{"id":114992,"date":"2026-10-10T19:33:00","date_gmt":"2026-10-10T11:33:00","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/114992.html"},"modified":"2026-10-10T19:33:00","modified_gmt":"2026-10-10T11:33:00","slug":"%e3%80%90%e8%8a%b1%e9%9b%95%e5%ad%a6%e7%bc%96%e7%a8%8b%e3%80%91arduino-bldc-%e4%b9%8b%e6%9c%ba%e5%99%a8%e4%ba%ba%e8%a7%86%e8%a7%89%e8%a7%a6%e8%a7%89%e8%9e%8d%e5%90%88%e7%9b%b2%e5%8c%ba%e8%b6%8a","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/114992.html","title":{"rendered":"\u3010\u82b1\u96d5\u5b66\u7f16\u7a0b\u3011Arduino BLDC \u4e4b\u673a\u5668\u4eba\u89c6\u89c9+\u89e6\u89c9\u878d\u5408+\u76f2\u533a\u8d8a\u969c\u6b65\u6001\u89c4\u5212"},"content":{"rendered":"

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\nArduino BLDC \u4e4b\u673a\u5668\u4eba\u89c6\u89c9+\u89e6\u89c9\u878d\u5408+\u76f2\u533a\u8d8a\u969c\u6b65\u6001\u89c4\u5212，\u672c\u8d28\u4e0a\u662f\u201c\u89c6\u89c9\u9884\u5efa\u5c40\u90e8\u5730\u5f62\u56fe \u2192 \u89e6\u89c9\/\u672c\u4f53\u611f\u77e5\u786e\u8ba4\u63a5\u89e6\u72b6\u6001 \u2192 \u76f2\u533a\u91c7\u7528\u8bd5\u63a2\u6027\u6b65\u6001 \u2192 BLDC \u5173\u8282\u529b\u77e9\/\u4f4d\u7f6e\u95ed\u73af\u6267\u884c\u201d\u7684\u591a\u6a21\u6001\u95ed\u73af\u7cfb\u7edf：\u89c6\u89c9\u8d1f\u8d23\u8bc6\u522b\u524d\u65b9\u969c\u788d\u548c\u53ef\u9009\u843d\u8db3\u70b9，\u89e6\u89c9\u8d1f\u8d23\u9a8c\u8bc1\u8db3\u7aef\u662f\u5426\u771f\u5b9e\u89e6\u5730\u3001\u6253\u6ed1\u6216\u4e0b\u9677，\u76f2\u533a\u7b56\u7565\u8d1f\u8d23\u5728\u89c6\u89c9\u4e0d\u53ef\u4fe1\u533a\u57df\u91c7\u7528\u4f4e\u51b2\u51fb\u8bd5\u63a2\u6b65\u6001，\u6700\u7ec8\u7531 BLDC \u5173\u8282\u4f3a\u670d\u628a\u6b65\u6001\u8f68\u8ff9\u8f6c\u5316\u4e3a\u67d4\u987a\u3001\u7a33\u5b9a\u7684\u8d8a\u969c\u52a8\u4f5c\u3002 \u5b83\u7684\u6838\u5fc3\u4e0d\u662f\u628a\u89c6\u89c9\u548c\u89e6\u89c9\u7b80\u5355\u53e0\u52a0，\u800c\u662f\u8ba9\u201c\u89c6\u89c9\u51b3\u5b9a\u5f80\u54ea\u91cc\u843d\u8db3\u3001\u89e6\u89c9\u51b3\u5b9a\u662f\u5426\u843d\u7a33\u3001\u76f2\u533a\u51b3\u5b9a\u662f\u5426\u51cf\u901f\u8bd5\u63a2\u3001BLDC \u6267\u884c\u5c42\u51b3\u5b9a\u843d\u8db3\u662f\u5426\u67d4\u987a\u201d\u3002<\/p>\n

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  • \u5206\u5c42\u67b6\u6784\u66f4\u9002\u5408 Arduino\/ESP32 \u7ea7\u522b\u5e73\u53f0
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    \u9700\u8981\u6ce8\u610f\u7684\u4e8b\u9879
    \n\u89c6\u89c9\u4e0d\u80fd\u5355\u72ec\u51b3\u5b9a\u843d\u8db3\u70b9
    \n\u89c6\u89c9\u5bb9\u6613\u53d7\u5149\u7167\u3001\u53cd\u5149\u3001\u7eb9\u7406\u7f3a\u5931\u3001\u906e\u6321\u548c\u7070\u5c18\u5f71\u54cd\u3002\u5fc5\u987b\u7528\u89e6\u89c9\u6216\u672c\u4f53\u611f\u77e5\u8fdb\u884c\u4e8c\u6b21\u786e\u8ba4，\u5426\u5219\u673a\u5668\u4eba\u53ef\u80fd\u5728\u770b\u4f3c\u575a\u5b9e\u7684\u5730\u9762\u4e0a\u6253\u6ed1\u6216\u584c\u9677\u3002
    \n\u89e6\u89c9\u4e5f\u4e0d\u5e94\u5b8c\u5168\u4f9d\u8d56\u5916\u7f6e\u529b\u4f20\u611f\u5668
    \n\u516d\u7ef4\u529b\u4f20\u611f\u5668\u7cbe\u5ea6\u9ad8，\u4f46\u6210\u672c\u3001\u91cd\u91cf\u548c\u5b89\u88c5\u590d\u6742\u5ea6\u8f83\u9ad8\u3002\u5728\u8f7b\u91cf\u5e73\u53f0\u4e0a，\u53ef\u5148\u7528\u8584\u819c\u538b\u529b\u4f20\u611f\u5668\u3001\u5f00\u5173\u5f0f\u89e6\u5730\u68c0\u6d4b\u6216 BLDC \u7535\u6d41\/\u7f16\u7801\u5668\u53d8\u5316\u505a\u201c\u865a\u62df\u529b\u89c9\u201d，\u518d\u9010\u6b65\u5347\u7ea7\u3002
    \n\u76f2\u533a\u5fc5\u987b\u964d\u901f\u8bd5\u63a2，\u4e0d\u80fd\u76f4\u63a5\u6cbf\u7528\u5e73\u5730\u6b65\u6001
    \n\u5728\u673a\u8eab\u6b63\u4e0b\u65b9\u3001\u8db3\u7aef\u843d\u5730\u533a\u57df\u6216\u89c6\u89c9\u906e\u6321\u533a，\u5e94\u964d\u4f4e\u6b65\u9891\u3001\u63d0\u9ad8\u62ac\u817f\u9ad8\u5ea6\u3001\u7f29\u77ed\u6b65\u957f，\u5e76\u52a0\u5165\u89e6\u5730\u5f02\u5e38\u5feb\u901f\u62ac\u817f\u7b56\u7565\u3002\u5426\u5219\u5bb9\u6613\u56e0\u843d\u8db3\u70b9\u8bef\u5224\u5bfc\u81f4\u78d5\u78b0\u6216\u503e\u8986\u3002
    \nArduino \u5e73\u53f0\u8981\u4e25\u683c\u63a7\u5236\u7b97\u529b\u8fb9\u754c
    \n\u591a\u81ea\u7531\u5ea6\u56db\u8db3\u672c\u8eab\u5c31\u5bf9\u5b9e\u65f6\u6027\u8981\u6c42\u5f88\u9ad8，\u518d\u52a0\u5165\u89c6\u89c9\u8bc6\u522b\u3001\u76f2\u533a\u5224\u65ad\u548c\u591a\u6a21\u6001\u878d\u5408\u540e，AVR \u7cfb\u5217 MCU \u5f88\u96be\u72ec\u7acb\u627f\u62c5\u3002\u5efa\u8bae\u628a\u89c6\u89c9\u548c\u9ad8\u5c42\u51b3\u7b56\u653e\u5230\u4e0a\u4f4d\u673a\u6216 ESP32-S3\/Jetson，Arduino\/Teensy\/STM32 \u8d1f\u8d23\u6b65\u6001\u6267\u884c\u548c BLDC \u95ed\u73af\u3002
    \n\u6b65\u6001\u5207\u6362\u5fc5\u987b\u5e73\u6ed1，\u907f\u514d\u201c\u89c6\u89c9\u4e00\u53d8\u3001\u6b65\u6001\u4e00\u8df3\u201d
    \n\u4ece\u5e73\u5730\u6b65\u6001\u5207\u5230\u76f2\u533a\u8bd5\u63a2\u6b65\u6001\u65f6，\u62ac\u817f\u9ad8\u5ea6\u3001\u6b65\u957f\u3001\u652f\u6491\u65f6\u957f\u548c\u673a\u8eab\u9ad8\u5ea6\u5e94\u6e10\u53d8，\u4e0d\u80fd\u7a81\u53d8\u3002\u5426\u5219\u5bb9\u6613\u9020\u6210\u91cd\u5fc3\u5267\u70c8\u6ce2\u52a8，\u751a\u81f3\u6454\u5012\u3002
    \n\u8d8a\u969c\u65f6\u4f18\u5148\u4fdd\u8bc1\u652f\u6491\u76f8\u7a33\u5b9a
    \n\u8de8\u8d8a\u969c\u788d\u65f6，\u81f3\u5c11\u5e94\u4fdd\u8bc1\u6709\u4e09\u6761\u817f\u6216\u8db3\u591f\u652f\u6491\u591a\u8fb9\u5f62\u7ef4\u6301\u7a33\u5b9a\u3002\u6446\u52a8\u76f8\u62ac\u817f\u8fc7\u9ad8\u4f1a\u589e\u52a0\u80fd\u8017\u548c\u51b2\u51fb，\u8fc7\u4f4e\u5219\u5bb9\u6613\u78d5\u78b0；\u5e94\u6839\u636e\u89c6\u89c9\u6d4b\u5f97\u7684\u969c\u788d\u9ad8\u5ea6\u52a0\u4e0a\u5b89\u5168\u4f59\u91cf\u52a8\u6001\u8c03\u6574\u3002
    \nBLDC \u5173\u8282\u5fc5\u987b\u505a\u597d\u7535\u6d41\u4fdd\u62a4\u548c\u6545\u969c\u964d\u7ea7
    \n\u8d8a\u969c\u8fc7\u7a0b\u4e2d\u5173\u8282\u5bb9\u6613\u77ed\u65f6\u5835\u8f6c\u6216\u8fc7\u8f7d\u3002\u5e94\u8bbe\u7f6e\u7535\u6d41\u4e0a\u9650\u3001\u6e29\u5ea6\u76d1\u63a7\u3001\u7f16\u7801\u5668\u5931\u8054\u68c0\u6d4b\u548c\u59ff\u6001\u5f02\u5e38\u505c\u673a\u7b56\u7565，\u9632\u6b62\u7535\u673a\u70e7\u6bc1\u6216\u673a\u8eab\u503e\u8986\u3002
    \n\u6807\u5b9a\u73af\u8282\u4e0d\u80fd\u7701\u7565
    \n\u673a\u5668\u4eba\u9700\u8981\u6807\u5b9a\u673a\u68b0\u96f6\u4f4d\u3001IMU \u5b89\u88c5\u59ff\u6001\u3001\u8db3\u7aef\u89e6\u5730\u9608\u503c\u3001\u5173\u8282\u7f16\u7801\u5668\u65b9\u5411\u548c\u817f\u957f\u53c2\u6570\u3002\u82e5\u8fd9\u4e9b\u57fa\u7840\u6807\u5b9a\u4e0d\u51c6，\u89c6\u89c9\u7ed9\u51fa\u7684\u843d\u8db3\u70b9\u548c\u9006\u8fd0\u52a8\u5b66\u89e3\u7b97\u90fd\u4f1a\u4ea7\u751f\u7cfb\u7edf\u6027\u504f\u5dee\u3002<\/p>\n

