diff --git a/README.md b/README.md index 348d6d9..7c0cef8 100644 --- a/README.md +++ b/README.md @@ -64,4 +64,6 @@ servo 文件夹是用于写入舵机初始化程序 2025-12-26 v1.4增加建议云台人脸跟踪效果 -2026-01-01 v1.4实现机器人一起踢乒乓球功能，使用maixcam，离线运行。 \ No newline at end of file +2026-01-01 v1.4实现机器人一起踢乒乓球功能，使用maixcam，离线运行。 + +2026-01-20 v1.4 增加适配5.5g舵机方案。 \ No newline at end of file diff --git a/v1.4 摄像头提乒乓球方案/BOM清单.xlsx b/v1.4 摄像头提乒乓球方案/BOM清单.xlsx new file mode 100644 index 0000000..11e7330 Binary files /dev/null and b/v1.4 摄像头提乒乓球方案/BOM清单.xlsx differ diff --git a/v1.4/maixcam/config.py b/v1.4 摄像头提乒乓球方案/maixcam/config.py similarity index 100% rename from v1.4/maixcam/config.py rename to v1.4 摄像头提乒乓球方案/maixcam/config.py diff --git a/v1.4/maixcam/main.py b/v1.4 摄像头提乒乓球方案/maixcam/main.py similarity index 75% rename from v1.4/maixcam/main.py rename to v1.4 摄像头提乒乓球方案/maixcam/main.py index c20e48e..c9563d5 100644 --- a/v1.4/maixcam/main.py +++ b/v1.4 摄像头提乒乓球方案/maixcam/main.py @@ -4,7 +4,6 @@ from maix import uart, pinmap, time, err, gpio from maix import app, nn import traceback from config import * -from test_face import * from test_ball import * # ------------------------------ @@ -46,20 +45,6 @@ def init_system(): "img_width": img_width, "img_height": img_height, "image_center": image_center } -def callback(data: list[float], len: int): - - global track_mode - - # 2. 找到概率最大的关键词索引 - max_prob = max(data) # 获取最大概率值 - max_index = data.index(max_prob) # 获取最大概率对应的kw索引 - - # 3. 判断：仅当最大概率>0时，输出对应value - if max_prob > 0: - # 根据索引映射到kw_list的value（kw0→0，kw1→1，kw2→2） - output_value = [0, 1, 2][max_index] - print(f"识别结果：{output_value}") # 输出最终的value - track_mode = output_value # ------------------------------ # 系统执行 @@ -68,8 +53,10 @@ def callback(data: list[float], len: int): try: # 初始化系统资源 system_resources = init_system() + + update_led() + # 进入主循环 - # trace_face_main(system_resources) trace_ball_main(system_resources) except Exception as e: diff --git a/v1.4/maixcam/test_ball.py b/v1.4 摄像头提乒乓球方案/maixcam/test_ball.py similarity index 70% rename from v1.4/maixcam/test_ball.py rename to v1.4 摄像头提乒乓球方案/maixcam/test_ball.py index 5059ad3..38c983c 100644 --- a/v1.4/maixcam/test_ball.py +++ b/v1.4 摄像头提乒乓球方案/maixcam/test_ball.py @@ -1,16 +1,29 @@ from maix import image, app, time # 橘黄色乒乓球的颜色阈值配置（HSV色域） +# yxl thresholds = [ [73, 93, 7, 27, 13, 33], [40, 65, 30, 60, 40, 70], [39, 59, 41, 61, 48, 68], ] -# 新增：丢失目标的阈值配置（可根据实际帧率调整，建议5-10帧） -LOST_FRAME_THRESHOLD = 10 # 连续x帧没识别到才判定为真正丢失 -SEND_INTERVAL = 5 # 控制指令发送间隔（避免高频发送，单位：ms） +# mgw +thresholds = [ + [60, 85, 10, 35, 60, 90], + [40, 65, 20, 50, 60, 90], + [30, 60, 30, 60, 40, 70], +] +# 丢失目标的阈值配置 +LOST_FRAME_THRESHOLD = 20 # 连续x帧没识别到才判定为真正丢失 + +# 全局参数初始化 +kick_status = "" + +# ------------------------------ +# 兵乓球追踪 +# ------------------------------ def select_largest_blob(blobs): """ 筛选并选取最大的有效blob（替换原融合逻辑） @@ -63,7 +76,12 @@ def calculate_deviation_ball(center, image_center): else: return None + def trace_ball_main(resources): + + # 声明使用全局变量（两个参数都需要更新） + global kick_status + detector = resources["detector"] cam = resources["cam"] disp = resources["disp"] @@ -72,14 +90,13 @@ def trace_ball_main(resources): img_height = resources["img_height"] image_center = resources["image_center"] - # 新增：状态变量初始化 last_valid_deviation = None # 记录最后一次有效偏移量 lost_frames = 0 # 丢失帧数计数 - last_send_time = 0 # 最后一次发送指令的时间（防高频） while not app.need_exit(): - current_time = time.ticks_ms() + img = cam.read().flip(image.FlipDir.Y) + bcmd = "" # 识别色块（像素阈值设为10，过滤小噪声） blobs = img.find_blobs(thresholds, pixels_threshold=10) @@ -95,40 +112,29 @@ def trace_ball_main(resources): # 1. 识别到有效目标：重置丢失计数，更新最后一次有效偏移 lost_frames = 0 last_valid_deviation = current_deviation - # 控制发送频率，避免串口堵塞 - if current_time - last_send_time >= SEND_INTERVAL: - dx, dy = current_deviation - cmd = f"DX:{dx},DY:{dy};" - serial_dev.write_str(cmd) - print(f"识别到目标: {cmd}") - last_send_time = current_time + dx, dy = current_deviation + bcmd = f"DX:{dx},DY:{dy};" else: # 2. 