From 5c9069b029ec804ef9fdab370d153bc7efb1af71 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E8=B4=BE=E4=BC=9F?= <1073198597@qq.com> Date: Sat, 9 Aug 2025 16:37:35 +0800 Subject: [PATCH] =?UTF-8?q?=E4=B8=8A=E4=BC=A0=E6=96=87=E4=BB=B6=E8=87=B3?= =?UTF-8?q?=20Open=5FDuck=5FMini=5FRuntime/Open=5FDuck=5FMini=5FRuntime-2?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../Open_Duck_Mini_Runtime-2/Look at me!.md | 51 +++++++++++++++++++ 1 file changed, 51 insertions(+) create mode 100644 Open_Duck_Mini_Runtime/Open_Duck_Mini_Runtime-2/Look at me!.md diff --git a/Open_Duck_Mini_Runtime/Open_Duck_Mini_Runtime-2/Look at me!.md b/Open_Duck_Mini_Runtime/Open_Duck_Mini_Runtime-2/Look at me!.md new file mode 100644 index 0000000..bff8ed6 --- /dev/null +++ b/Open_Duck_Mini_Runtime/Open_Duck_Mini_Runtime-2/Look at me!.md @@ -0,0 +1,51 @@ +# Look at me! + +## 资料: + ++ 官方文档:https://github.com/apirrone/Open_Duck_Mini ++ 同济子豪文档:https://zihao-ai.feishu.cn/wiki/HM3WwVsyEiOs4wkfR4McvRaUn5d + ++ 中文详细文档(个人建议看这个):https://www.ncnynl.com/archives/202506/6739.html + +## 安装步骤: + +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. + +## 注意事项: + + ++ ##### 树莓派系统安装以及环境配置(VNC Viewer) + +![image-20250728204709133](http://www.uestc-up.cn:3000/JiaWei/Open_Duck_Mini_Runtime/src/branch/main/image-20250728204709133.png) + ++ **舵机配置时候缺少pypot依赖:** ++ **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) + +image-20250729225721855 + ++ **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) + ++ **针对以上问题的解决方案1**:将windown下的串口映射到wsl: + + **windowns端:** + + + 下载usbipd:[Release usbipd-win 5.1.0 · dorssel/usbipd-win](https://github.com/dorssel/usbipd-win/releases/tag/v5.1.0) + + + usbipd list查看连接端口(COM3) + + + usbipd bind --busid 5-1(5-1为对应的BUSID,此时端口STATE转换为shared) + + + usbipd attach --wsl --busid 5-1(映射到wsl) + + **wsl端:** + + ls /dev/tty*(找到/dev/ttyACM0,它对应于COM3) + + 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) + + + **舵机串口调试步骤如下**: + + + + +