    \"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"
    \n1\u3001\u89c6\u89c9\u9884\u5224\u5730\u5f62 + \u89e6\u89c9\u9a8c\u8bc1\u6b65\u6001\u5207\u6362（walk\/trot \u52a8\u6001\u5207\u6362）
    \n\u89c6\u89c9\u4f20\u611f\u5668（\u8d85\u58f0\u6ce2\/\u6811\u8393\u6d3e）\u9884\u5148\u8bc6\u522b\u969c\u788d\u7269\u7c7b\u578b，\u89e6\u89c9\u4f20\u611f\u5668\u5728\u8db3\u7aef\u63a5\u89e6\u65f6\u9a8c\u8bc1\u89c6\u89c9\u5224\u65ad，\u89e6\u53d1\u6b65\u6001\u53c2\u6570\u8c03\u6574，\u5b9e\u73b0\u201c\u770b\u89c1\u969c\u788d\u2192\u5207\u6362\u6b65\u6001\u2192\u89e6\u6478\u786e\u8ba4\u2192\u8de8\u8d8a\u201d\u7684\u95ed\u73af\u3002<\/p>\n

    #<\/span>include<\/span> <SimpleFOC.h><\/span><\/span>
    \n#<\/span>include<\/span> <Wire.h><\/span><\/span><\/p>\n

    \/\/ ===== 8\u00d7BLDC \u5173\u8282 (4\u817f \u00d7 2\u5173\u8282) =====<\/span>
    \nBLDCMotor joints[<\/span>8<\/span>]<\/span> =<\/span> {<\/span>
    \n BLDCMotor<\/span>(<\/span>2<\/span>,<\/span> 3<\/span>,<\/span> 4<\/span>)<\/span>,<\/span> BLDCMotor<\/span>(<\/span>5<\/span>,<\/span> 6<\/span>,<\/span> 7<\/span>)<\/span>,<\/span>
    \n BLDCMotor<\/span>(<\/span>8<\/span>,<\/span> 9<\/span>,<\/span> 10<\/span>)<\/span>,<\/span> BLDCMotor<\/span>(<\/span>11<\/span>,<\/span> 12<\/span>,<\/span> 13<\/span>)<\/span>,<\/span>
    \n BLDCMotor<\/span>(<\/span>14<\/span>,<\/span> 15<\/span>,<\/span> 16<\/span>)<\/span>,<\/span> BLDCMotor<\/span>(<\/span>17<\/span>,<\/span> 18<\/span>,<\/span> 19<\/span>)<\/span>,<\/span>
    \n BLDCMotor<\/span>(<\/span>20<\/span>,<\/span> 21<\/span>,<\/span> 22<\/span>)<\/span>,<\/span> BLDCMotor<\/span>(<\/span>23<\/span>,<\/span> 24<\/span>,<\/span> 25<\/span>)<\/span>
    \n}<\/span>;<\/span><\/p>\n

    \/\/ ===== \u89e6\u89c9\u4f20\u611f\u5668（\u8db3\u7aef\u538b\u529b\/\u63a5\u89e6\u5f00\u5173）=====<\/span>
    \nconst<\/span> int<\/span> TOUCH_PINS[<\/span>4<\/span>]<\/span> =<\/span> {<\/span>A0,<\/span> A1,<\/span> A2,<\/span> A3}<\/span>;<\/span>
    \nbool<\/span> footContact[<\/span>4<\/span>]<\/span> =<\/span> {<\/span>false<\/span>,<\/span> false<\/span>,<\/span> false<\/span>,<\/span> false<\/span>}<\/span>;<\/span><\/p>\n

    \/\/ ===== \u8d85\u58f0\u6ce2（\u89c6\u89c9\u9884\u5224\u4ee3\u7406）=====<\/span>
    \n#<\/span>define<\/span> US_TRIG<\/span> 12<\/span><\/span><\/span>
    \n#<\/span>define<\/span> US_ECHO<\/span> 13<\/span><\/span><\/span><\/p>\n

    \/\/ ===== \u6b65\u6001\u7c7b\u578b =====<\/span>
    \nenum<\/span> GaitType<\/span> {<\/span> GAIT_TROT,<\/span> GAIT_WALK,<\/span> GAIT_CRAWL }<\/span>;<\/span>
    \nGaitType currentGait =<\/span> GAIT_TROT;<\/span><\/p>\n

    \/\/ ===== \u8d8a\u969c\u72b6\u6001\u673a =====<\/span>
    \nenum<\/span> ObstacleState<\/span> {<\/span>
    \n OBST_NONE,<\/span> \/\/ \u65e0\u969c\u788d<\/span>
    \n OBST_VISUAL,<\/span> \/\/ \u89c6\u89c9\u9884\u5224\u6709\u969c\u788d<\/span>
    \n OBST_TOUCHED,<\/span> \/\/ \u89e6\u89c9\u786e\u8ba4\u63a5\u89e6<\/span>
    \n OBST_CROSSING \/\/ \u6b63\u5728\u8de8\u8d8a<\/span>
    \n}<\/span>;<\/span>
    \nObstacleState obstState =<\/span> OBST_NONE;<\/span><\/p>\n

    \/\/ ===== \u6b65\u6001\u53c2\u6570 =====<\/span>
    \nstruct<\/span> GaitParam<\/span> {<\/span>
    \n float<\/span> stepHeight;<\/span> \/\/ \u62ac\u817f\u9ad8\u5ea6<\/span>
    \n float<\/span> stepLength;<\/span> \/\/ \u6b65\u957f<\/span>
    \n float<\/span> phaseDiff;<\/span> \/\/ \u76f8\u4f4d\u5dee<\/span>
    \n}<\/span> gaitTrot =<\/span> {<\/span>15.0<\/span>,<\/span> 20.0<\/span>,<\/span> 180.0<\/span>}<\/span>;<\/span>
    \nGaitParam gaitWalk =<\/span> {<\/span>25.0<\/span>,<\/span> 15.0<\/span>,<\/span> 120.0<\/span>}<\/span>;<\/span>
    \nGaitParam gaitCrawl =<\/span> {<\/span>40.0<\/span>,<\/span> 10.0<\/span>,<\/span> 90.0<\/span>}<\/span>;<\/span><\/p>\n

    GaitParam*<\/span> currentParam =<\/span> &<\/span>gaitTrot;<\/span><\/p>\n

    void<\/span> setup<\/span>(<\/span>)<\/span> {<\/span>
    \n Serial.<\/span>begin<\/span>(<\/span>115200<\/span>)<\/span>;<\/span>
    \n Wire.<\/span>begin<\/span>(<\/span>)<\/span>;<\/span>
    \n pinMode<\/span>(<\/span>US_TRIG,<\/span> OUTPUT)<\/span>;<\/span>
    \n pinMode<\/span>(<\/span>US_ECHO,<\/span> INPUT)<\/span>;<\/span>
    \n for<\/span> (<\/span>int<\/span> i =<\/span> 0<\/span>;<\/span> i <<\/span> 4<\/span>;<\/span> i++<\/span>)<\/span> pinMode<\/span>(<\/span>TOUCH_PINS[<\/span>i]<\/span>,<\/span> INPUT)<\/span>;<\/span><\/p>\n

    for<\/span> (<\/span>int<\/span> i =<\/span> 0<\/span>;<\/span> i <<\/span> 8<\/span>;<\/span> i++<\/span>)<\/span> {<\/span>
    \n joints[<\/span>i]<\/span>.<\/span>init<\/span>(<\/span>)<\/span>;<\/span> joints[<\/span>i]<\/span>.<\/span>initFOC<\/span>(<\/span>)<\/span>;<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

    float<\/span> getDistance<\/span>(<\/span>)<\/span> {<\/span>
    \n digitalWrite<\/span>(<\/span>US_TRIG,<\/span> LOW)<\/span>;<\/span> delayMicroseconds<\/span>(<\/span>2<\/span>)<\/span>;<\/span>
    \n digitalWrite<\/span>(<\/span>US_TRIG,<\/span> HIGH)<\/span>;<\/span> delayMicroseconds<\/span>(<\/span>10<\/span>)<\/span>;<\/span>
    \n digitalWrite<\/span>(<\/span>US_TRIG,<\/span> LOW)<\/span>;<\/span>
    \n long<\/span> d =<\/span> pulseIn<\/span>(<\/span>US_ECHO,<\/span> HIGH,<\/span> 25000<\/span>)<\/span>;<\/span>
    \n return<\/span> (<\/span>d ==<\/span> 0<\/span>)<\/span> ?<\/span> 999.0<\/span> :<\/span> d *<\/span> 0.034<\/span> \/<\/span> 2.0<\/span>;<\/span>
    \n}<\/span><\/p>\n

    void<\/span> readTouchSensors<\/span>(<\/span>)<\/span> {<\/span>
    \n for<\/span> (<\/span>int<\/span> i =<\/span> 0<\/span>;<\/span> i <<\/span> 4<\/span>;<\/span> i++<\/span>)<\/span> {<\/span>
    \n footContact[<\/span>i]<\/span> =<\/span> (<\/span>analogRead<\/span>(<\/span>TOUCH_PINS[<\/span>i]<\/span>)<\/span> ><\/span> 300<\/span>)<\/span>;<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u89c6\u89c9\u9884\u5224：\u524d\u65b9\u662f\u5426\u6709\u969c\u788d<\/span>
    \nbool<\/span> visualDetectObstacle<\/span>(<\/span>)<\/span> {<\/span>
    \n return<\/span> (<\/span>getDistance<\/span>(<\/span>)<\/span> <<\/span> 25.0<\/span>)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u89e6\u89c9\u9a8c\u8bc1：\u8db3\u7aef\u662f\u5426\u63a5\u89e6\u5230\u969c\u788d\u7269<\/span>
    \nbool<\/span> touchValidateObstacle<\/span>(<\/span>)<\/span> {<\/span>
    \n \/\/ \u524d\u817f\u63a5\u89e6\u4e14\u538b\u529b\u5f02\u5e38\u589e\u5927<\/span>
    \n return<\/span> (<\/span>footContact[<\/span>0<\/span>]<\/span> &&<\/span> footContact[<\/span>1<\/span>]<\/span> &&<\/span>
    \n analogRead<\/span>(<\/span>TOUCH_PINS[<\/span>0<\/span>]<\/span>)<\/span> ><\/span> 500<\/span>)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    void<\/span> updateObstacleState<\/span>(<\/span>)<\/span> {<\/span>
    \n switch<\/span> (<\/span>obstState)<\/span> {<\/span>
    \n case<\/span> OBST_NONE:<\/span>
    \n if<\/span> (<\/span>visualDetectObstacle<\/span>(<\/span>)<\/span>)<\/span> {<\/span>
    \n obstState =<\/span> OBST_VISUAL;<\/span>
    \n currentGait =<\/span> GAIT_WALK;<\/span>
    \n currentParam =<\/span> &<\/span>gaitWalk;<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>"[\u89c6\u89c9] \u68c0\u6d4b\u5230\u969c\u788d，\u5207\u6362 walk \u6b65\u6001"<\/span>)<\/span>;<\/span>
    \n }<\/span>
    \n break<\/span>;<\/span><\/p>\n

