完善V1.4踢乒乓球版本

v1.4 摄像头提乒乓球方案/maixcam/main.py

@@ -0,0 +1,66 @@
+# main.py - 主业务逻辑（人脸跟踪、舵机控制、LED）
+from maix import camera, display, image, nn, app, sys
+from maix import uart, pinmap, time, err, gpio
+from maix import app, nn
+import traceback
+from config import *
+from test_ball import *
+
+# ------------------------------
+# 系统初始化
+# ------------------------------
+def init_system():
+    """初始化相机、舵机、串口、LED"""
+    global serial_dev  # 声明使用全局serial_dev
+
+    init_led()
+    
+    # 人脸检测器
+    detector = nn.YOLOv8(model="/root/models/yolov8n_face.mud", dual_buff=True)
+    img_width = detector.input_width()
+    img_height = detector.input_height()
+    print(f"[系统] 图像尺寸: {img_width}x{img_height}")
+    image_center = (img_width // 2, img_height // 2)
+    
+    # 相机/显示器
+    cam = camera.Camera(img_width, img_height, detector.input_format())
+    disp = display.Display()
+    
+    # 串口（舵机）
+    pin_function = {"A19": "UART1_TX", "A18": "UART1_RX"}
+    device = "/dev/ttyS1"
+    for pin, func in pin_function.items():
+        err.check_raise(pinmap.set_pin_function(pin, func), 
+                      f"Failed set pin{pin} function to {func}")
+    serial_dev = uart.UART(device, 115200)
+    
+    # 初始化值 距离中间点像素距离
+    initial_cmd = f"DX:0,DY:0;"
+    serial_dev.write_str(initial_cmd)
+    print(f"[舵机] 初始角度: {initial_cmd}")
+    time.sleep(1)
+    
+    return {
+        "detector": detector, "cam": cam, "disp": disp, "serial_dev": serial_dev,
+        "img_width": img_width, "img_height": img_height, "image_center": image_center
+    }
+
+
+# ------------------------------
+# 系统执行
+# ------------------------------
+
+try:
+    # 初始化系统资源
+    system_resources = init_system()
+
+    update_led()
+    
+    # 进入主循环
+    trace_ball_main(system_resources)
+
+except Exception as e:
+    print(f"[异常] 程序异常: {e}")
+    traceback.print_exc()
+
+