{"id":2072,"date":"2023-05-29T11:37:18","date_gmt":"2023-05-29T03:37:18","guid":{"rendered":"https:\/\/104.es\/?p=2072"},"modified":"2023-07-21T10:09:26","modified_gmt":"2023-07-21T02:09:26","slug":"zenbo-junior-sonar-test","status":"publish","type":"post","link":"https:\/\/104.es\/index.php\/2023\/05\/29\/zenbo-junior-sonar-test\/","title":{"rendered":"Zenbo Junior\u7684\u8072\u7d0d\u611f\u6e2c\u5668\u6e2c\u8a66"},"content":{"rendered":"\n<p>\u6a5f\u5668\u4eba\u6700\u91cd\u8981\u7684\u80fd\u529b\u662f\u79fb\u52d5\uff0c\u800c\u5728\u79fb\u52d5\u7684\u904e\u7a0b\u4e2d\uff0c\u900f\u904e\u611f\u6e2c\u5668\u4f86\u5075\u6e2c\u9031\u906d\u7684\u74b0\u5883\uff0c\u518d\u6839\u64da\u6536\u96c6\u5230\u7684\u8cc7\u6599\u9032\u884c\u56de\u61c9\uff0c\u662f\u5fc5\u9700\u5177\u5099\u7684\u529f\u80fd\u4e4b\u4e00\u3002Zenbo Junior\u672c\u8eab\u5177\u6709\u8a31\u591a\u7684\u611f\u6e2c\u5668\uff0c\u5176\u4e2d\u8072\u7d0d\u7cfb\u7d71\u61c9\u8a72\u662f\u6bd4\u8f03\u5be6\u7528\u7684\u5176\u4e2d\u4e00\u500b\u611f\u6e2c\u5668\uff0c\u56e0\u70ba\u5b83\u53ef\u4ee5\u5c0d\u9031\u906d\u7684\u7269\u9ad4\u9032\u884c\u8ddd\u96e2\u7684\u5075\u6e2c\uff0c\u65b9\u4fbf\u6211\u5011\u6839\u64da\u7269\u9ad4\u7684\u8ddd\u96e2\u4f86\u6c7a\u5b9a\u662f\u5426\u7e7c\u7e8c\u524d\u9032\u3002<\/p>\n\n\n\n<p>\u4e0d\u904e\uff0cZenbo Junior\u5229\u7528\u8072\u7d0d\u7cfb\u7d71\u53d6\u5f97\u8ddd\u96e2\u7684\u65b9\u5f0f\u4e0d\u592a\u76f4\u89ba\uff0c\u4ee5\u4e0b\u662f\u5b83\u7684\u547c\u53eb\u51fd\u5f0f\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>data = sdk.sensor.get_sonar(2)<\/code><\/pre>\n\n\n\n<p>\u770b\u5230\u9019\u4e00\u884c\uff0c\u4e00\u822c\u7684\u60f3\u6cd5\u662f\u5728\u57f7\u884c\u5b8c\u7562\u4e4b\u5f8c\uff0cdata\u4e2d\u7684\u5167\u5bb9\u61c9\u8a72\u662f\u8ddd\u96e2\u4e86\u5427\uff1f\u5176\u5be6\u4e0d\u662f\uff0c\u5b83\u5be6\u969b\u4e0a\u50b3\u56de\u7684\u5167\u5bb9\u5982\u4e0b\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>(7, {'state': 5, 'error': 0})<\/code><\/pre>\n\n\n\n<p>\u5b83\u50b3\u56de\u7684\u5167\u5bb9\u57fa\u672c\u4e0a\u548c\u8ddd\u96e2\u6c92\u6709\u95dc\u4fc2\uff0c\u795e\u5947\u5427\uff01\u5b83\u662f\u4e00\u500b\u5143\u7d44\u578b\u614b\uff0c\u7b2c1\u500b\u503c\u4ee3\u8868\u6307\u4ee4\u57f7\u884c\u7684\u5e8f\u865f\uff0c\u7b2c2\u500b\u5143\u7d20\u662f\u4e00\u500b\u5b57\u5178\uff0c\u88e1\u9762\u544a\u8a34\u4f60\u9019\u500b\u6307\u4ee4\u662f\u5426\u57f7\u884c\u6210\u529f\uff0c\u4e5f\u5c31\u662f\u57f7\u884c\u5f8c\u7684\u72c0\u614b\u3002\u5982\u679cstate\u662f5\u7684\u8a71\u8868\u793a\u57f7\u884c\u9806\u5229\u88ab\u57f7\u884c\uff0c\u5f8c\u9762\u7684error\u7684\u5167\u5bb9\u5c31\u6703\u662f\u96f6\uff0c\u5426\u5247\u5b83\u6703\u50b3\u56de\u932f\u8aa4\u4ee3\u78bc\u3002<\/p>\n\n\n\n<p>\u90a3\u9ebc\uff0c\u5be6\u969b\u4e0a\u7684\u8ddd\u96e2\u6703\u88ab\u653e\u5728\u54ea\u88e1\u5462\uff1f\u4e8b\u5be6\u4e0a\u5728\u57f7\u884c\u5b8cget_sonar\u51fd\u5f0f\u4e4b\u5f8c\uff0c\u5b83\u6703\u53bb\u547c\u53ebon_result_callback\u6240\u8a2d\u5b9a\u7684\u56de\u547c\u51fd\u5f0f\u4e2d\uff0c\u6240\u4ee5\uff0c\u60f3\u8981\u5f97\u5230\u5be6\u969b\u5075\u6e2c\u5230\u7684\u8ddd\u96e2\uff0c\u8981\u5148\u5beb\u4e00\u500bcallback\u51fd\u5f0f\uff0c\u8a2d\u5b9a\u5b8c\u6210\u4e4b\u5f8c\u518d\u53bb\u63a5\u6536\u3002\u8a72callback\u51fd\u5f0f\u5be6\u969b\u4e0a\u63a5\u6536\u5230\u7684\u8cc7\u8a0a\u5982\u4e0b\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>{'serial': 4, 'cmd': 655371, 'error': 0, 'result': {'SONAR_POSITION': 'FC', 'SENSOR_VALUE': 