未识别到目标：累计丢失帧数 lost_frames += 1 if lost_frames < LOST_FRAME_THRESHOLD and last_valid_deviation is not None: - # 2.1 丢失帧数未达阈值：继续发送最后一次有效偏移 - if current_time - last_send_time >= SEND_INTERVAL: - dx, dy = last_valid_deviation - cmd = f"DX:{dx},DY:{dy};" - serial_dev.write_str(cmd) - print(f"短暂丢失，沿用最后偏移: {cmd} (丢失帧数: {lost_frames})") - last_send_time = current_time + dx, dy = last_valid_deviation + bcmd = f"DX:{dx},DY:{dy};" else: # 2.2 丢失帧数达阈值：发送9999，重置最后有效偏移 - if current_time - last_send_time >= SEND_INTERVAL: - cmd = f"DX:9999,DY:9999;" - serial_dev.write_str(cmd) - print(f"目标丢失超过阈值: {cmd} (丢失帧数: {lost_frames})") - last_valid_deviation = None - last_send_time = current_time - # ----------------------------------------------------------------- - + bcmd = "DX:9999,DY:9999;" + last_valid_deviation = None + # 绘制识别结果 if largest_rect: x, y, w, h = largest_rect img.draw_rect(x, y, w, h, image.COLOR_GREEN, 2) cx, cy = target_center img.draw_circle(cx, cy, 3, image.COLOR_RED, -1) - + + + serial_dev.write_str(bcmd) + print(bcmd) + disp.show(img) time.sleep_ms(1) \ No newline at end of file diff --git a/v1.4/platformio/.gitignore b/v1.4 摄像头提乒乓球方案/platformio/.gitignore similarity index 100% rename from v1.4/platformio/.gitignore rename to v1.4 摄像头提乒乓球方案/platformio/.gitignore diff --git a/v1.4/platformio/README.md b/v1.4 摄像头提乒乓球方案/platformio/README.md similarity index 100% rename from v1.4/platformio/README.md rename to v1.4 摄像头提乒乓球方案/platformio/README.md diff --git a/v1.4/platformio/lib/ESP32Servo/AddDoxygenToGHPages.sh b/v1.4 摄像头提乒乓球方案/platformio/lib/ESP32Servo/AddDoxygenToGHPages.sh similarity index 100% rename from v1.4/platformio/lib/ESP32Servo/AddDoxygenToGHPages.sh rename to v1.4 摄像头提乒乓球方案/platformio/lib/ESP32Servo/AddDoxygenToGHPages.sh diff --git a/v1.4/platformio/lib/ESP32Servo/README.md b/v1.4 摄像头提乒乓球方案/platformio/lib/ESP32Servo/README.md similarity index 100% rename from v1.4/platformio/lib/ESP32Servo/README.md rename to v1.4 摄像头提乒乓球方案/platformio/lib/ESP32Servo/README.md diff --git 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diff --git a/v1.4/platformio/lib/Simple_FOC/src/current_sense/hardware_specific/teensy_mcu.cpp b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/current_sense/hardware_specific/teensy_mcu.cpp similarity index 100% rename from v1.4/platformio/lib/Simple_FOC/src/current_sense/hardware_specific/teensy_mcu.cpp rename to v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/current_sense/hardware_specific/teensy_mcu.cpp diff --git a/v1.4/platformio/lib/Simple_FOC/src/drivers/BLDCDriver3PWM.cpp b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/drivers/BLDCDriver3PWM.cpp similarity index 100% rename from v1.4/platformio/lib/Simple_FOC/src/drivers/BLDCDriver3PWM.cpp rename to v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/drivers/BLDCDriver3PWM.cpp diff --git a/v1.4/platformio/lib/Simple_FOC/src/drivers/BLDCDriver3PWM.h b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/drivers/BLDCDriver3PWM.h similarity index 100% rename from v1.4/platformio/lib/Simple_FOC/src/drivers/BLDCDriver3PWM.h rename to v1.4 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v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/drivers/StepperDriver4PWM.h diff --git a/v1.4/platformio/lib/Simple_FOC/src/drivers/hardware_api.h b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/drivers/hardware_api.h similarity index 100% rename from v1.4/platformio/lib/Simple_FOC/src/drivers/hardware_api.h rename to v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/drivers/hardware_api.h diff --git a/v1.4/platformio/lib/Simple_FOC/src/drivers/hardware_specific/atmega2560_mcu.cpp b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/drivers/hardware_specific/atmega2560_mcu.cpp similarity index 100% rename from v1.4/platformio/lib/Simple_FOC/src/drivers/hardware_specific/atmega2560_mcu.cpp