继续优化平衡控制,多次连续跳跃,毫无压力。

增加原地起立功能。
简化控制,通过 esp32 遥控器直接控制,无需配网。
遥控器地址:#小程序://闲鱼/4I7SlDlYRnybNWd
This commit is contained in:
myperworld committed 2025-08-11 19:38:13 +08:00
1 parent 21770c9531
commit 78bad24dc0
694 files changed
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#!/usr/bin/env node
var WebSocketServer = require('websocket').server;
var http = require('http');
var server = http.createServer(function(request, response) {
console.log((new Date()) + ' Received request for ' + request.url);
response.writeHead(404);
response.end();
});
server.listen(8011, function() {
console.log((new Date()) + ' Server is listening on port 8011');
});
wsServer = new WebSocketServer({
httpServer: server,
// You should not use autoAcceptConnections for production
// applications, as it defeats all standard cross-origin protection
// facilities built into the protocol and the browser. You should
// *always* verify the connection's origin and decide whether or not
// to accept it.
autoAcceptConnections: false
});
function originIsAllowed(origin) {
// put logic here to detect whether the specified origin is allowed.
return true;
}
wsServer.on('request', function(request) {
if (!originIsAllowed(request.origin)) {
// Make sure we only accept requests from an allowed origin
request.reject();
console.log((new Date()) + ' Connection from origin ' + request.origin + ' rejected.');
return;
}
var connection = request.accept('arduino', request.origin);
console.log((new Date()) + ' Connection accepted.');
connection.on('message', function(message) {
if (message.type === 'utf8') {
console.log('Received Message: ' + message.utf8Data);
// connection.sendUTF(message.utf8Data);
}
else if (message.type === 'binary') {
console.log('Received Binary Message of ' + message.binaryData.length + ' bytes');
//connection.sendBytes(message.binaryData);
}
});
connection.on('close', function(reasonCode, description) {
console.log((new Date()) + ' Peer ' + connection.remoteAddress + ' disconnected.');
});
connection.sendUTF("Hallo Client!");
});