diff --git a/README.md b/README.md index 9373696..348d6d9 100644 --- a/README.md +++ b/README.md @@ -62,4 +62,6 @@ servo 文件夹是用于写入舵机初始化程序 2025-11-23 v1.3增加一个简单的越障模式，和斜坡自平衡功能. -2025-12-26 v1.4增加建议云台人脸跟踪效果 \ No newline at end of file +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 diff --git a/v1.4/maixcam/config.py b/v1.4/maixcam/config.py new file mode 100644 index 0000000..aa36ec2 --- /dev/null +++ b/v1.4/maixcam/config.py @@ -0,0 +1,48 @@ +# ------------------------------ +# LED配置 +# ------------------------------ + +from maix import camera, display, image, nn, app, sys +from maix import uart, pinmap, time, err, gpio +import traceback + +LED_PIN_NAME = "A14" +LED_GPIO_NAME = "GPIOA14" +BLINK_INTERVAL = 500 # LED闪烁间隔(ms) + + +# ------------------------------ +# 全局业务状态变量 +# ------------------------------ +led = None # LED实例 +serial_dev = None # 舵机串口全局变量 +previous_millis = 0 # LED闪烁计时 + +# ------------------------------ +# LED控制 +# ------------------------------ +def init_led(): + """初始化LED引脚""" + global led + try: + err.check_raise( + pinmap.set_pin_function(LED_PIN_NAME, LED_GPIO_NAME), + f"设置LED引脚{LED_PIN_NAME}功能失败" + ) + led = gpio.GPIO(LED_GPIO_NAME, gpio.Mode.OUT) + led.value(0) # 初始熄灭 + print(f"LED初始化完成：引脚{LED_PIN_NAME}（{LED_GPIO_NAME}）") + except Exception as e: + print(f"LED初始化失败: {e}") + led = None + +def update_led(): + """更新LED状态：改为固定闪烁模式""" + global previous_millis + if led is None: + return + + current_millis = time.time_ms() + if current_millis - previous_millis >= BLINK_INTERVAL: + previous_millis = current_millis + led.toggle() \ No newline at end of file diff --git a/v1.4/maixcam/main.py b/v1.4/maixcam/main.py index 2c66b97..c20e48e 100644 --- a/v1.4/maixcam/main.py +++ b/v1.4/maixcam/main.py @@ -1,288 +1,19 @@ -''' - 主题：MAIXCAM 云台 - 作者：Tommy - 日期：2025年-12月-21日 -''' +# 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, network -import paho.mqtt.client as mqtt -import asyncio -import gc +from maix import uart, pinmap, time, err, gpio +from maix import app, nn import traceback - - -DEVICE_ID = "XXX" - -# 两套WiFi/MQTT配置 -WIFI_CONFIGS = [ - { - "SSID": "X", - "PASSWORD": "Y", - "MQTT_BROKER": "Z", - }, -] - -MQTT_PORT = 1883 - -# 发送的主题 -MQTT_PUB_TOPIC_IMAGE = "hangtianyuan/head_video" # 图像发布主题 - -# 订阅的主题 -MQTT_SUB_TOPIC_TEXT = "hangtianyuan/text" # 文本指令订阅主题 -MQTT_SUB_TOPIC_MOVE = "hangtianyuan/set_move" # 舵机移动指令订阅主题 -# 批量订阅 -MQTT_SUB_TOPICS = [ - (MQTT_SUB_TOPIC_TEXT, 0), - (MQTT_SUB_TOPIC_MOVE, 0), -] - -# LED配置 -LED_PIN_NAME = "A14" -LED_GPIO_NAME = "GPIOA14" -BLINK_INTERVAL = 500 # LED闪烁间隔(ms) - -# 人脸追踪参数 -kp_x = 0.05 # 水平方向 0.04 -kp_y = 0.07 # 垂直方向 -angle_threshold = 1 -s1_range = [0, 180] -s2_range = [0, 180] -no_face_threshold = 30 - -# 滤波缓存 -last_dev_x = 0.0 -last_dev_y = 0.0 -filter_alpha = 0.85 - -# ------------------------------ -# 全局状态变量（新增track_mode控制跟踪开关） -# ------------------------------ -mqtt_connected = False -wifi_connected = False -current_wifi_idx = 0 -led = None -mqtt_client = None -previous_millis = 0 -send_frame_interval = 8 -frame_count = 0 -track_mode = 1 # 0:关闭追踪，1:人脸跟踪模式 -serial_dev = None # 新增：舵机串口全局变量 - -# ------------------------------ -# 工具函数 -# ------------------------------ -def constrain(val, min_val, max_val): - return min(max_val, max(min_val, val)) - -# ------------------------------ -# LED控制 -# ------------------------------ -def init_led(): - """初始化LED引脚""" - global led - try: - err.check_raise( - pinmap.set_pin_function(LED_PIN_NAME, LED_GPIO_NAME), - f"设置LED引脚{LED_PIN_NAME}功能失败" - ) - led = gpio.GPIO(LED_GPIO_NAME, gpio.Mode.OUT) - led.value(0) # 初始熄灭 - print(f"LED初始化完成：引脚{LED_PIN_NAME}（{LED_GPIO_NAME}）") - except Exception as e: - print(f"LED初始化失败: {e}") - led = None - -def update_led(): - """更新LED状态：MQTT未连接闪烁，连接成功常亮""" - global previous_millis, mqtt_connected - if led is None: - return - - current_millis = time.time_ms() - if not mqtt_connected: - if current_millis - previous_millis >= BLINK_INTERVAL: - previous_millis = current_millis - led.toggle() - else: - if led.value() != 1: - led.value(1) - -# ------------------------------ -# WiFi连接（异步） -# ------------------------------ -async def connect_wifi_async(): - """异步尝试连接WiFi（自动切换两套配置）""" - global wifi_connected, current_wifi_idx - w = network.wifi.Wifi() - - wifi_connected = False - current_wifi_idx = 0 - - while current_wifi_idx < len(WIFI_CONFIGS) and not wifi_connected: - config = WIFI_CONFIGS[current_wifi_idx] - ssid = config["SSID"] - password = config["PASSWORD"] - - print(f"[WiFi] 尝试连接 {ssid} (第{current_wifi_idx+1}套)") - try: - e = w.connect(ssid, password, wait=True, timeout=10) - err.check_raise(e, f"WiFi连接失败") - wifi_connected = True - ip = w.get_ip() - print(f"[WiFi] 连接成功！IP: {ip}") - except Exception as e: - print(f"[WiFi] {ssid} 连接失败: {e}") - current_wifi_idx += 1 - await asyncio.sleep(1) - - if not wifi_connected: - print("[WiFi] 所有配置连接失败，无联网状态") - -# ------------------------------ -# MQTT回调函数（新增track_mode控制逻辑） -# ------------------------------ -def on_mqtt_connect(client, userdata, flags, rc): - """MQTT连接回调""" - global mqtt_connected - if rc == 0: - mqtt_connected = True - print("[MQTT] 连接成功") - # 订阅主题（如有） - if MQTT_SUB_TOPICS: - client.subscribe(MQTT_SUB_TOPICS) - print(f"[MQTT] 已订阅主题: {MQTT_SUB_TOPICS}") - else: - mqtt_connected = False - print(f"[MQTT] 连接失败，错误码: {rc}") - -def on_mqtt_message(client, userdata, msg): - global track_mode, serial_dev - if msg.topic == MQTT_SUB_TOPIC_TEXT: - payload = msg.payload.decode().strip() # 去除首尾空格，提高容错 - print(f"文本指令: {payload}") - # 解析跟踪模式指令 - if payload.lower() == "track_off": - track_mode = 0 - print("[跟踪模式] 已关闭人脸跟踪，停止绘制人脸框和追踪") - elif payload.lower() == "track_face": - track_mode = 1 - print("[跟踪模式] 已开启人脸跟踪，开始绘制人脸框和追踪") - elif payload.lower() == "track_hand": - track_mode = 2 - print("[跟踪模式] 已开启手部跟踪，开始绘制手部框和追踪") - elif msg.topic == MQTT_SUB_TOPIC_MOVE: - payload = msg.payload.decode().strip() - # 修复：判空保护 + 使用全局serial_dev - if serial_dev is not None: - try: - serial_dev.write_str(payload) - print(f"运动指令已发送: {payload}") - except Exception as e: - print(f"发送运动指令失败: {e} | 指令内容: {payload}") - else: - print(f"运动指令: {payload}，但串口未初始化") - -def on_mqtt_disconnect(client, userdata, rc): - """MQTT断开回调""" - global mqtt_connected - mqtt_connected = False - if rc != 0: - print(f"[MQTT] 意外断开，错误码: {rc}") - -# ------------------------------ -# MQTT初始化（异步） -# ------------------------------ -async def init_mqtt_async(): - """异步初始化MQTT（依赖WiFi，自动重试）""" - global mqtt_client, mqtt_connected, current_wifi_idx - mqtt_connected = False - mqtt_client = None - - # 等待WiFi连接（最多20秒） - wait_time = 0 - while not app.need_exit() and not wifi_connected and wait_time < 20: - await asyncio.sleep(1) - wait_time += 1 - - if app.need_exit() or not wifi_connected: - print("[MQTT] WiFi未连接，跳过MQTT初始化") - return - - # 兜底索引 - if current_wifi_idx >= len(WIFI_CONFIGS): - current_wifi_idx = 0 - current_broker = WIFI_CONFIGS[current_wifi_idx]["MQTT_BROKER"] - - try: - mqtt_client = mqtt.Client(DEVICE_ID) - mqtt_client.on_connect = on_mqtt_connect - mqtt_client.on_message = on_mqtt_message - mqtt_client.on_disconnect = on_mqtt_disconnect - - # 重试连接 - retry_count = 0 - while not app.need_exit() and not