转化为控制指令，然后每50ms通过串口向上位机发送一次命令，上位机收到数据后控制虚拟仿真机器人，最后，上位机收集虚拟机器人的姿态参数，再通过串-Translated into control commands, and then every 50ms upward through the serial-bit machine to send a command, the data received after the host computer to control the virtual si