From 616f094db354e7484e20fa4a1a5d43414db81f3a Mon Sep 17 00:00:00 2001
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Date: Sat, 9 Aug 2025 16:33:09 +0800
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+# 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)
+
+<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%;" />
+
++ **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**:
+
+  <img src="http://www.uestc-up.cn:3000/JiaWei/Open_Duck_Mini_Runtime/src/branch/main/image-20250731121508844.png" style="zoom:33%;" />
+
+  
+