    case<\/span> OBST_VISUAL:<\/span>
    \n if<\/span> (<\/span>touchValidateObstacle<\/span>(<\/span>)<\/span>)<\/span> {<\/span>
    \n obstState =<\/span> OBST_TOUCHED;<\/span>
    \n currentGait =<\/span> GAIT_CRAWL;<\/span>
    \n currentParam =<\/span> &<\/span>gaitCrawl;<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>"[\u89e6\u89c9] \u786e\u8ba4\u969c\u788d，\u5207\u6362 crawl \u6b65\u6001"<\/span>)<\/span>;<\/span>
    \n }<\/span> else<\/span> if<\/span> (<\/span>!<\/span>visualDetectObstacle<\/span>(<\/span>)<\/span>)<\/span> {<\/span>
    \n \/\/ \u89c6\u89c9\u8bef\u5224，\u6062\u590d\u6b63\u5e38<\/span>
    \n obstState =<\/span> OBST_NONE;<\/span>
    \n currentGait =<\/span> GAIT_TROT;<\/span>
    \n currentParam =<\/span> &<\/span>gaitTrot;<\/span>
    \n }<\/span>
    \n break<\/span>;<\/span><\/p>\n

    case<\/span> OBST_TOUCHED:<\/span>
    \n \/\/ \u6267\u884c\u8de8\u8d8a\u52a8\u4f5c<\/span>
    \n obstState =<\/span> OBST_CROSSING;<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>"[\u8d8a\u969c] \u5f00\u59cb\u8de8\u8d8a"<\/span>)<\/span>;<\/span>
    \n break<\/span>;<\/span><\/p>\n

    case<\/span> OBST_CROSSING:<\/span>
    \n \/\/ \u8de8\u8d8a\u5b8c\u6210\u6761\u4ef6：\u89e6\u89c9\u6062\u590d\u3001\u8ddd\u79bb\u5b89\u5168<\/span>
    \n if<\/span> (<\/span>!<\/span>visualDetectObstacle<\/span>(<\/span>)<\/span> &&<\/span> !<\/span>touchValidateObstacle<\/span>(<\/span>)<\/span>)<\/span> {<\/span>
    \n obstState =<\/span> OBST_NONE;<\/span>
    \n currentGait =<\/span> GAIT_TROT;<\/span>
    \n currentParam =<\/span> &<\/span>gaitTrot;<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>"[\u8d8a\u969c] \u8de8\u8d8a\u5b8c\u6210，\u6062\u590d trot"<\/span>)<\/span>;<\/span>
    \n }<\/span>
    \n break<\/span>;<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

    void<\/span> loop<\/span>(<\/span>)<\/span> {<\/span>
    \n for<\/span> (<\/span>int<\/span> i =<\/span> 0<\/span>;<\/span> i <<\/span> 8<\/span>;<\/span> i++<\/span>)<\/span> joints[<\/span>i]<\/span>.<\/span>loopFOC<\/span>(<\/span>)<\/span>;<\/span><\/p>\n

    readTouchSensors<\/span>(<\/span>)<\/span>;<\/span>
    \n updateObstacleState<\/span>(<\/span>)<\/span>;<\/span><\/p>\n

    \/\/ TODO: \u6839\u636e currentParam \u6267\u884c\u6b65\u6001\u8f68\u8ff9\u751f\u6210<\/span>
    \n \/\/ \u6b64\u5904\u4e3a\u5360\u4f4d，\u5b9e\u9645\u9700\u6620\u5c04\u5230 8 \u4e2a\u5173\u8282\u7684\u9006\u8fd0\u52a8\u5b66<\/span><\/p>\n

    delay<\/span>(<\/span>20<\/span>)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    2\u3001\u89e6\u89c9\u6ed1\u79fb\u68c0\u6d4b + \u963b\u6297\u8865\u507f\u6b65\u6001\u8c03\u6574
    \n\u8db3\u7aef\u89e6\u89c9\u4f20\u611f\u5668\u68c0\u6d4b\u6ed1\u79fb（\u63a5\u89e6\u529b\u7a81\u53d8+\u4f4d\u7f6e\u504f\u79fb），\u68c0\u6d4b\u5230\u6ed1\u79fb\u65f6\u964d\u4f4e\u817f\u90e8\u521a\u5ea6\u3001\u589e\u5927\u963b\u5c3c，\u4f7f\u817f\u201c\u987a\u5e94\u201d\u5730\u9762\u800c\u975e\u5f3a\u884c\u8e6c\u8e0f\u3002<\/p>\n

    #<\/span>include<\/span> <SimpleFOC.h><\/span><\/span><\/p>\n

    \/\/ ===== \u89e6\u89c9\u4f20\u611f\u5668（\u8db3\u7aef\u538b\u529b）=====<\/span>
    \nconst<\/span> int<\/span> FORCE_PINS[<\/span>4<\/span>]<\/span> =<\/span> {<\/span>A0,<\/span> A1,<\/span> A2,<\/span> A3}<\/span>;<\/span>
    \nfloat<\/span> footForce[<\/span>4<\/span>]<\/span> =<\/span> {<\/span>0<\/span>}<\/span>;<\/span><\/p>\n

    \/\/ ===== 8\u00d7BLDC \u5173\u8282 =====<\/span>
    \nBLDCMotor joints[<\/span>8<\/span>]<\/span> =<\/span> {<\/span>
    \n BLDCMotor<\/span>(<\/span>2<\/span>,<\/span> 3<\/span>,<\/span> 4<\/span>)<\/span>,<\/span> BLDCMotor<\/span>(<\/span>5<\/span>,<\/span> 6<\/span>,<\/span> 7<\/span>)<\/span>,<\/span>
    \n BLDCMotor<\/span>(<\/span>8<\/span>,<\/span> 9<\/span>,<\/span> 10<\/span>)<\/span>,<\/span> BLDCMotor<\/span>(<\/span>11<\/span>,<\/span> 12<\/span>,<\/span> 13<\/span>)<\/span>,<\/span>
    \n BLDCMotor<\/span>(<\/span>14<\/span>,<\/span> 15<\/span>,<\/span> 16<\/span>)<\/span>,<\/span> BLDCMotor<\/span>(<\/span>17<\/span>,<\/span> 18<\/span>,<\/span> 19<\/span>)<\/span>,<\/span>
    \n BLDCMotor<\/span>(<\/span>20<\/span>,<\/span> 21<\/span>,<\/span> 22<\/span>)<\/span>,<\/span> BLDCMotor<\/span>(<\/span>23<\/span>,<\/span> 24<\/span>,<\/span> 25<\/span>)<\/span>
    \n}<\/span>;<\/span><\/p>\n

    \/\/ ===== \u6ed1\u79fb\u68c0\u6d4b =====<\/span>
    \nbool<\/span> footSlip[<\/span>4<\/span>]<\/span> =<\/span> {<\/span>false<\/span>,<\/span> false<\/span>,<\/span> false<\/span>,<\/span> false<\/span>}<\/span>;<\/span>
    \nfloat<\/span> expectedForce =<\/span> 200.0<\/span>;<\/span> \/\/ \u652f\u6491\u76f8\u671f\u671b\u529b<\/span>
    \nfloat<\/span> slipThreshold =<\/span> 80.0<\/span>;<\/span> \/\/ \u529b\u7a81\u53d8\u9608\u503c<\/span><\/p>\n

    \/\/ ===== \u963b\u6297\u53c2\u6570 =====<\/span>
    \nfloat<\/span> stiffness =<\/span> 20.0<\/span>;<\/span> \/\/ \u521a\u5ea6<\/span>
    \nfloat<\/span> damping =<\/span> 10.0<\/span>;<\/span> \/\/ \u963b\u5c3c<\/span>
    \nfloat<\/span> lastForce[<\/span>4<\/span>]<\/span> =<\/span> {<\/span>0<\/span>}<\/span>;<\/span><\/p>\n

    void<\/span> setup<\/span>(<\/span>)<\/span> {<\/span>
    \n Serial.<\/span>begin<\/span>(<\/span>115200<\/span>)<\/span>;<\/span>
    \n for<\/span> (<\/span>int<\/span> i =<\/span> 0<\/span>;<\/span> i <<\/span> 4<\/span>;<\/span> i++<\/span>)<\/span> pinMode<\/span>(<\/span>FORCE_PINS[<\/span>i]<\/span>,<\/span> INPUT)<\/span>;<\/span>
    \n for<\/span> (<\/span>int<\/span> i =<\/span> 0<\/span>;<\/span> i <<\/span> 8<\/span>;<\/span> i++<\/span>)<\/span> {<\/span>
    \n joints[<\/span>i]<\/span>.<\/span>init<\/span>(<\/span>)<\/span>;<\/span> joints[<\/span>i]<\/span>.<\/span>initFOC<\/span>(<\/span>)<\/span>;<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