rename to v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/drivers/hardware_specific/atmega2560_mcu.cpp diff --git a/v1.4/platformio/lib/Simple_FOC/src/drivers/hardware_specific/atmega328_mcu.cpp b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/drivers/hardware_specific/atmega328_mcu.cpp similarity index 100% rename from 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a/v1.4/platformio/lib/Simple_FOC/src/drivers/hardware_specific/esp32_ledc_mcu.cpp b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/drivers/hardware_specific/esp32_ledc_mcu.cpp similarity index 100% rename from v1.4/platformio/lib/Simple_FOC/src/drivers/hardware_specific/esp32_ledc_mcu.cpp rename to v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/drivers/hardware_specific/esp32_ledc_mcu.cpp diff --git a/v1.4/platformio/lib/Simple_FOC/src/drivers/hardware_specific/esp32_mcu.cpp b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/drivers/hardware_specific/esp32_mcu.cpp similarity index 100% rename from v1.4/platformio/lib/Simple_FOC/src/drivers/hardware_specific/esp32_mcu.cpp rename to v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/drivers/hardware_specific/esp32_mcu.cpp diff --git a/v1.4/platformio/lib/Simple_FOC/src/drivers/hardware_specific/esp8266_mcu.cpp b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/drivers/hardware_specific/esp8266_mcu.cpp similarity index 100% rename from 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a/v1.4/platformio/lib/Simple_FOC/src/drivers/hardware_specific/portenta_h7_mcu.cpp b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/drivers/hardware_specific/portenta_h7_mcu.cpp similarity index 100% rename from v1.4/platformio/lib/Simple_FOC/src/drivers/hardware_specific/portenta_h7_mcu.cpp rename to v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/drivers/hardware_specific/portenta_h7_mcu.cpp diff --git a/v1.4/platformio/lib/Simple_FOC/src/drivers/hardware_specific/rp2040_mcu.cpp b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/drivers/hardware_specific/rp2040_mcu.cpp similarity index 100% rename from v1.4/platformio/lib/Simple_FOC/src/drivers/hardware_specific/rp2040_mcu.cpp rename to v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/drivers/hardware_specific/rp2040_mcu.cpp diff --git a/v1.4/platformio/lib/Simple_FOC/src/drivers/hardware_specific/samd21_mcu.cpp b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/drivers/hardware_specific/samd21_mcu.cpp similarity index 100% rename from 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a/v1.4/platformio/lib/Simple_FOC/src/drivers/hardware_specific/samd_mcu.h b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/drivers/hardware_specific/samd_mcu.h similarity index 100% rename from v1.4/platformio/lib/Simple_FOC/src/drivers/hardware_specific/samd_mcu.h rename to v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/drivers/hardware_specific/samd_mcu.h diff --git a/v1.4/platformio/lib/Simple_FOC/src/drivers/hardware_specific/stm32_mcu.cpp b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/drivers/hardware_specific/stm32_mcu.cpp similarity index 100% rename from v1.4/platformio/lib/Simple_FOC/src/drivers/hardware_specific/stm32_mcu.cpp rename to v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/drivers/hardware_specific/stm32_mcu.cpp diff --git a/v1.4/platformio/lib/Simple_FOC/src/drivers/hardware_specific/teensy_mcu.cpp b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/drivers/hardware_specific/teensy_mcu.cpp similarity index 100% rename from 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v1.4/platformio/lib/Simple_FOC/src/sensors/GenericSensor.cpp rename to v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/sensors/GenericSensor.cpp diff --git a/v1.4/platformio/lib/Simple_FOC/src/sensors/GenericSensor.h b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/sensors/GenericSensor.h