#!/usr/bin/python3

coding=utf8

import sys
import time
import math
import hiwonder.Mpu6050 as Mpu6050
import hiwonder.ActionGroupControl as AGC
import hiwonder.Board as Board

mpu = Mpu6050.mpu6050(0x68)#启动Mpu6050
mpu.set_gyro_range(mpu.GYRO_RANGE_2000DEG)#设置Mpu6050的陀螺仪的工作范围
mpu.set_accel_range(mpu.ACCEL_RANGE_2G)#设置Mpu6050的加速度计的工作范围

count1 = 0
count2 = 0

def standup():
global count1, count2

try:
    accel_date = mpu.get_accel_data(g=True) #获取传感器值
    angle_y = int(math.degrees(math.atan2(accel_date['y'], accel_date['z']))) #将获得的数据转化为角度值
    
    if abs(angle_y) > 105: #y轴角度大于160，count1加1，否则清零
        count1 += 1
    else:
        count1 = 0

    if abs(angle_y) < 85: #y轴角度小于10，count2加1，否则清零
        count2 += 1
    else:
        count2 = 0

    time.sleep(0.1)
    
    if count1 >= 1: #往前倒了一定时间后起来
        count1 = 0  
        print("equilibrio_1！")#打印执行的动作名
        AGC.runActionGroup('equilibrio_1')#执行动作
        Board.setPWMServoPulse(1, 1300, 700)
        Board.setPWMServoPulse(2, 1500, 700)
        time.sleep(0.8)
        AGC.runActionGroup('stand') 
    
    elif count2 >= 1: #往后倒了一定时间后起来
        count2 = 0
        print("equilibrio_2！")#打印执行的动作名
        AGC.runActionGroup('equilibrio_2')#执行动作            
        Board.setPWMServoPulse(1, 1500, 700)
        Board.setPWMServoPulse(2, 1500, 700)
        time.sleep(0.8)
        AGC.runActionGroup('stand') 
    
except BaseException as e:
    print(e)

if name == 'main':
print("Fall_and_Stand Init")
print("Fall_and_Stand Start")
while True : #循环检测机器人的状态
standup()
key = time.sleep(0.1)
if key == 27:
break

Aqui estar o Código:
import time
import hiwonder.Board as Board

print('''

功能:幻尔科技TonyPi扩展板，PWM舵机控制例程

Official website:http://www.hiwonder.com
Online mall:https://huaner.tmall.com/

以下指令均需在LX终端使用，LX终端可通过ctrl+alt+t打开，或点
击上栏的黑色LX终端图标。

Usage:
python3 BusServoMove.py

Version: --V1.2 2021/07/03

Tips:

• 按下Ctrl+C可关闭此次程序运行，若失败请多次尝试！

''')

while True:
# 参数：参数1：舵机接口编号; 参数2：位置; 参数3：运行时间
Board.setPWMServoPulse(2, 1500, 500) # 2号舵机转到1500位置，用时500ms
time.sleep(0.5) # 延时时间和运行时间相同

Board.setPWMServoPulse(2, 1800, 800) #舵机的转动范围0-180度，对应的脉宽为500-2500,即参数2的范围为500-2500
time.sleep(0.5)

Board.setPWMServoPulse(2, 1500, 300)
time.sleep(0.2)

Board.setPWMServoPulse(2, 1800, 800)  
Board.setPWMServoPulse(1, 1800, 800)
time.sleep(0.5)

Board.setPWMServoPulse(2, 1500, 800)  
Board.setPWMServoPulse(1, 1500, 800)
time.sleep(0.5)

About monitoring your battery - I don't think the Raspberry Pi can monitor its input power voltage without an external circuit, maybe like this HAT:
https://www.elecrow.com/wiki/index.php?title=Current/Voltage/Power_Monitor_HAT_for_Raspberry_Pi

sudo /home/pi/TonyPi/Extend/Stop_Caminhar.sh

kill -9 $(pgrep -f Pegar_Objeto.sh)

Agora colando dessa forma no terminal ele consegue fechar:
kill -9 $(pgrep -f ApriltagTrack.py)

Ainda não testei esse comando la no TriggerCMD

Coloquei tambem o endereço do código principal:
kill -9 $(pgrep -f "/bin/bash /home/pi/TonyPi/Extend/ApriltagTrack.py")
Mesmo assim não fechou o Script

So I think you're saying this kill command only kills the Pegar_Objeto.sh script when you run the Pegar_Objeto.sh script manually, but not if you run it via TRIGGERcmd?

kill -9 $(pgrep -f "/bin/bash /home/pi/TonyPi/Extend/Pegar_Objeto.sh")

If you look at the pgrep command's help, you'll see that the -f parameter specifies the full process name, but I found that you can specify a partial process name.

$ pgrep --help
Usage:
 pgrep [options] <pattern>

Options:
 -d, --delimiter <string>  specify output delimiter
 -l, --list-name           list PID and process name
 -a, --list-full           list PID and full command line
 -v, --inverse             negates the matching
 -w, --lightweight         list all TID
 -c, --count               count of matching processes
 -f, --full                use full process name to match

So please try this instead:

kill -9 $(pgrep -f Pegar_Objeto.sh)

In your commands.json it would look like this:

"offCommand": "kill -9 $(pgrep -f Pegar_Objeto.sh)",

"offCommand": "kill -9 $(pgrep -f \"/bin/bash /home/pi/TonyPi/Extend/Pegar_Objeto.sh\")",

How do you know it's not killing your script. Are you listing your processes with ps -ef after you run the command with "off" as the parameter?

Please try this entry.

 {
  "trigger": "Sonar Barrier",
  "command": "/home/pi/TonyPi/Extend/Caminhar.sh",
  "offCommand": "kill -9 $(pgrep -f \"/usr/bin/python3 /home/pi/TonyPi/Extend/ApriltagTrack.py\")",
  "ground": "foreground",
  "voice": "Caminhar",
  "voiceReply": "",
  "allowParams": "true"
 }

Quando tento montar o comando ele só salvar dessa maneira:
{"trigger":"Sonar_barrier.py","command":"/home/pi/TonyPi/Extend/Caminhar.sh","offCommand":"kill -9 $(pgrep -f","ground":"background","voice":"Caminhar","allowParams": "false"}

sudo kill -9 $(pgrep -f "/usr/bin/python3 /home/pi/TonyPi/Extend/ApriltagTrack.py")

I see you're running the TRIGGERcmd background agent, which runs as root, so you don't need the sudo prefix when you add it to your commands.json.

You'll need to escape the command's quotes too, like this:

"offCommand": "kill -9 $(pgrep -f \"/usr/bin/python3 /home/pi/TonyPi/Extend/ApriltagTrack.py\")"

kill -9 $(pgrep -f "/usr/bin/python3 /home/pi/TonyPi/Extend/ApriltagTrack.py")

ps -ef

I'm hoping that information will show me a way you can kill your python script.