    void<\/span> readForceSensors<\/span>(<\/span>)<\/span> {<\/span>
    \n for<\/span> (<\/span>int<\/span> i =<\/span> 0<\/span>;<\/span> i <<\/span> 4<\/span>;<\/span> i++<\/span>)<\/span> {<\/span>
    \n footForce[<\/span>i]<\/span> =<\/span> analogRead<\/span>(<\/span>FORCE_PINS[<\/span>i]<\/span>)<\/span>;<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u6ed1\u79fb\u68c0\u6d4b：\u652f\u6491\u76f8\u529b\u7a81\u964d \u6216 \u529b\u6ce2\u52a8\u5f02\u5e38<\/span>
    \nvoid<\/span> detectSlip<\/span>(<\/span>)<\/span> {<\/span>
    \n for<\/span> (<\/span>int<\/span> i =<\/span> 0<\/span>;<\/span> i <<\/span> 4<\/span>;<\/span> i++<\/span>)<\/span> {<\/span>
    \n float<\/span> forceChange =<\/span> abs<\/span>(<\/span>footForce[<\/span>i]<\/span> –<\/span> lastForce[<\/span>i]<\/span>)<\/span>;<\/span>
    \n \/\/ \u652f\u6491\u76f8（\u5047\u8bbe\u524d\u817f\u652f\u6491）\u529b\u7a81\u7136\u4e0b\u964d \u2192 \u6ed1\u79fb<\/span>
    \n if<\/span> (<\/span>forceChange ><\/span> slipThreshold &&<\/span> footForce[<\/span>i]<\/span> <<\/span> expectedForce *<\/span> 0.5<\/span>)<\/span> {<\/span>
    \n footSlip[<\/span>i]<\/span> =<\/span> true<\/span>;<\/span>
    \n Serial.<\/span>print<\/span>(<\/span>"[\u6ed1\u79fb] \u817f"<\/span>)<\/span>;<\/span> Serial.<\/span>print<\/span>(<\/span>i)<\/span>;<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>" \u68c0\u6d4b\u5230\u6ed1\u79fb"<\/span>)<\/span>;<\/span>
    \n }<\/span> else<\/span> {<\/span>
    \n footSlip[<\/span>i]<\/span> =<\/span> false<\/span>;<\/span>
    \n }<\/span>
    \n lastForce[<\/span>i]<\/span> =<\/span> footForce[<\/span>i]<\/span>;<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u963b\u6297\u8c03\u5236：\u6ed1\u79fb\u65f6\u964d\u4f4e\u521a\u5ea6\u3001\u589e\u5927\u963b\u5c3c<\/span>
    \nvoid<\/span> modulateImpedance<\/span>(<\/span>)<\/span> {<\/span>
    \n for<\/span> (<\/span>int<\/span> i =<\/span> 0<\/span>;<\/span> i <<\/span> 4<\/span>;<\/span> i++<\/span>)<\/span> {<\/span>
    \n if<\/span> (<\/span>footSlip[<\/span>i]<\/span>)<\/span> {<\/span>
    \n stiffness =<\/span> 8.0<\/span>;<\/span> \/\/ \u964d\u4f4e\u521a\u5ea6，\u817f\u53d8"\u8f6f"<\/span>
    \n damping =<\/span> 25.0<\/span>;<\/span> \/\/ \u589e\u5927\u963b\u5c3c，\u5438\u6536\u52a8\u80fd<\/span>
    \n Serial.<\/span>print<\/span>(<\/span>"[\u963b\u6297] \u817f"<\/span>)<\/span>;<\/span> Serial.<\/span>print<\/span>(<\/span>i)<\/span>;<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>" \u521a\u5ea6\u2193 \u963b\u5c3c\u2191"<\/span>)<\/span>;<\/span>
    \n }<\/span> else<\/span> {<\/span>
    \n stiffness =<\/span> 20.0<\/span>;<\/span>
    \n damping =<\/span> 10.0<\/span>;<\/span>
    \n }<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

    void<\/span> loop<\/span>(<\/span>)<\/span> {<\/span>
    \n for<\/span> (<\/span>int<\/span> i =<\/span> 0<\/span>;<\/span> i <<\/span> 8<\/span>;<\/span> i++<\/span>)<\/span> joints[<\/span>i]<\/span>.<\/span>loopFOC<\/span>(<\/span>)<\/span>;<\/span><\/p>\n

    readForceSensors<\/span>(<\/span>)<\/span>;<\/span>
    \n detectSlip<\/span>(<\/span>)<\/span>;<\/span>
    \n modulateImpedance<\/span>(<\/span>)<\/span>;<\/span><\/p>\n

    \/\/ TODO: \u6839\u636e stiffness\/damping \u751f\u6210\u5173\u8282\u529b\u77e9\u6307\u4ee4<\/span>
    \n \/\/ torque = stiffness * posError + damping * velError<\/span><\/p>\n

    delay<\/span>(<\/span>20<\/span>)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    3\u3001\u76f2\u533a\u4fdd\u6301 + \u89e6\u89c9\u89e6\u53d1\u76f2\u8fc8\u7b56\u7565
    \n\u5f53\u89c6\u89c9\u88ab\u906e\u6321\u6216\u5931\u6548\u65f6（\u76f2\u533a），\u673a\u5668\u4eba\u4fdd\u6301\u5f53\u524d\u59ff\u6001，\u901a\u8fc7\u89e6\u89c9\u4f20\u611f\u5668\u611f\u77e5\u524d\u65b9\u8db3\u7aef\u969c\u788d，\u89e6\u53d1\u201c\u76f2\u8fc8\u201d\u6b65\u6001\u2014\u2014\u5c0f\u6b65\u8bd5\u63a2\u3001\u89e6\u89c9\u786e\u8ba4\u540e\u843d\u5730\u3002<\/p>\n

    #<\/span>include<\/span> <SimpleFOC.h><\/span><\/span><\/p>\n

    \/\/ ===== 8\u00d7BLDC \u5173\u8282 =====<\/span>
    \nBLDCMotor joints[<\/span>8<\/span>]<\/span> =<\/span> {<\/span>
    \n BLDCMotor<\/span>(<\/span>2<\/span>,<\/span> 3<\/span>,<\/span> 4<\/span>)<\/span>,<\/span> BLDCMotor<\/span>(<\/span>5<\/span>,<\/span> 6<\/span>,<\/span> 7<\/span>)<\/span>,<\/span>
    \n BLDCMotor<\/span>(<\/span>8<\/span>,<\/span> 9<\/span>,<\/span> 10<\/span>)<\/span>,<\/span> BLDCMotor<\/span>(<\/span>11<\/span>,<\/span> 12<\/span>,<\/span> 13<\/span>)<\/span>,<\/span>
    \n BLDCMotor<\/span>(<\/span>14<\/span>,<\/span> 15<\/span>,<\/span> 16<\/span>)<\/span>,<\/span> BLDCMotor<\/span>(<\/span>17<\/span>,<\/span> 18<\/span>,<\/span> 19<\/span>)<\/span>,<\/span>
    \n BLDCMotor<\/span>(<\/span>20<\/span>,<\/span> 21<\/span>,<\/span> 22<\/span>)<\/span>,<\/span> BLDCMotor<\/span>(<\/span>23<\/span>,<\/span> 24<\/span>,<\/span> 25<\/span>)<\/span>
    \n}<\/span>;<\/span><\/p>\n

    \/\/ ===== \u89e6\u89c9\u4f20\u611f\u5668 =====<\/span>
    \nconst<\/span> int<\/span> TOUCH_PINS[<\/span>4<\/span>]<\/span> =<\/span> {<\/span>A0,<\/span> A1,<\/span> A2,<\/span> A3}<\/span>;<\/span><\/p>\n

    \/\/ ===== \u76f2\u533a\u72b6\u6001 =====<\/span>
    \nenum<\/span> BlindState<\/span> {<\/span>
    \n BLIND_NORMAL,<\/span> \/\/ \u89c6\u89c9\u6b63\u5e38<\/span>
    \n BLIND_HOLD,<\/span> \/\/ \u89c6\u89c9\u5931\u6548，\u4fdd\u6301\u59ff\u6001<\/span>
    \n BLIND_PROBE,<\/span> \/\/ \u76f2\u8fc8\u8bd5\u63a2\u4e2d<\/span>
    \n BLIND_RECOVER \/\/ \u6062\u590d\u89c6\u89c9<\/span>
    \n}<\/span>;<\/span>
    \nBlindState blindState =<\/span> BLIND_NORMAL;<\/span><\/p>\n

    \/\/ ===== \u89c6\u89c9\u5931\u6548\u68c0\u6d4b =====<\/span>
    \nunsigned<\/span> long<\/span> lastVisualTime =<\/span> 0<\/span>;<\/span>
    \nconst<\/span> unsigned<\/span> long<\/span> VISUAL_TIMEOUT =<\/span> 500<\/span>;<\/span> \/\/ \u89c6\u89c9\u6570\u636e\u8d85\u65f6<\/span><\/p>\n

    \/\/ ===== \u76f2\u8fc8\u53c2\u6570 =====<\/span>
    \nfloat<\/span> probeStepLength =<\/span> 5.0<\/span>;<\/span> \/\/ \u8bd5\u63a2\u6b65\u957f（\u5c0f\u6b65）<\/span>
    \nfloat<\/span> probeStepHeight =<\/span> 30.0<\/span>;<\/span> \/\/ \u8bd5\u63a2\u62ac\u817f\u9ad8\u5ea6（\u9ad8\u62ac\u907f\u514d\u78b0\u649e）<\/span>
    \nbool<\/span> probeTouchDetected =<\/span> false<\/span>;<\/span><\/p>\n

    void<\/span> setup<\/span>(<\/span>)<\/span> {<\/span>
    \n Serial.<\/span>begin<\/span>(<\/span>115200<\/span>)<\/span>;<\/span>
    \n for<\/span> (<\/span>int<\/span> i =<\/span> 0<\/span>;<\/span> i <<\/span> 4<\/span>;<\/span> i++<\/span>)<\/span> pinMode<\/span>(<\/span>TOUCH_PINS[<\/span>i]<\/span>,<\/span> INPUT)<\/span>;<\/span>
    \n for<\/span> (<\/span>int<\/span> i =<\/span> 0<\/span>;<\/span> i <<\/span> 8<\/span>;<\/span> i++<\/span>)<\/span> {<\/span>
    \n joints[<\/span>i]<\/span>.<\/span>init<\/span>(<\/span>)<\/span>;<\/span> joints[<\/span>i]<\/span>.<\/span>initFOC<\/span>(<\/span>)<\/span>;<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u6a21\u62df\u89c6\u89c9\u6570\u636e\u63a5\u6536（\u5b9e\u9645\u901a\u8fc7\u4e32\u53e3\/\u6811\u8393\u6d3e）<\/span>
    \nvoid<\/span> receiveVisualData<\/span>(<\/span>)<\/span> {<\/span>
    \n \/\/ \u5047\u8bbe\u6536\u5230\u6570\u636e\u5219\u66f4\u65b0 lastVisualTime<\/span>
    \n if<\/span> (<\/span>Serial.<\/span>available<\/span>(<\/span>)<\/span>)<\/span> {<\/span>
    \n Serial.<\/span>read<\/span>(<\/span>)<\/span>;<\/span>
    \n lastVisualTime =<\/span> millis<\/span>(<\/span>)<\/span>;<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

    bool<\/span> isVisualLost<\/span>(<\/span>)<\/span> {<\/span>
    \n return<\/span> (<\/span>millis<\/span>(<\/span>)<\/span> –<\/span> lastVisualTime ><\/span> VISUAL_TIMEOUT)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u8bfb\u53d6\u89e6\u89c9<\/span>
    \nbool<\/span> readTouch<\/span>(<\/span>int<\/span> leg)<\/span> {<\/span>
    \n return<\/span> (<\/span>analogRead<\/span>(<\/span>TOUCH_PINS[<\/span>leg]<\/span>)<\/span> ><\/span> 300<\/span>)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    void<\/span> updateBlindState<\/span>(<\/span>)<\/span> {<\/span>
    \n switch<\/span> (<\/span>blindState)<\/span> {<\/span>
    \n case<\/span> BLIND_NORMAL:<\/span>
    \n if<\/span> (<\/span>isVisualLost<\/span>(<\/span>)<\/span>)<\/span> {<\/span>
    \n blindState =<\/span> BLIND_HOLD;<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>"[\u76f2\u533a] \u89c6\u89c9\u4e22\u5931，\u4fdd\u6301\u59ff\u6001"<\/span>)<\/span>;<\/span>
    \n }<\/span>
    \n break<\/span>;<\/span><\/p>\n