similarity index 100% rename from v1.4/platformio/lib/Simple_FOC/src/sensors/GenericSensor.h rename to v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/sensors/GenericSensor.h diff --git a/v1.4/platformio/lib/Simple_FOC/src/sensors/HallSensor.cpp b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/sensors/HallSensor.cpp similarity index 100% rename from v1.4/platformio/lib/Simple_FOC/src/sensors/HallSensor.cpp rename to v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/sensors/HallSensor.cpp diff --git a/v1.4/platformio/lib/Simple_FOC/src/sensors/HallSensor.h b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/sensors/HallSensor.h similarity index 100% rename from v1.4/platformio/lib/Simple_FOC/src/sensors/HallSensor.h rename to v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/sensors/HallSensor.h diff --git a/v1.4/platformio/lib/Simple_FOC/src/sensors/MagneticSensorAnalog.cpp b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/sensors/MagneticSensorAnalog.cpp similarity index 100% rename from v1.4/platformio/lib/Simple_FOC/src/sensors/MagneticSensorAnalog.cpp rename to v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/sensors/MagneticSensorAnalog.cpp diff --git a/v1.4/platformio/lib/Simple_FOC/src/sensors/MagneticSensorAnalog.h b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/sensors/MagneticSensorAnalog.h similarity index 100% rename from v1.4/platformio/lib/Simple_FOC/src/sensors/MagneticSensorAnalog.h rename to v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/sensors/MagneticSensorAnalog.h diff --git a/v1.4/platformio/lib/Simple_FOC/src/sensors/MagneticSensorI2C.cpp b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/sensors/MagneticSensorI2C.cpp similarity index 100% rename from v1.4/platformio/lib/Simple_FOC/src/sensors/MagneticSensorI2C.cpp rename to v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/sensors/MagneticSensorI2C.cpp diff --git a/v1.4/platformio/lib/Simple_FOC/src/sensors/MagneticSensorI2C.h b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/sensors/MagneticSensorI2C.h similarity index 100% rename from v1.4/platformio/lib/Simple_FOC/src/sensors/MagneticSensorI2C.h rename to v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/sensors/MagneticSensorI2C.h diff --git a/v1.4/platformio/lib/Simple_FOC/src/sensors/MagneticSensorPWM.cpp b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/sensors/MagneticSensorPWM.cpp similarity index 100% rename from v1.4/platformio/lib/Simple_FOC/src/sensors/MagneticSensorPWM.cpp rename to v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/sensors/MagneticSensorPWM.cpp diff --git a/v1.4/platformio/lib/Simple_FOC/src/sensors/MagneticSensorPWM.h b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/sensors/MagneticSensorPWM.h similarity index 100% rename from v1.4/platformio/lib/Simple_FOC/src/sensors/MagneticSensorPWM.h rename to v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/sensors/MagneticSensorPWM.h diff --git a/v1.4/platformio/lib/Simple_FOC/src/sensors/MagneticSensorSPI.cpp b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/sensors/MagneticSensorSPI.cpp similarity index 100% rename from v1.4/platformio/lib/Simple_FOC/src/sensors/MagneticSensorSPI.cpp rename to v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/sensors/MagneticSensorSPI.cpp diff --git a/v1.4/platformio/lib/Simple_FOC/src/sensors/MagneticSensorSPI.h b/v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/sensors/MagneticSensorSPI.h similarity index 100% rename from v1.4/platformio/lib/Simple_FOC/src/sensors/MagneticSensorSPI.h rename to v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/sensors/MagneticSensorSPI.h diff --git a/v1.4/platformio/platformio.ini b/v1.4 摄像头提乒乓球方案/platformio/platformio.ini similarity index 100% rename from v1.4/platformio/platformio.ini rename to v1.4 摄像头提乒乓球方案/platformio/platformio.ini diff --git