52 lines
2.0 KiB
Markdown
52 lines
2.0 KiB
Markdown
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# Look at me!
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## 资料:
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+ 官方文档:https://github.com/apirrone/Open_Duck_Mini
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+ 同济子豪文档:https://zihao-ai.feishu.cn/wiki/HM3WwVsyEiOs4wkfR4McvRaUn5d
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+ 中文详细文档(个人建议看这个):https://www.ncnynl.com/archives/202506/6739.html
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## 安装步骤:
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先在window下配置舵机,在进行硬件组装(提前串联好14个舵机),在连接电路.
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## 注意事项:
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+ ##### 树莓派系统安装以及环境配置(VNC Viewer)
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+ **舵机配置时候缺少pypot依赖:**
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+ **解决方案:**从open_duck_mini_Runtime中的setup.cfg文件发现其余依赖(舵机以来的库),继续将github中的**support-feetech-sts215分支**下载并上传到实验室git,在执行pip install .(待验证,正在尝试windowns下配置舵机)
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<img src="http://www.uestc-up.cn:3000/JiaWei/Open_Duck_Mini_Runtime/src/branch/main/image-20250729225721855.png" alt="image-20250729225721855" style="zoom: 33%;" />
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+ **wsl配置舵机**:pip install -e .所需环境(但是执行舵机配置代码失败:ubuntu下无法识别COM3!(建议直接在windowns下配置)
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+ **针对以上问题的解决方案1**:将windown下的串口映射到wsl:
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**windowns端:**
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+ 下载usbipd:[Release usbipd-win 5.1.0 · dorssel/usbipd-win](https://github.com/dorssel/usbipd-win/releases/tag/v5.1.0)
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+ usbipd list查看连接端口(COM3)
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+ usbipd bind --busid 5-1(5-1为对应的BUSID,此时端口STATE转换为shared)
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+ usbipd attach --wsl --busid 5-1(映射到wsl)
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**wsl端:**
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ls /dev/tty*(找到/dev/ttyACM0,它对应于COM3)
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python scripts/configure_motor.py --port /dev/ACM0 --id 33(执行改代码后舵机转动九十度左右)
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+ **舵机串口调试步骤如下**:
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<img src="http://www.uestc-up.cn:3000/JiaWei/Open_Duck_Mini_Runtime/src/branch/main/image-20250731121508844.png" style="zoom:33%;" />
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