    case<\/span> BLIND_HOLD:<\/span>
    \n \/\/ \u4fdd\u6301\u5f53\u524d\u59ff\u6001，\u7b49\u5f85\u89e6\u89c9\u89e6\u53d1<\/span>
    \n \/\/ \u5982\u679c\u524d\u817f\u89e6\u89c9\u68c0\u6d4b\u5230\u969c\u788d，\u8fdb\u5165\u8bd5\u63a2<\/span>
    \n if<\/span> (<\/span>readTouch<\/span>(<\/span>0<\/span>)<\/span> ||<\/span> readTouch<\/span>(<\/span>1<\/span>)<\/span>)<\/span> {<\/span>
    \n blindState =<\/span> BLIND_PROBE;<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>"[\u76f2\u533a] \u89e6\u89c9\u89e6\u53d1，\u5f00\u59cb\u76f2\u8fc8\u8bd5\u63a2"<\/span>)<\/span>;<\/span>
    \n }<\/span>
    \n \/\/ \u5982\u679c\u89c6\u89c9\u6062\u590d，\u56de\u5230\u6b63\u5e38<\/span>
    \n if<\/span> (<\/span>!<\/span>isVisualLost<\/span>(<\/span>)<\/span>)<\/span> {<\/span>
    \n blindState =<\/span> BLIND_NORMAL;<\/span>
    \n }<\/span>
    \n break<\/span>;<\/span><\/p>\n

    case<\/span> BLIND_PROBE:<\/span>
    \n \/\/ \u6267\u884c\u5c0f\u6b65\u8bd5\u63a2：\u62ac\u817f\u2192\u524d\u6446\u2192\u89e6\u89c9\u68c0\u6d4b\u2192\u843d\u5730<\/span>
    \n \/\/ \u524d\u817f\u9ad8\u62ac（probeStepHeight）\u907f\u514d\u78b0\u649e<\/span>
    \n probeTouchDetected =<\/span> readTouch<\/span>(<\/span>0<\/span>)<\/span> ||<\/span> readTouch<\/span>(<\/span>1<\/span>)<\/span>;<\/span><\/p>\n

    if<\/span> (<\/span>probeTouchDetected)<\/span> {<\/span>
    \n \/\/ \u89e6\u89c9\u786e\u8ba4\u969c\u788d，\u8c03\u6574\u843d\u5730\u4f4d\u7f6e<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>"[\u76f2\u533a] \u89e6\u89c9\u786e\u8ba4\u969c\u788d，\u8c03\u6574\u843d\u5730"<\/span>)<\/span>;<\/span>
    \n }<\/span><\/p>\n

    \/\/ \u8bd5\u63a2\u5b8c\u6210\u6216\u89c6\u89c9\u6062\u590d<\/span>
    \n if<\/span> (<\/span>!<\/span>isVisualLost<\/span>(<\/span>)<\/span>)<\/span> {<\/span>
    \n blindState =<\/span> BLIND_NORMAL;<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>"[\u76f2\u533a] \u89c6\u89c9\u6062\u590d"<\/span>)<\/span>;<\/span>
    \n }<\/span>
    \n break<\/span>;<\/span><\/p>\n

    case<\/span> BLIND_RECOVER:<\/span>
    \n blindState =<\/span> BLIND_NORMAL;<\/span>
    \n break<\/span>;<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

    void<\/span> loop<\/span>(<\/span>)<\/span> {<\/span>
    \n for<\/span> (<\/span>int<\/span> i =<\/span> 0<\/span>;<\/span> i <<\/span> 8<\/span>;<\/span> i++<\/span>)<\/span> joints[<\/span>i]<\/span>.<\/span>loopFOC<\/span>(<\/span>)<\/span>;<\/span><\/p>\n

    receiveVisualData<\/span>(<\/span>)<\/span>;<\/span>
    \n updateBlindState<\/span>(<\/span>)<\/span>;<\/span><\/p>\n

    \/\/ TODO: \u6839\u636e blindState \u6267\u884c\u4e0d\u540c\u7684\u5173\u8282\u63a7\u5236<\/span>
    \n switch<\/span> (<\/span>blindState)<\/span> {<\/span>
    \n case<\/span> BLIND_HOLD:<\/span>
    \n \/\/ \u4fdd\u6301\u5f53\u524d\u5173\u8282\u89d2\u5ea6，\u4e0d\u505a\u4e3b\u52a8\u8fd0\u52a8<\/span>
    \n break<\/span>;<\/span>
    \n case<\/span> BLIND_PROBE:<\/span>
    \n \/\/ \u6267\u884c\u5c0f\u6b65\u8bd5\u63a2\u8f68\u8ff9<\/span>
    \n break<\/span>;<\/span>
    \n default<\/span>:<\/span>
    \n \/\/ \u6b63\u5e38\u6b65\u6001<\/span>
    \n break<\/span>;<\/span>
    \n }<\/span><\/p>\n

    delay<\/span>(<\/span>20<\/span>)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    \u6765\u6e90：\u76f2\u533a\u4fdd\u6301\u4e0e\u76f2\u8fc8\u7b56\u7565\u53c2\u8003\u4e86\u89c6\u89c9\u5931\u6548\u65f6\u4fdd\u6301\u59ff\u6001\u3001\u89e6\u89c9\u89e6\u53d1\u5c0f\u6b65\u8bd5\u63a2\u7684\u601d\u8def，\u7ed3\u5408\u4e86\u82b1\u96d5\u5b66\u7f16\u7a0b\u4e2d\u201c\u89c6\u89c9\u9884\u5224-\u89e6\u89c9\u786e\u8ba4\u201d\u7684\u95ed\u73af\u8bbe\u8ba1\u539f\u5219\u3002<\/p>\n

    \u8981\u70b9\u89e3\u8bfb<\/p>\n

  • \n

    \u89c6\u89c9\u4e0e\u89e6\u89c9\u7684\u878d\u5408\u662f\u201c\u9884\u5224-\u9a8c\u8bc1\u201d\u95ed\u73af，\u800c\u975e\u7b80\u5355\u53e0\u52a0
    \n\u89c6\u89c9（\u8d85\u58f0\u6ce2\/\u6444\u50cf\u5934）\u63d0\u4f9b\u8fdc\u8ddd\u79bb\u9884\u5224\u2014\u2014\u63d0\u524d\u8bc6\u522b\u53f0\u9636\u3001\u77f3\u5757\u3001\u6c9f\u58d1，\u8ba9\u673a\u5668\u4eba\u6709\u8db3\u591f\u65f6\u95f4\u5207\u6362\u6b65\u6001\u3002\u89e6\u89c9（\u8db3\u7aef\u529b\/\u63a5\u89e6\u5f00\u5173）\u63d0\u4f9b\u8fd1\u8ddd\u79bb\u786e\u8ba4\u2014\u2014\u8db3\u7aef\u5b9e\u9645\u63a5\u89e6\u65f6\u9a8c\u8bc1\u89c6\u89c9\u5224\u65ad\u662f\u5426\u51c6\u786e，\u5e76\u5728\u6ed1\u79fb\u3001\u51b2\u51fb\u65f6\u5b9e\u65f6\u8865\u507f\u3002\u6848\u4f8b\u4e00\u7684 OBST_VISUAL \u2192 OBST_TOUCHED \u72b6\u6001\u8f6c\u6362\u5c31\u662f\u8fd9\u4e00\u95ed\u73af\u7684\u6700\u5c0f\u5b9e\u73b0\u3002<\/p>\n<\/li>\n

  • \n

    \u89e6\u89c9\u6ed1\u79fb\u68c0\u6d4b\u7684\u6838\u5fc3\u662f\u201c\u529b\u4e00\u81f4\u6027\u201d\u5224\u636e
    \n\u8db3\u7aef\u89e6\u89c9\u4f20\u611f\u5668\u68c0\u6d4b\u6ed1\u79fb，\u672c\u8d28\u662f\u5224\u65ad\u201c\u652f\u6491\u76f8\u529b\u662f\u5426\u8fdc\u4f4e\u4e8e\u671f\u671b\u503c\u201d\u3002\u6b63\u5e38\u652f\u6491\u65f6\u8db3\u7aef\u529b\u5e94\u63a5\u8fd1 expectedForce；\u82e5\u529b\u7a81\u7136\u4e0b\u964d\u4e14\u6ce2\u52a8\u8d85\u8fc7\u9608\u503c，\u8bf4\u660e\u8db3\u7aef\u6253\u6ed1\u3002\u6848\u4f8b\u4e8c\u7528 forceChange > slipThreshold && footForce[i] < expectedForce * 0.5 \u4f5c\u4e3a\u5224\u636e，\u7b80\u5355\u4f46\u6709\u6548\u3002\u66f4\u7cbe\u786e\u7684\u65b9\u6848\u53ef\u7ed3\u5408\u4f4d\u7f6e\u504f\u79fb\u91cf（\u8db3\u7aef\u4f4d\u7f6e\u5728\u53d8\u4f46\u529b\u4e0d\u589e）\u3002<\/p>\n<\/li>\n

  • \n

    \u76f2\u533a\u7b56\u7565\u7684\u539f\u5219\u662f\u201c\u4fdd\u5b88\u4fdd\u6301 + \u89e6\u89c9\u8bd5\u63a2\u201d
    \n\u5f53\u89c6\u89c9\u5931\u6548\u65f6，\u673a\u5668\u4eba\u4e0d\u5e94\u76f2\u76ee\u79fb\u52a8\u3002\u6848\u4f8b\u4e09\u7684 BLIND_HOLD \u72b6\u6001\u4fdd\u6301\u5f53\u524d\u59ff\u6001，\u7b49\u5f85\u89e6\u89c9\u89e6\u53d1；BLIND_PROBE \u72b6\u6001\u6267\u884c\u5c0f\u6b65\u9ad8\u62ac\u8bd5\u63a2\u2014\u2014\u6b65\u957f\u51cf\u534a（5cm vs \u6b63\u5e3820cm）\u3001\u62ac\u817f\u589e\u9ad8（30cm vs \u6b63\u5e3815cm），\u7528\u6700\u4fdd\u5b88\u7684\u65b9\u5f0f\u63a2\u6d4b\u524d\u65b9\u5730\u5f62\u3002\u8fd9\u79cd\u201c\u5c0f\u6b65\u8bd5\u63a2\u201d\u7b56\u7565\u5728\u76f2\u533a\u573a\u666f\u4e0b\u6bd4\u5168\u901f\u524d\u8fdb\u5b89\u5168\u5f97\u591a\u3002<\/p>\n<\/li>\n

