv_moveptpg5(2, 10, -300, -770, 510, 0)
srv_waitmove_all()
srv_moveptpg5(2, 10, 500, -770, -275, 0)
srv_moveptpg5(3, 10, -300, -770, 510, 0)
srv_waitmove_all()
end
gosub d23_backward_standup//d23_kazachok_out
//gosub d23_backward_standup2
return
d23_kazachok_start:
gosub d23_sitdown
srv_moveptpg3(1, -200, -700, -900)
srv_moveptpg3(4, -200, -700, -900)
tim_delay(200)
srv_moveptpg5(2, 10, -300, -770, 510, 0)
srv_moveptpg5(3, 10, -300, -770, 510, 0)
srv_waitmove_all()
srv_speed_all(8000)
return
d23_sitdown:
srv_moveptpg5(3, 0,300,-760,620,0)
srv_moveptpg5(2, 0,300,-760,620,0)
srv_moveptpg3(4, -200,-700,0)
srv_moveptpg3(1, -200,-700,0)
srv_waitmove_all()
return
Упражнения для самостоятельной работы: 1. Выпрямлять ноги по очереди в позе "казачка"
2. Встать на мостик