0.34599998593330383}}<\/code><\/pre>\n\n\n\n<p>\u6709\u4e86\u4ee5\u4e0a\u7684\u57fa\u672c\u77e5\u8b58\u4e4b\u5f8c\uff0c\u6211\u5011\u5c31\u53ef\u4ee5\u5beb\u4e00\u500b\u4e00\u9762\u884c\u53bb\uff0c\u4e00\u9762\u5075\u6e2c\u76ee\u524d\u8ddd\u96e2\u7684\u7a0b\u5f0f\u4e86\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>import pyzenbo, time\nfrom pyzenbo.modules.dialog_system import RobotFace\n\nresult=dict()\ndef on_result(**kwargs):\n    global result\n    result = kwargs\n\nhost = open('ip.txt', \"r\", encoding=\"utf-8\").read()\nsdk = pyzenbo.connect(host)\nsdk.on_result_callback = on_result\nsdk.robot.set_expression(RobotFace.PLEASED, \"\u958b\u59cb\u524d\u9032\")\nsdk.motion.remote_control_body(1, True, 100)\nfor i in range(5):\n    data = sdk.sensor.get_sonar(2,True, 10)\n    try:\n        dist = result&#91;'result']&#91;'SENSOR_VALUE']\n        print(dist)\n        sdk.robot.speak(str(round(dist*100))+\"\u516c\u5206\")\n    except:\n        pass\n    time.sleep(2)\n    \nsdk.motion.remote_control_body(0, True,100)\nsdk.robot.set_expression(RobotFace.PLEASED, \"\u4efb\u52d9\u7d50\u675f\")\nsdk.robot.set_expression(RobotFace.HIDEFACE) \nsdk.release()<\/code><\/pre>\n","protected":false},"excerpt":{"rendered":"<p>\u6a5f\u5668\u4eba\u6700\u91cd\u8981\u7684\u80fd\u529b\u662f\u79fb\u52d5\uff0c\u800c\u5728\u79fb\u52d5\u7684\u904e\u7a0b\u4e2d\uff0c\u900f\u904e\u611f\u6e2c\u5668\u4f86\u5075\u6e2c\u9031\u906d\u7684\u74b0\u5883\uff0c\u518d\u6839\u64da\u6536\u96c6\u5230\u7684\u8cc7\u6599\u9032\u884c\u56de\u61c9\uff0c\u662f\u5fc5\u9700\u5177\u5099\u7684\u529f\u80fd\u4e4b\u4e00\u3002Zenbo Junior\u672c\u8eab\u5177\u6709\u8a31\u591a\u7684\u611f\u6e2c\u5668\uff0c\u5176\u4e2d\u8072\u7d0d\u7cfb\u7d71\u61c9\u8a72\u662f\u6bd4\u8f03\u5be6\u7528\u7684\u5176\u4e2d\u4e00\u500b\u611f\u6e2c\u5668\uff0c\u56e0\u70ba\u5b83\u53ef\u4ee5\u5c0d\u9031\u906d\u7684\u7269\u9ad4\u9032\u884c\u8ddd\u96e2\u7684\u5075\u6e2c\uff0c\u65b9\u4fbf\u6211\u5011\u6839\u64da\u7269\u9ad4\u7684\u8ddd\u96e2\u4f86\u6c7a\u5b9a\u662f\u5426\u7e7c\u7e8c\u524d\u9032\u3002<\/p>\n","protected":false},"author":1,"featured_media":2152,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[4],"tags":[],"class_list":["post-2072","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-asus-zenbo"],"jetpack_featured_media_url":"https:\/\/104.es\/wp-content\/uploads\/2023\/05\/zenbo2.jpg","jetpack-related-posts":[],"jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/104.es\/index.php\/wp-json\/wp\/v2\/posts\/2072","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/104.es\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/104.es\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/104.es\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/104.es\/index.php\/wp-json\/wp\/v2\/comments?post=2072"}],"version-history":[{"count":1,"href":"https:\/\/104.es\/index.php\/wp-json\/wp\/v2\/posts\/2072\/revisions"}],"predecessor-version":[{"id":2153,"href":"https:\/\/104.es\/index.php\/wp-json\/wp\/v2\/posts\/2072\/revisions\/2153"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/104.es\/index.php\/wp-json\/wp\/v2\/media\/2152"}],"wp:attachment":[{"href":"https:\/\/104.es\/index.php\/wp-json\/wp\/v2\/media?parent=2072"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/104.es\/index.php\/wp-json\/wp\/v2\/categories?post=2072"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/104.es\/index.php\/wp-json\/wp\/v2\/tags?post=2072"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}