  • \n

    Arduino \u7b97\u529b\u9650\u5236\u4e0b，\u72b6\u6001\u673a\u662f\u878d\u5408\u51b3\u7b56\u7684\u6700\u52a1\u5b9e\u67b6\u6784
    \n\u89c6\u89c9+\u89e6\u89c9\u878d\u5408\u5982\u679c\u505a\u5b8c\u6574\u7684\u8d1d\u53f6\u65af\u4f30\u8ba1\u6216\u5361\u5c14\u66fc\u6ee4\u6ce2，Arduino \u7b97\u529b\u96be\u4ee5\u652f\u6491\u3002\u6848\u4f8b\u4e00\u548c\u6848\u4f8b\u4e09\u91c7\u7528\u6709\u9650\u72b6\u6001\u673a：\u6bcf\u4e2a\u72b6\u6001\u5bf9\u5e94\u660e\u786e\u7684\u4f20\u611f\u5668\u6761\u4ef6\u548c\u52a8\u4f5c，\u72b6\u6001\u8f6c\u6362\u7528 if-else \u5b9e\u73b0\u3002\u8fd9\u79cd\u201c\u6761\u4ef6\u89e6\u53d1\u201d\u7684\u878d\u5408\u65b9\u5f0f\u867d\u7136\u4e0d\u662f\u6700\u4f18\u4f30\u8ba1，\u4f46\u5728\u8d44\u6e90\u53d7\u9650\u5e73\u53f0\u4e0a\u80fd\u7a33\u5b9a\u8fd0\u884c\u3002<\/p>\n<\/li>\n

  • \n

    \u89e6\u89c9\u4f20\u611f\u5668\u7684\u9009\u578b\u76f4\u63a5\u5f71\u54cd\u878d\u5408\u6548\u679c
    \n\u8db3\u7aef\u89e6\u89c9\u53ef\u9009：\u63a5\u89e6\u5f00\u5173（\u4e8c\u503c，\u7b80\u5355\u4f46\u4fe1\u606f\u5c11）\u3001FSR \u529b\u654f\u7535\u963b（\u6a21\u62df\u529b\u503c，\u6210\u672c\u4f4e）\u3001\u538b\u7535\u8584\u819c（\u52a8\u6001\u54cd\u5e94\u597d，\u4f46\u65e0\u6cd5\u6d4b\u9759\u6001\u529b）\u3002\u6848\u4f8b\u4e2d\u7684 analogRead(TOUCH_PINS[i]) > 300 \u5047\u8bbe\u4f7f\u7528 FSR \u6216\u538b\u7535\u4f20\u611f\u5668\u3002\u5982\u679c\u4f7f\u7528 SimpleFOC \u7684\u7535\u6d41\u73af，\u8fd8\u53ef\u4ee5\u901a\u8fc7 motor.current_sense->getDCCurrent() \u95f4\u63a5\u611f\u77e5\u8db3\u7aef\u8d1f\u8f7d，\u65e0\u9700\u989d\u5916\u89e6\u89c9\u4f20\u611f\u5668\u2014\u2014\u8fd9\u662f BLDC \u76f8\u6bd4\u8235\u673a\u7684\u72ec\u7279\u4f18\u52bf\u3002<\/p>\n<\/li>\n

    \"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"
    \n4\u3001\u89c6\u89c9\u76f2\u533a\u5730\u5f62\u9884\u5224 + \u9884\u89c4\u5212\u8d8a\u969c\u6b65\u6001
    \n\u9002\u7528\u573a\u666f：\u6237\u5916\u62a4\u680f\u3001\u77ee\u5899\u3001\u53f0\u9636\u7b49\u89c6\u89c9\u53ef\u63d0\u524d\u611f\u77e5\u7684\u76f2\u533a\u8d8a\u969c，\u5148\u901a\u8fc7\u89c6\u89c9\u83b7\u53d6\u76f2\u533a\u5730\u5f62\u53c2\u6570，\u518d\u9884\u89c4\u5212\u6b65\u6001，\u63d0\u5347\u8d8a\u969c\u6210\u529f\u7387\u3002<\/p>\n

    #<\/span>include<\/span> <SimpleFOC.h><\/span><\/span>
    \n#<\/span>include<\/span> <opencv2\/opencv.hpp><\/span><\/span>
    \nSimpleFOCMotor2 joints[<\/span>12<\/span>]<\/span> =<\/span> {<\/span>\/* 12\u4e2a\u5173\u8282\u5b9a\u4e49\u540c\u56db\u8db3\u673a\u5668\u4eba\u524d\u6848 *\/<\/span>}<\/span>;<\/span>
    \nint<\/span> obstacle_type =<\/span> 0<\/span>;<\/span> \/\/ 0:\u65e0\u969c\u788d 1:\u53f0\u9636 2:\u77ee\u5899 3:\u6c9f\u58d1<\/span>
    \nfloat<\/span> obstacle_high =<\/span> 0<\/span>,<\/span> obstacle_width =<\/span> 0<\/span>,<\/span> depth_info =<\/span> 0<\/span>;<\/span><\/p>\n

    \/\/ \u89c6\u89c9\u76f2\u533a\u5730\u5f62\u8bc6\u522b<\/span>
    \nint<\/span> vision_detect_blind_zone<\/span>(<\/span>)<\/span>{<\/span>
    \n if<\/span>(<\/span>!<\/span>openmv.<\/span>run_script<\/span>(<\/span>"blind_zone_detect"<\/span>,<\/span> &<\/span>obstacle_type,<\/span> &<\/span>obstacle_high,<\/span> &<\/span>obstacle_width,<\/span> &<\/span>depth_info)<\/span>)<\/span> return<\/span> –<\/span>1<\/span>;<\/span>
    \n return<\/span> obstacle_type ><\/span> 0<\/span> ?<\/span> 1<\/span> :<\/span> 0<\/span>;<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u8d8a\u969c\u6b65\u6001\u9884\u89c4\u5212<\/span>
    \nvoid<\/span> pre_plan_gait<\/span>(<\/span>)<\/span>{<\/span>
    \n if<\/span>(<\/span>obstacle_type ==<\/span> 1<\/span>)<\/span>{<\/span> \/\/ \u53f0\u9636<\/span>
    \n joints[<\/span>0<\/span>]<\/span>.<\/span>target =<\/span> 0.6f<\/span> +<\/span> obstacle_high *<\/span> 0.03f<\/span>;<\/span> \/\/ \u62ac\u817f\u9ad8\u5ea6<\/span>
    \n joints[<\/span>3<\/span>]<\/span>.<\/span>target =<\/span> 0.8f<\/span> +<\/span> obstacle_high *<\/span> 0.02f<\/span>;<\/span> \/\/ \u6b65\u5e45<\/span>
    \n }<\/span> else<\/span> if<\/span>(<\/span>obstacle_type ==<\/span> 2<\/span>)<\/span>{<\/span> \/\/ \u77ee\u5899<\/span>
    \n joints[<\/span>0<\/span>]<\/span>.<\/span>target =<\/span> 0.9f<\/span>;<\/span>
    \n joints[<\/span>3<\/span>]<\/span>.<\/span>target =<\/span> 1.2f<\/span> +<\/span> obstacle_width *<\/span> 0.5f<\/span>;<\/span>
    \n }<\/span> else<\/span> if<\/span>(<\/span>obstacle_type ==<\/span> 3<\/span>)<\/span>{<\/span> \/\/ \u6c9f\u58d1<\/span>
    \n joints[<\/span>0<\/span>]<\/span>.<\/span>target =<\/span> 0.4f<\/span>;<\/span>
    \n joints[<\/span>3<\/span>]<\/span>.<\/span>target =<\/span> 1.5f<\/span> +<\/span> obstacle_width *<\/span> 0.8f<\/span>;<\/span>
    \n }<\/span>
    \n for<\/span>(<\/span>int<\/span> i=<\/span>0<\/span>;<\/span>i<<\/span>12<\/span>;<\/span>i++<\/span>)<\/span> joints[<\/span>i]<\/span>.<\/span>target =<\/span> constrain<\/span>(<\/span>joints[<\/span>i]<\/span>.<\/span>target,<\/span> –<\/span>1.5f<\/span>,<\/span> 1.5f<\/span>)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    void<\/span> setup<\/span>(<\/span>)<\/span>{<\/span>
    \n Serial.<\/span>begin<\/span>(<\/span>9600<\/span>)<\/span>;<\/span>
    \n for<\/span>(<\/span>int<\/span> i=<\/span>0<\/span>;<\/span>i<<\/span>12<\/span>;<\/span>i++<\/span>)<\/span>{<\/span> joints[<\/span>i]<\/span>.<\/span>init<\/span>(<\/span>)<\/span>;<\/span> joints[<\/span>i]<\/span>.<\/span>controller =<\/span> FOC_POSITION;<\/span> }<\/span>
    \n}<\/span><\/p>\n

    void<\/span> loop<\/span>(<\/span>)<\/span>{<\/span>
    \n int<\/span> detect =<\/span> vision_detect_blind_zone<\/span>(<\/span>)<\/span>;<\/span>
    \n if<\/span>(<\/span>detect ==<\/span> 1<\/span>)<\/span>{<\/span>
    \n pre_plan_gait<\/span>(<\/span>)<\/span>;<\/span>
    \n \/\/ \u6267\u884c\u9884\u89c4\u5212\u8d8a\u969c<\/span>
    \n for<\/span>(<\/span>int<\/span> t=<\/span>0<\/span>;<\/span> t<<\/span>500<\/span>;<\/span> t++<\/span>)<\/span>{<\/span>
    \n \/\/ \u4ea4\u66ff\u62ac\u817f，\u6309\u9884\u89c4\u5212\u53c2\u6570\u6267\u884c<\/span>
    \n joints[<\/span>0<\/span>]<\/span>.<\/span>set<\/span>(<\/span>joints[<\/span>0<\/span>]<\/span>.<\/span>target *<\/span> sin<\/span>(<\/span>M_PI *<\/span> t \/<\/span> 250.0f<\/span>)<\/span>)<\/span>;<\/span>
    \n joints[<\/span>6<\/span>]<\/span>.<\/span>set<\/span>(<\/span>joints[<\/span>6<\/span>]<\/span>.<\/span>target *<\/span> sin<\/span>(<\/span>M_PI *<\/span> t \/<\/span> 250.0f<\/span> +<\/span> M_PI)<\/span>)<\/span>;<\/span>
    \n delay<\/span>(<\/span>10<\/span>)<\/span>;<\/span>
    \n }<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

    5\u3001\u89e6\u89c9\u53cd\u9988\u5faa\u8ff9 + \u76f2\u533a\u8d8a\u969c\u8865\u507f
    \n\u9002\u7528\u573a\u666f：\u70df\u96fe\/\u5f3a\u5149\u7b49\u89c6\u89c9\u5931\u6548\u7684\u76f2\u533a，\u901a\u8fc7\u89e6\u89c9\u611f\u77e5\u8fb9\u7f18\u548c\u5730\u5f62，\u5b9e\u73b0\u5faa\u8ff9\u8d8a\u969c，\u907f\u514d\u5760\u5d16\u3001\u5361\u6ede\u3002<\/p>\n

    #<\/span>include<\/span> <SimpleFOC.h><\/span><\/span>
    \nint<\/span> touch_force[<\/span>4<\/span>]<\/span> =<\/span> {<\/span>0<\/span>}<\/span>;<\/span> \/\/ 4\u8db3\u7aefFSR\u4f20\u611f\u5668<\/span>
    \nSimpleFOCMotor2 joints[<\/span>12<\/span>]<\/span> =<\/span> {<\/span>\/* 12\u4e2a\u5173\u8282\u5b9a\u4e49\u540c\u524d *\/<\/span>}<\/span>;<\/span>
    \nfloat<\/span> gait_lift =<\/span> 0<\/span>,<\/span> gait_step =<\/span> 0<\/span>;<\/span><\/p>\n