a/v1.4/platformio/src/PreferencesManager.cpp b/v1.4 摄像头提乒乓球方案/platformio/src/PreferencesManager.cpp similarity index 100% rename from v1.4/platformio/src/PreferencesManager.cpp rename to v1.4 摄像头提乒乓球方案/platformio/src/PreferencesManager.cpp diff --git a/v1.4/platformio/src/PreferencesManager.h b/v1.4 摄像头提乒乓球方案/platformio/src/PreferencesManager.h similarity index 100% rename from v1.4/platformio/src/PreferencesManager.h rename to v1.4 摄像头提乒乓球方案/platformio/src/PreferencesManager.h diff --git a/v1.4/platformio/src/RGBController.cpp b/v1.4 摄像头提乒乓球方案/platformio/src/RGBController.cpp similarity index 100% rename from v1.4/platformio/src/RGBController.cpp rename to v1.4 摄像头提乒乓球方案/platformio/src/RGBController.cpp diff --git a/v1.4/platformio/src/RGBController.h b/v1.4 摄像头提乒乓球方案/platformio/src/RGBController.h similarity index 100% rename from v1.4/platformio/src/RGBController.h rename to v1.4 摄像头提乒乓球方案/platformio/src/RGBController.h diff --git a/v1.4/platformio/src/RobotActions.h b/v1.4 摄像头提乒乓球方案/platformio/src/RobotActions.h similarity index 100% rename from v1.4/platformio/src/RobotActions.h rename to v1.4 摄像头提乒乓球方案/platformio/src/RobotActions.h diff --git a/v1.4/platformio/src/SerialParser.cpp b/v1.4 摄像头提乒乓球方案/platformio/src/SerialParser.cpp similarity index 96% rename from v1.4/platformio/src/SerialParser.cpp rename to v1.4 摄像头提乒乓球方案/platformio/src/SerialParser.cpp index 1f2892e..e00d2fb 100644 --- a/v1.4/platformio/src/SerialParser.cpp +++ b/v1.4 摄像头提乒乓球方案/platformio/src/SerialParser.cpp @@ -138,13 +138,18 @@ void parseSingleParam(char* cmd) { } else if (strcmp(param_name, "pid_cam_d") == 0) { pid_cam_d = param_val; + } else if (strcmp(param_name, "place_ball_s2") == 0) { + place_ball_s2 = param_val; + } else if (strcmp(param_name, "place_kick_ball_dy") == 0) { + place_kick_ball_dy = param_val; + } else if (strcmp(param_name, "chase_ball_s2") == 0) { chase_ball_s2 = param_val; + } else if (strcmp(param_name, "run_kick_ball_dy") == 0) { + run_kick_ball_dy = param_val; } else if (strcmp(param_name, "ob_ball_dy") == 0) { ob_ball_dy = param_val; - } else if (strcmp(param_name, "kick_ball_dy") == 0) { - kick_ball_dy = param_val; } else if (strcmp(param_name, "kick_over_count_max") == 0) { kick_over_count_max = param_val; diff --git a/v1.4/platformio/src/SerialParser.h b/v1.4 摄像头提乒乓球方案/platformio/src/SerialParser.h similarity index 88% rename from v1.4/platformio/src/SerialParser.h rename to v1.4 摄像头提乒乓球方案/platformio/src/SerialParser.h index 1aec6ba..b2f5e6b 100644 --- a/v1.4/platformio/src/SerialParser.h +++ b/v1.4 摄像头提乒乓球方案/platformio/src/SerialParser.h @@ -21,7 +21,9 @@ extern float pid_cam_d; extern int chase_ball_s2; extern int ob_ball_dy; -extern int kick_ball_dy; +extern int place_ball_s2; +extern int place_kick_ball_dy; +extern int run_kick_ball_dy; extern int kick_over_count_max; @@ -62,10 +64,14 @@ void parseCameraDeviationCommand(char* cmd); // 踢球相关函数声明 void kick_ball_loop(); +void SetKickMode(String mode); void kick_ball_main(int dx, int dy); -void chase_ball(int dy); -void kick_ball(int dy); +// void chase_ball(int dy); +void chase_and_kick_ball(int dy); +void place_kick_ball(int dy); +void kick_ball_core(); +void ready_kick_ball(); void aim_ob ( int dx, int dy, String ob); void aim_ball(int dx, int dy); void aim_face ( int dx, int dy); diff --git a/v1.4/platformio/src/VoltageMonitor.cpp b/v1.4 摄像头提乒乓球方案/platformio/src/VoltageMonitor.cpp similarity index 100% rename from v1.4/platformio/src/VoltageMonitor.cpp rename to v1.4 摄像头提乒乓球方案/platformio/src/VoltageMonitor.cpp diff --git a/v1.4/platformio/src/VoltageMonitor.h b/v1.4 摄像头提乒乓球方案/platformio/src/VoltageMonitor.h similarity index 100% rename from v1.4/platformio/src/VoltageMonitor.h rename to v1.4 摄像头提乒乓球方案/platformio/src/VoltageMonitor.h diff --git a/v1.4/platformio/src/XboxBluetooth.h b/v1.4 摄像头提乒乓球方案/platformio/src/XboxBluetooth.h similarity index 100% rename from v1.4/platformio/src/XboxBluetooth.h