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清理多余策略

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meiqi
2026-03-30 15:30:30 +08:00
parent 32702e25f3
commit cc1f766009
19 changed files with 3 additions and 929 deletions
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8
Deploy_Tienkung/udp_loopback/udp_fsm_controller.py
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@@ -161,12 +161,6 @@ class UDPFSMController:
elif event_code == "mode_stride":
self.motion_frame.mode_tag = "mode_stride"
self.last_fsm_command_time = packet.sent_at
elif event_code == "mode_dash":
self.motion_frame.mode_tag = "mode_dash"
self.last_fsm_command_time = packet.sent_at
elif event_code == "mode_xrun":
self.motion_frame.mode_tag = "mode_xrun"
self.last_fsm_command_time = packet.sent_at
elif event_code == "surge_up":
self.motion_frame.surge_goal = min(
self.max_surge, self.motion_frame.surge_goal + self.surge_step
@@ -236,8 +230,6 @@ class UDPFSMController:
"pose_home": "gotoZERO",
"pose_hold": "gotoSTOP",
"mode_stride": "gotoWALKAMP",
"mode_dash": "gotoMYPOLICY",
"mode_xrun": "gotoXSIMRUN",
}
self.udp_flag.enable = self.motion_frame.relay_on
self.udp_flag.fsm_state_command = mode_to_fsm_command.get(