    \/\/ \u89e6\u89c9\u5730\u5f62\u611f\u77e5<\/span>
    \nvoid<\/span> touch_terrain_detect<\/span>(<\/span>)<\/span>{<\/span>
    \n for<\/span>(<\/span>int<\/span> i=<\/span>0<\/span>;<\/span>i<<\/span>4<\/span>;<\/span>i++<\/span>)<\/span> touch_force[<\/span>i]<\/span> =<\/span> analogRead<\/span>(<\/span>A0+<\/span>i)<\/span> \/<\/span> 10<\/span>;<\/span>
    \n int<\/span> support_num =<\/span> 0<\/span>;<\/span>
    \n for<\/span>(<\/span>int<\/span> i=<\/span>0<\/span>;<\/span>i<<\/span>4<\/span>;<\/span>i++<\/span>)<\/span> if<\/span>(<\/span>touch_force[<\/span>i]<\/span> ><\/span> 4<\/span>)<\/span> support_num++<\/span>;<\/span>
    \n \/\/ \u652f\u6491\u8d8a\u5c11，\u8bf4\u660e\u5730\u5f62\u8d8a\u9669，\u8d8a\u969c\u6b65\u5e45\u8d8a\u5c0f<\/span>
    \n if<\/span>(<\/span>support_num <=<\/span> 1<\/span>)<\/span> gait_step =<\/span> 0.5f<\/span>;<\/span>
    \n else<\/span> if<\/span>(<\/span>support_num ==<\/span> 2<\/span>)<\/span> gait_step =<\/span> 0.8f<\/span>;<\/span>
    \n else<\/span> gait_step =<\/span> 1.2f<\/span>;<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u89e6\u89c9\u8fb9\u7f18\u68c0\u6d4b：\u907f\u514d\u8e29\u7a7a<\/span>
    \nbool<\/span> detect_edge<\/span>(<\/span>)<\/span>{<\/span>
    \n return<\/span> touch_force[<\/span>0<\/span>]<\/span> +<\/span> touch_force[<\/span>1<\/span>]<\/span> <<\/span> 5<\/span> &&<\/span> touch_force[<\/span>2<\/span>]<\/span> +<\/span> touch_force[<\/span>3<\/span>]<\/span> ><\/span> 10<\/span>;<\/span>
    \n}<\/span><\/p>\n

    void<\/span> setup<\/span>(<\/span>)<\/span>{<\/span>
    \n Serial.<\/span>begin<\/span>(<\/span>9600<\/span>)<\/span>;<\/span>
    \n for<\/span>(<\/span>int<\/span> i=<\/span>0<\/span>;<\/span>i<<\/span>12<\/span>;<\/span>i++<\/span>)<\/span>{<\/span> joints[<\/span>i]<\/span>.<\/span>init<\/span>(<\/span>)<\/span>;<\/span> joints[<\/span>i]<\/span>.<\/span>controller =<\/span> FOC_TORQUE;<\/span> }<\/span>
    \n}<\/span><\/p>\n

    void<\/span> loop<\/span>(<\/span>)<\/span>{<\/span>
    \n touch_terrain_detect<\/span>(<\/span>)<\/span>;<\/span>
    \n gait_lift =<\/span> 0.3f<\/span> +<\/span> (<\/span>4<\/span> –<\/span> support_num)<\/span> *<\/span> 0.1f<\/span>;<\/span>
    \n if<\/span>(<\/span>detect_edge<\/span>(<\/span>)<\/span>)<\/span>{<\/span>
    \n gait_step *=<\/span> 0.6f<\/span>;<\/span> \/\/ \u8fb9\u7f18\u533a\u57df\u7f29\u5c0f\u6b65\u5e45<\/span>
    \n gait_lift +=<\/span> 0.2f<\/span>;<\/span>
    \n }<\/span>
    \n for<\/span>(<\/span>int<\/span> i=<\/span>0<\/span>;<\/span>i<<\/span>12<\/span>;<\/span>i++<\/span>)<\/span>{<\/span>
    \n float<\/span> torque =<\/span> gait_lift *<\/span> (<\/span>i<<\/span>6<\/span> ?<\/span> 1.0f<\/span> :<\/span> –<\/span>1.0f<\/span>)<\/span> *<\/span> touch_force[<\/span>i\/<\/span>3<\/span>]<\/span> *<\/span> 0.01f<\/span>;<\/span>
    \n joints[<\/span>i]<\/span>.<\/span>setTorque<\/span>(<\/span>constrain<\/span>(<\/span>torque,<\/span> –<\/span>3<\/span>,<\/span> 3<\/span>)<\/span>)<\/span>;<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

    6\u3001\u89c6\u89c9+\u89e6\u89c9\u878d\u5408 + \u52a8\u6001\u8d8a\u969c\u6b65\u6001
    \n\u9002\u7528\u573a\u666f：\u590d\u6742\u6237\u5916\u76f2\u533a（\u704c\u6728\u4e1b\u3001\u4e71\u77f3\u5806），\u5148\u89c6\u89c9\u9884\u5224\u969c\u788d\u7c7b\u578b，\u518d\u7ed3\u5408\u89e6\u89c9\u53cd\u9988\u5b9e\u65f6\u8c03\u6574\u6b65\u6001，\u63d0\u5347\u8d8a\u969c\u7075\u6d3b\u6027\u3002<\/p>\n

    #<\/span>include<\/span> <SimpleFOC.h><\/span><\/span>
    \n#<\/span>include<\/span> <opencv2\/opencv.hpp><\/span><\/span>
    \nSimpleFOCMotor2 joints[<\/span>12<\/span>]<\/span> =<\/span> {<\/span>\/* 12\u4e2a\u5173\u8282\u5b9a\u4e49\u540c\u524d *\/<\/span>}<\/span>;<\/span>
    \nint<\/span> obs_type =<\/span> 0<\/span>;<\/span>
    \nfloat<\/span> obs_h =<\/span> 0<\/span>,<\/span> obs_w =<\/span> 0<\/span>;<\/span>
    \nfloat<\/span> touch_force[<\/span>4<\/span>]<\/span> =<\/span> {<\/span>0<\/span>}<\/span>;<\/span>
    \nfloat<\/span> dynamic_lift =<\/span> 0<\/span>,<\/span> dynamic_step =<\/span> 0<\/span>;<\/span><\/p>\n

    void<\/span> fuse_vision_touch<\/span>(<\/span>)<\/span>{<\/span>
    \n \/\/ \u89c6\u89c9\u9884\u5224<\/span>
    \n if<\/span>(<\/span>openmv.<\/span>run_script<\/span>(<\/span>"blind_detect"<\/span>,<\/span> &<\/span>obs_type,<\/span> &<\/span>obs_h,<\/span> &<\/span>obs_w)<\/span> ==<\/span> 1<\/span>)<\/span>{<\/span>
    \n dynamic_lift =<\/span> 0.2f<\/span> +<\/span> obs_h *<\/span> 0.04f<\/span>;<\/span>
    \n dynamic_step =<\/span> 0.3f<\/span> +<\/span> obs_w *<\/span> 0.6f<\/span>;<\/span>
    \n }<\/span>
    \n \/\/ \u89e6\u89c9\u8c03\u6574：\u89e6\u5730\u538b\u529b\u5927\u5219\u964d\u4f4e\u62ac\u817f\u9ad8\u5ea6，\u907f\u514d\u6253\u6ed1<\/span>
    \n for<\/span>(<\/span>int<\/span> i=<\/span>0<\/span>;<\/span>i<<\/span>4<\/span>;<\/span>i++<\/span>)<\/span> touch_force[<\/span>i]<\/span> =<\/span> analogRead<\/span>(<\/span>A0+<\/span>i)<\/span> \/<\/span> 10<\/span>;<\/span>
    \n int<\/span> max_force =<\/span> max<\/span>(<\/span>touch_force[<\/span>0<\/span>]<\/span>,<\/span> max<\/span>(<\/span>touch_force[<\/span>1<\/span>]<\/span>,<\/span> max<\/span>(<\/span>touch_force[<\/span>2<\/span>]<\/span>,<\/span> touch_force[<\/span>3<\/span>]<\/span>)<\/span>)<\/span>)<\/span>;<\/span>
    \n if<\/span>(<\/span>max_force ><\/span> 8<\/span>)<\/span>{<\/span> dynamic_lift *=<\/span> 0.6f<\/span>;<\/span> dynamic_step *=<\/span> 0.7f<\/span>;<\/span> }<\/span>
    \n}<\/span><\/p>\n

    void<\/span> plan_dynamic_gait<\/span>(<\/span>)<\/span>{<\/span>
    \n static<\/span> float<\/span> phase =<\/span> 0<\/span>;<\/span>
    \n phase +=<\/span> 0.04f<\/span>;<\/span>
    \n if<\/span>(<\/span>phase ><\/span> M_PI)<\/span> phase -=<\/span> M_PI;<\/span>
    \n float<\/span> lift =<\/span> dynamic_lift *<\/span> (<\/span>sin<\/span>(<\/span>phase)<\/span>+<\/span>1<\/span>)<\/span> *<\/span> 0.5f<\/span>;<\/span>
    \n for<\/span>(<\/span>int<\/span> i=<\/span>0<\/span>;<\/span>i<<\/span>12<\/span>;<\/span>i++<\/span>)<\/span>{<\/span>
    \n float<\/span> angle =<\/span> (<\/span>lift)<\/span> *<\/span> (<\/span>i%<\/span>2<\/span>==<\/span>0<\/span> ?<\/span> 1.0f<\/span> :<\/span> 0.8f<\/span>)<\/span>;<\/span>
    \n angle +=<\/span> dynamic_step *<\/span> cos<\/span>(<\/span>phase *<\/span> 2<\/span>)<\/span>;<\/span>
    \n joints[<\/span>i]<\/span>.<\/span>set<\/span>(<\/span>constrain<\/span>(<\/span>angle,<\/span> –<\/span>1.5f<\/span>,<\/span> 1.5f<\/span>)<\/span>,<\/span> 1.0f<\/span>)<\/span>;<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

    void<\/span> setup<\/span>(<\/span>)<\/span>{<\/span>
    \n Serial.<\/span>begin<\/span>(<\/span>9600<\/span>)<\/span>;<\/span>
    \n for<\/span>(<\/span>int<\/span> i=<\/span>0<\/span>;<\/span>i<<\/span>12<\/span>;<\/span>i++<\/span>)<\/span>{<\/span> joints[<\/span>i]<\/span>.<\/span>init<\/span>(<\/span>)<\/span>;<\/span> joints[<\/span>i]<\/span>.<\/span>controller =<\/span> FOC_VELOCITY;<\/span> }<\/span>
    \n}<\/span><\/p>\n

    void<\/span> loop<\/span>(<\/span>)<\/span>{<\/span>
    \n fuse_vision_touch<\/span>(<\/span>)<\/span>;<\/span>
    \n plan_dynamic_gait<\/span>(<\/span>)<\/span>;<\/span>
    \n delay<\/span>(<\/span>10<\/span>)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    \u8981\u70b9\u89e3\u8bfb
    \n\u76f2\u533a\u63a2\u6d4b\u9700\u53cc\u4f20\u611f\u5668\u4e92\u8865，\u8986\u76d6\u611f\u77e5\u7f1d\u9699
    \n\u89c6\u89c9\u8d1f\u8d23\u8fdc\u76f2\u533a\u5730\u5f62\u9884\u5224（\u53f0\u9636\u3001\u77ee\u5899），\u4f46\u6613\u53d7\u906e\u6321\u3001\u5149\u7167\u5f71\u54cd；\u89e6\u89c9\u8d1f\u8d23\u8fd1\u76f2\u533a\u843d\u5730\u53cd\u9988，\u4f46\u8303\u56f4\u6709\u9650\u3002\u4e24\u8005\u9700\u8bbe\u5b9a\u5207\u6362\u9608\u503c：\u89c6\u89c9\u7f6e\u4fe1\u5ea6\u4f4e\u4e8e60%\u65f6\u542f\u7528\u89e6\u89c9\u611f\u77e5，\u89e6\u89c9\u68c0\u6d4b\u5230\u8fb9\u7f18\u65f6\u540c\u6b65\u964d\u4f4e\u89c6\u89c9\u4f9d\u8d56\u3002<\/p>\n