rename to v1.4 摄像头提乒乓球方案/platformio/src/XboxBluetooth.h diff --git a/v1.4/platformio/src/XboxControllerNotificationParser.cpp b/v1.4 摄像头提乒乓球方案/platformio/src/XboxControllerNotificationParser.cpp similarity index 100% rename from v1.4/platformio/src/XboxControllerNotificationParser.cpp rename to v1.4 摄像头提乒乓球方案/platformio/src/XboxControllerNotificationParser.cpp diff --git a/v1.4/platformio/src/XboxControllerNotificationParser.h b/v1.4 摄像头提乒乓球方案/platformio/src/XboxControllerNotificationParser.h similarity index 100% rename from v1.4/platformio/src/XboxControllerNotificationParser.h rename to v1.4 摄像头提乒乓球方案/platformio/src/XboxControllerNotificationParser.h diff --git a/v1.4/platformio/src/XboxSeriesXControllerESP32_asukiaaa.hpp b/v1.4 摄像头提乒乓球方案/platformio/src/XboxSeriesXControllerESP32_asukiaaa.hpp similarity index 100% rename from v1.4/platformio/src/XboxSeriesXControllerESP32_asukiaaa.hpp rename to v1.4 摄像头提乒乓球方案/platformio/src/XboxSeriesXControllerESP32_asukiaaa.hpp diff --git a/v1.4/platformio/src/XboxSeriesXHIDReportBuilder_asukiaaa.hpp b/v1.4 摄像头提乒乓球方案/platformio/src/XboxSeriesXHIDReportBuilder_asukiaaa.hpp similarity index 100% rename from v1.4/platformio/src/XboxSeriesXHIDReportBuilder_asukiaaa.hpp rename to v1.4 摄像头提乒乓球方案/platformio/src/XboxSeriesXHIDReportBuilder_asukiaaa.hpp diff --git a/v1.4/platformio/src/main.cpp b/v1.4 摄像头提乒乓球方案/platformio/src/main.cpp similarity index 94% rename from v1.4/platformio/src/main.cpp rename to v1.4 摄像头提乒乓球方案/platformio/src/main.cpp index dfdf4d9..d3a4359 100644 --- a/v1.4/platformio/src/main.cpp +++ b/v1.4 摄像头提乒乓球方案/platformio/src/main.cpp @@ -276,8 +276,7 @@ Servo cam_fix_servo; // 追踪模式 bool trace_mode = false; // 追踪模式整体标志 -bool kick_place_mode = false; // 原地踢球模式 aim_ball kick_ball -bool kick_run_mode = false; // 追逐踢球模式 aim_ball chase_ball aim_face kick_ball +String kick_mode = ""; // 原地踢球模式kick_place_mode 追逐踢球模式kick_run_mode String kick_status = ""; // aim_ball aim_face aim_ball_over aim_face_over kick_ball_over bool trace_ob_flag = false; // 是否追踪到位 @@ -288,11 +287,16 @@ int ob_y = 0; // 物体离图像下边缘的距离 PIDController pid_trace_joyx(0.5, 0, 0, 100000, 100); PIDController pid_trace_joyy(0.2, 0, 0, 100000, 100); -int chase_ball_s2 = 20; -int ob_ball_dy = 100; -int kick_ball_dy = 60; -int kick_over_count = 0; // 运行踢球后技术 -int kick_over_count_max = 150; +// 原地踢球模式的踢球 +int place_ball_s2 = 40; // 10 +int place_kick_ball_dy = -10; + +// 追逐球，并踢球 +int chase_ball_s2 = 30; // 20 +int run_kick_ball_dy = -5; // 20 +int ob_ball_dy = 120; +int kick_over_count = 0; // 运行踢球后计数 +int kick_over_count_max = 150; // 运行踢球后计数最大值 // 摄像头舵机 int current_s1 = 0; // 前档舵机实时角度 @@ -625,7 +629,7 @@ void lqr_balance_loop() gyro_control = pid_gyro(LQR_gyro); - if(kick_run_mode){ + if(kick_mode == "kick_run_mode"){ if(dy_to_joyy!= 9999){ wrobot.joyy = dy_to_joyy; }else{ @@ -1282,13 +1286,12 @@ void processControllerData(const XboxControllerNotificationParser& remoteData) { wrobot.jump = 1; back_jump_flag = 1; } - // 追逐踢球模式 @@@@@@ + // 追逐踢球模式 @@@@@@ if (remoteData.btnA && !last_btnA && robot_enabled && trace_mode) { - kick_run_mode = !kick_run_mode; - if(kick_run_mode){ - kick_place_mode = false; // 原地踢球模式 - }else{ - kick_place_mode = true; // 原地踢球模式 + if(kick_mode == "kick_place_mode"){ + SetKickMode("kick_run_mode"); + }else if(kick_mode == "kick_run_mode"){ + SetKickMode("kick_place_mode"); } } last_btnA = remoteData.btnA; @@ -1318,8 +1321,7 @@ void processControllerData(const XboxControllerNotificationParser& remoteData) { if (remoteData.btnSelect && !last_btnSelect && !remoteData.btnShare) { trace_mode = !trace_mode; if(trace_mode){ - kick_place_mode = true; // 原地踢球模式 - kick_run_mode = false; // 运动踢球模式 + SetKickMode("kick_place_mode"); // 原地踢球模式 }else { cancel_trace_mode(); } @@ -1544,10 +1546,10 @@ void obstacle_cancel() void kick_ball_loop(){ if(trace_mode){ - if (kick_run_mode) { // 运动追踪模式 - setLEDColor(CRGB::Pink); - }else{ + if (kick_mode == "kick_run_mode") { // 运动追踪模式 setLEDColor(CRGB::Blue); + }else { + setLEDColor(CRGB::Green); } } @@ -1562,14 +1564,6 @@ void kick_ball_loop(){ } } - // if(kick_run_mode && last_kick_run_mode != kick_run_mode){ - // SerialToMaixcam("kick_mode", "kick_run_mode"); - // } - // if(!kick_run_mode && last_kick_run_mode != kick_run_mode){ - // SerialToMaixcam("kick_mode", "kick_place_mode"); - // } - // last_kick_run_mode = kick_run_mode; - // 在运动踢球时，踢好球，需要有一段停止前进时间 if(kick_over_count > 0 && kick_over_count < kick_over_count_max){ kick_over_count ++; @@ -1602,66 +1596,75 @@ void kick_ball_main(int dx, int dy) { setCarmeraFixServoAngles(60); + setFrontierServoAngles(0); + return; } - + // Serial.println("s2: " + String(current_s2) + " dy: " + String(dy)); + // 原地踢球模式 - if(kick_place_mode){ + if( kick_mode == "kick_place_mode"){ aim_ball(dx,dy); - kick_ball(dy); + place_kick_ball(dy); } // 运动踢球模式 - if(kick_run_mode){ + if(kick_mode == "kick_run_mode"){ + aim_ball(dx,dy); - if(kick_over_count){ // 踢好球之后，需要向后推 + if(kick_over_count){ // 踢好球之后阶段，后退 dy_to_joyy = -50; }else{ - chase_ball(dy); + chase_and_kick_ball(dy); } - kick_ball(dy); } } -// 追逐球 -void chase_ball(int dy){ - // 物体在上方 dy趋近-100 - // 物体在下方 dy趋近 100 - // 中间 dy=0 - // 球已在脚下,停止向前运动 - // Serial.println("current_s2: " + String(current_s2) + " dy: " + String(dy)); - // if(current_s2 < 20 && dy > 50 && dy < 120 && trace_ob_flag){ - if(current_s2 < chase_ball_s2 && dy > ob_ball_dy && dy < 120 && trace_ob_flag){ +// 追逐球，并踢球 +void chase_and_kick_ball(int dy){ + // 物体在中间 dy=0 + // 物体在上方 dy趋近-100 + // 物体在下方 dy趋近 100 + // 已经追到球了 + if(current_s2 < chase_ball_s2 && dy > run_kick_ball_dy && dy < 120){ + dy_to_joyy = 9999; - kick_status = "chase_ball_over"; - SerialToMaixcam("kick_status", kick_status); + kick_ball_core(); // 踢球 + kick_over_count = 1; // 计数用于后退 + }else{ // 通过pid 向前运动 + ob_y = ob_ball_dy - dy; dy_to_joyy = pid_trace_joyy(ob_y); - kick_status = "chase_ball"; - SerialToMaixcam("kick_status", kick_status); + + ready_kick_ball(); // 准备踢球 + } } -// 踢球 同时控制机身高度 -void kick_ball(int dy){ - // if(current_s2 < 20 && dy > 20 && dy < 120){ // 球到车身下方了，打球 - if(current_s2 < 10 && dy > kick_ball_dy && dy < 120){ // 球到车身下方了，打球 - setFrontierServoAngles(0); // 踢球 - leg_height_base = original_leg_height_base; // 上升 - kick_status = "kick_ball_over"; - SerialToMaixcam("kick_status", kick_status); +// 原地踢球模式的踢球 +void place_kick_ball(int dy){ - kick_over_count = 1; + if(current_s2 < place_ball_s2 && dy > place_kick_ball_dy && dy < 120){ // 球到车身下方了，打球 + kick_ball_core(); + }else { // 追踪到目标 + ready_kick_ball(); // 准备踢球 + } +} - }else { // 追踪到目标 - setFrontierServoAngles(160); // 打开挡板，收到后方 - leg_height_base = 30.0f; // 下降 - } +// 踢足球核心函数，控制前档舵机角度为0，使足球进入射门区域 +void kick_ball_core(){ + setFrontierServoAngles(0); // 踢球 + leg_height_base = original_leg_height_base; // 上升; +} +// 准备踢球，打开挡板，收到后方 +void ready_kick_ball(){ + setFrontierServoAngles(100); // 打开挡板，收到后方 + leg_height_base = 30.0f; // 下降 } @@ -1669,26 +1672,25 @@ void aim_ob ( int dx, int dy, String ob){ //----- 控制左右 使小车正面是否朝向物体-------- // 物体在左方 dx趋近-150 // 物体在右方 dx趋近 150 - // 中间 dx=0 - if( abs(dx) < 50){ // 只需要一个区间 + // 中间 dx=0 只需要一个区间 50 + // 判断是否瞄准 + if( abs(dx) < 50){ // 小车正面已经瞄准 + trace_ob_flag = true; dx_to_joyx = 9999; // 已经追踪到了目标，不需要再左右调整旋转 pitch_adjust = 0.0f; // debug - }else{ + + }else{ // 没有瞄准 trace_ob_flag = false; } - // 左右旋转 + // pid 左右旋转 瞄准目标 if(!trace_ob_flag){ int joyx_derection = (dx > 0) ? -1 : 1; dx_to_joyx = pid_trace_joyx(abs(dx)) * joyx_derection; - kick_status = "aim_" + ob; - SerialToMaixcam("kick_status", "aim_" + ob); }else{ // 已经正面朝向物体 - kick_status = "aim_" + ob + "_over"; - SerialToMaixcam("kick_status", "aim_" + ob + "_over"); } //----- 控制上下 相机舵机控制----------- @@ -1739,8 +1741,8 @@ void setCarmeraFixServoAngles(int servo_angle) { } // 控制前档舵机 void setFrontierServoAngles(int servo_angle) { - current_s1 = constrain(servo_angle, 