release: v1.0 - WL-PRO 轮组机器人遥控脚本
反向实现设备 WebSocket 控制协议,提供单次命令与常驻长连接两种模式。
核心内容:
- robot-ctl.py 单次命令客户端,纯标准库无依赖
- robot-daemon.py 常驻守护进程,维持唯一长连接,
解决断开丢尾帧导致的速度残留
- rc.sh 向守护进程注入动作,内置 stable=1 硬锁
- docs/PROTOCOL.md 协议逆向与踩坑记录
- tests/fake-robot-ws.js 离线验证用假设备
实测标定 (50% 速度):
- 前进/后退 ~8 cm/s
- 左转/右转 ~35 deg/s
已知限制:
- 设备为 Arduino WebSocketsServer,纯单向,不回传状态
- 仅摇杆与跳跃有效,linear/angular/方向键无效
- 网页与脚本不可同时连接,会互相覆盖帧
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MIT License
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Copyright (c) 2026 WL-PRO Robot Control contributors
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Permission is hereby granted, free of charge, to any person obtaining a copy
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