    \u6b65\u6001\u89c4\u5212\u9700\u5206\u9636\u6bb5\u8bbe\u8ba1，\u5148\u9884\u89c4\u5212\u540e\u52a8\u6001\u8c03\u6574
    \n\u8d8a\u969c\u5206\u4e3a\u51c6\u5907\u3001\u62ac\u817f\u3001\u8de8\u8d8a\u3001\u843d\u57304\u9636\u6bb5：\u51c6\u5907\u9636\u6bb5\u7528\u89c6\u89c9\u9884\u89c4\u5212\u57fa\u7840\u6b65\u5e45\u3001\u62ac\u817f\u9ad8\u5ea6；\u62ac\u817f\/\u8de8\u8d8a\u9636\u6bb5\u7528\u89e6\u89c9\u53cd\u9988\u5b9e\u65f6\u8c03\u6574\u89d2\u5ea6；\u843d\u5730\u9636\u6bb5\u6839\u636e\u538b\u529b\u8c03\u6574\u652f\u6491\u529b，\u907f\u514d\u51b2\u51fb\u8fc7\u5927\u3002<\/p>\n

    \u878d\u5408\u7b97\u6cd5\u9700\u505a\u6570\u636e\u6821\u51c6，\u964d\u4f4e\u8bef\u5224\u7387
    \n\u89c6\u89c9\u7684\u969c\u788d\u9ad8\u5ea6\/\u5bbd\u5ea6\u9700\u4e0e\u89e6\u89c9\u7684\u8fb9\u7f18\u68c0\u6d4b\u505a\u5750\u6807\u5bf9\u9f50，\u7edf\u4e00\u6620\u5c04\u5230\u673a\u5668\u4eba\u81ea\u8eab\u5750\u6807\u7cfb；\u89e6\u89c9\u9608\u503c\u9700\u63d0\u524d\u6821\u51c6，\u533a\u5206\u786c\u7269\u3001\u6ce5\u571f\u3001\u6c34\u6d3c\u7b49\u4e0d\u540c\u63a5\u89e6\u9762，\u907f\u514d\u8bef\u5224\u4e3a\u969c\u788d\u3002<\/p>\n

    \u9700\u52a0\u5165\u5b89\u5168\u9608\u503c，\u9632\u6b62\u503e\u8986
    \n\u62ac\u817f\u9ad8\u5ea6\u3001\u6b65\u5e45\u9700\u8bbe\u7f6e\u4e0a\u9650，\u5373\u4f7f\u89c6\u89c9\u68c0\u6d4b\u5230\u5927\u969c\u788d，\u4e5f\u4e0d\u80fd\u8d85\u51fa\u673a\u68b0\u7ed3\u6784\u7684\u8d8a\u969c\u6781\u9650；\u540c\u65f6\u8bbe\u7f6e\u91cd\u5fc3\u68c0\u6d4b，\u5f53\u89e6\u89c9\u53cd\u99883\u8db3\u7740\u5730\u4e14\u538b\u529b\u5747\u8861\u65f6，\u624d\u5141\u8bb8\u7ee7\u7eed\u8d8a\u969c，\u5426\u5219\u7acb\u523b\u505c\u6b62\u3002<\/p>\n

    \u9700\u4f18\u5148\u5904\u7406\u6781\u7aef\u60c5\u51b5，\u4fdd\u7559\u6545\u969c\u5bb9\u9519\u903b\u8f91
    \n\u89c6\u89c9\u6216\u89e6\u89c9\u4efb\u4e00\u4f20\u611f\u5668\u6545\u969c\u65f6，\u9700\u542f\u52a8\u5e94\u6025\u6b65\u6001：\u89c6\u89c9\u5931\u6548\u65f6\u7528\u89e6\u89c9\u5faa\u8ff9\u4f4e\u901f\u884c\u8d70，\u89e6\u89c9\u5931\u6548\u65f6\u7528\u89c6\u89c9\u9884\u89c4\u5212\u4fdd\u5b88\u6b65\u6001；\u540c\u65f6\u8bbe\u7f6e\u5fc3\u8df3\u673a\u5236，\u8fde\u7eed3s\u65e0\u6709\u6548\u53cd\u9988\u5219\u7acb\u5373\u539f\u5730\u505c\u6b62，\u7b49\u5f85\u6551\u63f4\u3002<\/p>\n

    \u8bf7\u6ce8\u610f：\u4ee5\u4e0a\u6848\u4f8b\u4ec5\u4f5c\u4e3a\u601d\u8def\u62d3\u5c55\u7684\u53c2\u8003\u793a\u4f8b，\u4e0d\u4fdd\u8bc1\u5b8c\u5168\u6b63\u786e\u3001\u9002\u914d\u6240\u6709\u573a\u666f\u6216\u53ef\u76f4\u63a5\u7f16\u8bd1\u8fd0\u884c\u3002\u7531\u4e8e\u786c\u4ef6\u5e73\u53f0\u3001\u5b9e\u9645\u4f7f\u7528\u573a\u666f\u3001Arduino \u7248\u672c\u7684\u5dee\u5f02，\u5747\u53ef\u80fd\u5f71\u54cd\u4ee3\u7801\u7684\u9002\u914d\u6027\u4e0e\u4f7f\u7528\u65b9\u6cd5\u7684\u9009\u62e9\u3002\u5728\u5b9e\u9645\u7f16\u7a0b\u5f00\u53d1\u65f6，\u8bf7\u52a1\u5fc5\u6839\u636e\u81ea\u8eab\u786c\u4ef6\u914d\u7f6e\u3001\u4f7f\u7528\u573a\u666f\u53ca\u5177\u4f53\u529f\u80fd\u9700\u6c42\u8fdb\u884c\u9488\u5bf9\u6027\u8c03\u6574，\u5e76\u901a\u8fc7\u591a\u6b21\u5b9e\u6d4b\u9a8c\u8bc1\u6548\u679c；\u540c\u65f6\u9700\u786e\u4fdd\u786c\u4ef6\u63a5\u7ebf\u6b63\u786e，\u5145\u5206\u4e86\u89e3\u6240\u7528\u4f20\u611f\u5668\u3001\u6267\u884c\u5668\u7b49\u8bbe\u5907\u7684\u6280\u672f\u89c4\u8303\u4e0e\u6838\u5fc3\u7279\u6027\u3002\u5bf9\u4e8e\u6d89\u53ca\u786c\u4ef6\u64cd\u4f5c\u7684\u4ee3\u7801，\u4f7f\u7528\u524d\u52a1\u5fc5\u6838\u5bf9\u5f15\u811a\u5b9a\u4e49\u3001\u7535\u5e73\u53c2\u6570\u7b49\u5173\u952e\u4fe1\u606f\u7684\u51c6\u786e\u6027\u4e0e\u5b89\u5168\u6027，\u907f\u514d\u56e0\u53c2\u6570\u9519\u8bef\u5bfc\u81f4\u786c\u4ef6\u635f\u574f\u6216\u8fd0\u884c\u5f02\u5e38\u3002<\/p>\n

    \"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"<\/p>\n","protected":false},"excerpt":{"rendered":"

    Arduino BLDC \u4e4b\u673a\u5668\u4eba\u89c6\u89c9\u89e6\u89c9\u878d\u5408\u76f2\u533a\u8d8a\u969c\u6b65\u6001\u89c4\u5212，\u672c\u8d28\u4e0a\u662f\u201c\u89c6\u89c9\u9884\u5efa\u5c40\u90e8\u5730\u5f62\u56fe \u2192 \u89e6\u89c9\/\u672c\u4f53\u611f\u77e5\u786e\u8ba4\u63a5\u89e6\u72b6\u6001 \u2192 \u76f2\u533a\u91c7\u7528\u8bd5\u63a2\u6027\u6b65\u6001 \u2192 BLDC \u5173\u8282\u529b\u77e9\/\u4f4d\u7f6e\u95ed\u73af\u6267\u884c\u201d\u7684\u591a\u6a21\u6001\u95ed\u73af\u7cfb\u7edf：\u89c6\u89c9\u8d1f\u8d23\u8bc6\u522b\u524d\u65b9\u969c\u788d\u548c\u53ef\u9009\u843d\u8db3\u70b9，\u89e6\u89c9\u8d1f\u8d23\u9a8c\u8bc1\u8db3\u7aef\u662f\u5426\u771f\u5b9e\u89e6\u5730\u3001\u6253\u6ed1\u6216\u4e0b\u9677，\u76f2\u533a\u7b56\u7565\u8d1f\u8d23\u5728\u89c6\u89c9\u4e0d\u53ef\u4fe1\u533a\u57df\u91c7\u7528\u4f4e\u51b2\u51fb\u8bd5\u63a2\u6b65\u6001，\u6700\u7ec8\u7531 BLDC \u5173\u8282\u4f3a\u670d\u628a\u6b65\u6001\u8f68\u8ff9\u8f6c\u5316\u4e3a\u67d4\u987a\u3001\u7a33\u5b9a\u7684\u8d8a\u969c\u52a8\u4f5c\u3002 \u5b83\u7684\u6838\u5fc3\u4e0d\u662f\u628a<\/p>\n","protected":false},"author":2,"featured_media":114988,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[13079,13078,55,270,269],"topic":[],"class_list":["post-114992","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-13079","tag-13078","tag-c","tag-270","tag-269"],"yoast_head":"\n\u3010\u82b1\u96d5\u5b66\u7f16\u7a0b\u3011Arduino BLDC \u4e4b\u673a\u5668\u4eba\u89c6\u89c9+\u89e6\u89c9\u878d\u5408+\u76f2\u533a\u8d8a\u969c\u6b65\u6001\u89c4\u5212 - 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