0, 180); - frontier_servo.write(current_s1); + current_s1 = constrain(servo_angle, 0, 180); + frontier_servo.write(servo_angle); } // 通过角度控制舵机 @@ -1749,11 +1751,19 @@ void setServoAngles(int s1, int s2) { setCarmeraFixServoAngles(s2); // s2 摄像头舵机 } +void SerialToMaixcam(String cat, String str){ + // if(str == "chase_ball_over" or str == "aim_face_over"){ + // Serial.println( cat + "=" + str + ";" ); + // } + +} + // 退出追踪模式 void cancel_trace_mode(){ trace_mode = false; - kick_place_mode = false; - kick_run_mode = false; + trace_ob_flag = false; + + SetKickMode(""); dx_to_joyx = 9999; dy_to_joyy = 9999; @@ -1764,13 +1774,8 @@ void cancel_trace_mode(){ setLEDColor(CRGB::Black); leg_height_base = original_leg_height_base; // 上升 - setFrontierServoAngles(0); - } -void SerialToMaixcam(String cat, String str){ - // if(str == "chase_ball_over" or str == "aim_face_over"){ - // Serial.println( cat + "=" + str + ";" ); - // } - +void SetKickMode(String mode){ + kick_mode = mode; } \ No newline at end of file diff --git a/v1.4/模型文件/3.7g塑料舵机云台V20.step b/v1.4 摄像头提乒乓球方案/模型文件/3.7g塑料舵机云台V20.step similarity index 100% rename from v1.4/模型文件/3.7g塑料舵机云台V20.step rename 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摄像头提乒乓球方案/模型文件/60轮毂V1.step diff --git a/v1.4/maixcam/test_face.py b/v1.4/maixcam/test_face.py deleted file mode 100644 index ad74be8..0000000 --- a/v1.4/maixcam/test_face.py +++ /dev/null @@ -1,88 +0,0 @@ -# ------------------------------ -# 人脸检测处理 -# ------------------------------ -from maix import image, app, time -from config import * - -def process_faces(img, objs): - - max_face = None - max_width = 0 - - if objs: - for obj in objs: - if obj.w > max_width: - max_width = obj.w - max_face = obj - - # 绘制人脸框（仅跟踪模式开启时执行） - for obj in objs: - color = image.COLOR_GREEN if obj == max_face else image.COLOR_RED - img.draw_rect(obj.x, obj.y, obj.w, obj.h, color=color, thickness=2) - - if max_face: - center_x = int(max_face.x + max_face.w / 2) - center_y = int(max_face.y + max_face.h / 2) - img.draw_keypoints([center_x, center_y], image.COLOR_GREEN, size=3) - return (center_x, center_y, int(max_face.w)) - else: - return (-1, -1, -1) - -# ------------------------------ -# 人脸追踪 -# ------------------------------ -def calculate_deviation_face(center, image_center, serial_dev): - - center_x, center_y = center - - # 偏差计算 - deviation_x = center_x - image_center[0] - deviation_y = center_y - image_center[1] - - # 输出像素偏差 - if abs(deviation_x) > 10 or abs(deviation_y) > 10 : - cmd = f"DX:{deviation_x},DY:{deviation_y};" # 图像尺寸: w320xh224 - serial_dev.write_str(cmd) - print(cmd) - return (cmd) - else: - return (None) - -# ------------------------------ -# 主循环（同步） -# ------------------------------ -def trace_face_main(resources): - - detector = resources["detector"] - cam = resources["cam"] - disp = resources["disp"] - serial_dev = resources["serial_dev"] - img_width = resources["img_width"] - img_height = resources["img_height"] - image_center = resources["image_center"] - - while not app.need_exit(): - - img = cam.read().flip(image.FlipDir.Y) - objs = detector.detect(img, conf_th=0.4, iou_th=0.45) - center_x, center_y, face_width = process_faces(img, objs) - - # 绘制基础状态 - img.draw_string(20, 20, f"Center: ({center_x}, {center_y})", image.COLOR_GREEN, 1.0) - img.draw_string(20, 40, f"Max Width: {face_width}", image.COLOR_YELLOW, 1.0) - - # 人脸追踪（仅跟踪模式开启时执行） - if center_x != -1 and center_y != -1: - cmd = calculate_deviation_face((center_x, center_y), image_center, serial_dev) - if cmd: - img.draw_string(20, 60, f"Tracking: {cmd}", image.COLOR_BLUE, 1.0) - elif center_x == -1: - cmd = f"DX:9999,DY:9999;" # 未找到 - serial_dev.write_str(cmd) - print(cmd) - img.draw_string(20, 60, "No face detected", image.COLOR_RED, 1.0) - else: - img.draw_string(20, 60, "Track Mode: OFF", image.COLOR_ORANGE, 1.0) - - disp.show(img) - time.sleep_ms(1) \ No newline at end of file