【Training Camp】Tai Chi little bitch

First of all, pay tribute to the official sample -> Material list and reference purchase link: https://docs.qq.com/sheet/DWGxocU1aalRJS0Z2?tab=9e4zer Please use Hiburn.exe to burn the firmware program. See the attachment for the code and burning tools. See the application source code: https://gitee.com/genkipi/applications_genkipi_sample/tree/OpenHarmony-3.0-LTS/app/plotclock Complete environment code: https://gitee.com/genkipi/ohosdog Related information Baidu network disk: https: //pan.baidu.com/s/1OztwrWfjke83tJw3oP9gRQ?pwd=qu2sCopy the plotclock directory to the directory below in the complete environment ohosdog/applications/genkipi/app In fact, plotclock is a dog leg of the robot dog , you can learn the principles of forward and inverse solutions through the dog-leg morphology simulator https://gitee.com/tangyang/leg-kinematics The simulator is open source and supports the forward solution of dog-leg kinematics and the inverse solution of dog-leg kinematics. Movement range point simulation simulation map support Intrinsic parameters are dynamically adjusted to generate specified trajectories, font trajectories support digital fonts, alphabet fonts, Chinese character fonts, save modified parameters, and device synchronization simulation-------------------------- -------------------------------------------------- -----------------------------Dividing line------------------- -------------------------------------------------- ----------------------------------The PCA9685PW in the sample is expensive and out of stock. Try using an STC microcontroller instead. The PCA9685PW module is left to support the interface. After arriving, I found that the silk screen printing of the stc's pwm port was wrong, and it has been corrected on the latest pcb.