mqtt_connected and retry_count < 5: - try: - print(f"[MQTT] 尝试连接 {current_broker}:{MQTT_PORT} (重试{retry_count+1}/5)") - mqtt_client.connect(current_broker, MQTT_PORT, 60) - mqtt_client.loop_start() - - # 等待连接结果 - t = time.time() - while not mqtt_connected and time.time() - t < 5: - await asyncio.sleep(0.1) - - if mqtt_connected: - break - else: - mqtt_client.disconnect() - retry_count += 1 - await asyncio.sleep(3) - except Exception as e: - print(f"[MQTT] 连接异常: {e}") - retry_count += 1 - await asyncio.sleep(3) - - if not mqtt_connected: - print("[MQTT] 多次重试后仍无法连接") - except Exception as e: - print(f"[MQTT] 初始化失败: {e}") - mqtt_client = None - mqtt_connected = False - -# ------------------------------ -# 图像MQTT发送 -# ------------------------------ -def send_image_via_mqtt(img): - """发送图像到MQTT（JPEG压缩）""" - global mqtt_connected, mqtt_client - if not mqtt_connected or mqtt_client is None: - return False - - try: - jpeg_data = img.to_jpeg(quality=85).to_bytes() - # 二进制发送（高效） - mqtt_client.publish(MQTT_PUB_TOPIC_IMAGE, jpeg_data) - gc.collect() - return True - except Exception as e: - print(f"[MQTT] 图像发送失败: {e}") - try: - if mqtt_client: - mqtt_client.reconnect() - except: - mqtt_connected = False - return False +from config import * +from test_face 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 - """初始化相机、舵机、串口、LED""" init_led() # 人脸检测器 @@ -304,167 +35,45 @@ def init_system(): f"Failed set pin{pin} function to {func}") serial_dev = uart.UART(device, 115200) - # 舵机初始角度 - current_s1, current_s2 = 90, 90 - initial_cmd = f"S1:{current_s1},S2:{current_s2};" + # 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, - "current_s1": current_s1, "current_s2": current_s2 + "img_width": img_width, "img_height": img_height, "image_center": image_center } -# ------------------------------ -# 人脸检测处理（新增track_mode判断，关闭时不绘制人脸框） -# ------------------------------ -def process_faces(img, objs): +def callback(data: list[float], len: int): + global track_mode - # 跟踪模式关闭时，直接返回无脸坐标，不绘制任何框 - if not track_mode : - return (-1, -1, -1) - - 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) + + # 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 # ------------------------------ -# 人脸追踪 +# 系统执行 # ------------------------------ -def track_face(center, image_center, current_angles, serial_dev): - global last_dev_x, last_dev_y - center_x, center_y = center - current_s1, current_s2 = current_angles - - # 偏差计算+滤波 - deviation_x = center_x - image_center[0] - deviation_y = center_y - image_center[1] - smoothed_x = filter_alpha * last_dev_x + (1 - filter_alpha) * deviation_x - smoothed_y = filter_alpha * last_dev_y + (1 - filter_alpha) * deviation_y - last_dev_x, last_dev_y = smoothed_x, smoothed_y - - # 角度计算+限制 - # 金属舵机 - # new_s1 = constrain(int(current_s1 + smoothed_x * kp_x), s1_range[0], s1_range[1]) - # new_s2 = constrain(int(current_s2 + smoothed_y * kp_y), s2_range[0], s2_range[1]) - # 塑料舵机 - new_s1 = constrain(int(current_s1 - smoothed_x * kp_x), s1_range[0], s1_range[1]) - new_s2 = constrain(int(current_s2 - smoothed_y * kp_y), s2_range[0], s2_range[1]) - # 发送舵机指令 - if abs(new_s1 - current_s1) > angle_threshold or abs(new_s2 - current_s2) > angle_threshold: - cmd = f"S1:{new_s1},S2:{new_s2};" - serial_dev.write_str(cmd) - return (new_s1, new_s2, cmd) - else: - return (current_s1, current_s2, None) +try: + # 初始化系统资源 + system_resources = init_system() + # 进入主循环 + # trace_face_main(system_resources) + trace_ball_main(system_resources) + +except Exception as e: + print(f"[异常] 程序异常: {e}") + traceback.print_exc() -# ------------------------------ -# 主循环（新增track_mode判断和状态显示） -# ------------------------------ -async def main_loop_async(resources): - """异步主循环""" - 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"] - current_s1, current_s2 = resources["current_s1"], resources["current_s2"] - - # 启动网络异步任务 - asyncio.create_task(connect_wifi_async()) - asyncio.create_task(init_mqtt_async()) - - # 主循环 - global frame_count, mqtt_connected, wifi_connected, track_mode - while not app.need_exit(): - # 图像读取+人脸检测 - 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) - - # 绘制跟踪模式状态（直观显示当前模式） - track_status = "ON" if track_mode else "OFF" - track_color = image.COLOR_GREEN if track_mode else image.COLOR_RED - img.draw_string(20, 100, f"Track Mode: {track_status}", track_color, 1.0) - - # 人脸追踪（仅跟踪模式开启时执行） - if track_mode and center_x != -1 and center_y != -1: - new_s1, new_s2, cmd = track_face((center_x, center_y), image_center, (current_s1, current_s2), serial_dev) - current_s1, current_s2 = new_s1, new_s2 - if cmd: - img.draw_string(20, 60, f"Tracking: {cmd}", image.COLOR_BLUE, 1.0) - elif track_mode and center_x == -1: - # 跟踪模式开启但无脸 - img.draw_string(20, 60, "No face detected", image.COLOR_RED, 1.0) - else: - # 跟踪模式关闭 - img.draw_string(20, 60, "Track Mode: OFF", image.COLOR_ORANGE, 1.0) - - # 网络状态显示 - net_status = f"WiFi: {'OK' if wifi_connected else 'NO'} | MQTT: {'OK' if mqtt_connected else 'NO'}" - img.draw_string(20, 80, net_status, image.COLOR_YELLOW, 1.0) - - # LED更新+图像发送 - update_led() - frame_count += 1 - if frame_count >= send_frame_interval: - send_image_via_mqtt(img) - frame_count = 0 - - disp.show(img) - await asyncio.sleep(0.001) -# ------------------------------ -# 程序入口 -# ------------------------------ -if __name__ == "__main__": - try: - system_resources = init_system() - asyncio.run(main_loop_async(system_resources)) - except Exception as e: - print(f"[异常] 程序异常: {e}") - traceback.print_exc() - finally: - # 清理MQTT - if mqtt_client: - try: - mqtt_client.loop_stop() - mqtt_client.disconnect() - print("[MQTT] 客户端已断开") - except Exception as e: - print(f"[MQTT] 断开失败: {e}") - # 清理LED - if led: - try: - led.value(0) - print("[LED] 已关闭") - except Exception as e: - print(f"[LED] 关闭失败: {e}") - print("[系统] 程序已退出") \ No newline at end of file diff --git a/v1.4/maixcam/test_ball.py b/v1.4/maixcam/test_ball.py new file mode 100644 index 0000000..5059ad3 --- /dev/null +++ b/v1.4/maixcam/test_ball.py @@ -0,0 +1,134 @@ +from maix import image, app, time + +# 橘黄色乒乓球的颜色阈值配置（HSV色域） +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） + +def select_largest_blob(blobs): + """ + 筛选并选取最大的有效blob（替换原融合逻辑） + 1. 筛除宽/高小于10px的小blob（过滤噪声） + 2. 从剩余blob中选取面积最大的单个blob + :param blobs: 识别到的所有blob列表 + :return: 最大blob的矩形参数 (x, y, width, height) 和中心点 (cx, cy)；未识别到则返回None, None + """ + if not blobs: + return None, (-1,-1) + + # 步骤1：过滤掉宽/高小于10px的无效blob + valid_blobs = [] + for b in blobs: + x, y, w, h = b[0], b[1], b[2], b[3] + if w >= 10 and h >= 10: # 筛除边距（宽/高）小于10px的blob + valid_blobs.append(b) + + # 过滤后无有效blob，返回None + if not valid_blobs: + return None, (-1,-1) + + # 步骤2：选取面积（w*h）最大的blob + largest_blob = max(valid_blobs, key=lambda b: b[2] * b[3]) + + # 提取最大blob的矩形参数和中心点 + x, y, w, h = largest_blob[0], largest_blob[1], largest_blob[2], largest_blob[3] + cx = x + w // 2 + cy = y + h // 2 + + return (x, y, w, h), (cx, cy) + +def calculate_deviation_ball(center, image_center): + """ + 优化：仅计算偏移量，不直接发送指令（将指令发送逻辑移到主循环统一处理） + :return: (deviation_x, deviation_y) 或 None（无有效目标） + """ + center_x, center_y = center + + if center_x == -1 and center_y == -1 : + return None # 无有效目标 + + # 计算x/y方向的偏移偏差（目标中心 - 图像中心） + deviation_x = center_x - image_center[0] + deviation_y = center_y - image_center[1] + + # 仅当偏移超过阈值时返回有效偏移，否则返回None（避免微小抖动） + if abs(deviation_x) > 10 or abs(deviation_y) > 10 : + return (deviation_x, deviation_y) + else: + return None + +def trace_ball_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"] + + # 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) + + # 识别色块（像素阈值设为10，过滤小噪声） + blobs = img.find_blobs(thresholds, pixels_threshold=10) + + # 筛选并选取最大的有效blob + largest_rect, target_center = select_largest_blob(blobs) + + # 计算当前帧的偏移量 + current_deviation = calculate_deviation_ball(target_center, image_center) + + # -------------------------- 核心优化逻辑 -------------------------- + if current_deviation is not None: + # 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 + 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 + 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 + # ----------------------------------------------------------------- + + # 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) + + disp.show(img) + time.sleep_ms(1) \ No newline at end of file diff --git a/v1.4/maixcam/test_face.py b/v1.4/maixcam/test_face.py new file mode 100644 index 0000000..ad74be8 --- /dev/null +++ b/v1.4/maixcam/test_face.py @@ -0,0 +1,88 @@ +# ------------------------------ +# 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 diff --git a/v1.4/python_flask/wrobot.html b/v1.4/python_flask/wrobot.html deleted file mode 100644 index 601ad32..0000000 --- a/v1.4/python_flask/wrobot.html +++ /dev/null @@ -1,274 +0,0 @@ - - - - - - Wrobot - - - - - - - - -
- -
-
- 设备ID: - - - 跟踪: - - - -
-
- - -
-
- - 摄像头视频 -
-
-
- 180° - 0° - 180° - 0° -
-
- -
-
S1舵机（X轴）：90°
-
S2舵机（Y轴）：90°
-
-
-
- - -
-
-
-
- - - - \ No newline at end of file diff --git a/v1.4/python_flask/wrobot.py b/v1.4/python_flask/wrobot.py deleted file mode 100644 index 69c1556..0000000 --- a/v1.4/python_flask/wrobot.py +++ /dev/null @@ -1,28 +0,0 @@ -from flask import Blueprint,session,render_template -from app.glo import * - - -wrobot = Blueprint('wrobot', __name__) - -@wrobot.route('/wrobot/') -def main(): - - device_list = GetUserDeviceIdList(session['user']['user_id']) - - follow_list = { - 'face': 'track_face', - # 'hand': 'track_hand', - 'none': 'track_off', - } - data = { - "page_title": "%s" % ( "Wrobot") , - - "device_id": device_list[0], - - "follow_id": 'face', - - "device_list": device_list, - "follow_list": follow_list, - } - - return render_template('/cn/aiot/wrobot.html', **data) \ No newline at end of file diff --git a/v1.4/python_flask/wrobot_cam.py b/v1.4/python_flask/wrobot_cam.py deleted file mode 100644 index ad0141b..0000000 --- a/v1.4/python_flask/wrobot_cam.py +++ /dev/null @@ -1,145 +0,0 @@ -import threading -import time -import re -import traceback -import paho.mqtt.client as mqtt -from flask import Blueprint, Response, session - -from app.glo import * - -# ==================== 全局配置 ==================== -mqtt_client = None -MQTT_SUB_TOPIC = "" -latest_frame_cache = {} -cache_lock = threading.Lock() -mqtt_sub_lock = threading.Lock() - -wrobot_cam = Blueprint('wrobot_cam', __name__) - - -# ==================== MQTT 核心逻辑 ==================== -def on_mqtt_connect(client, userdata, flags, rc): - """MQTT连接成功回调：此时暂不订阅（等第一次页面访问时再订阅）""" - if rc == 0: - print("MQTT连接成功（暂未订阅任何主题，等待页面访问）") - else: - print(f"MQTT连接失败 错误码: {rc}") - -def on_mqtt_message(client, userdata, message): - """MQTT消息回调：仅处理已订阅的主题""" - try: - if not MQTT_SUB_TOPIC or message.topic != MQTT_SUB_TOPIC: - return - - device_id = message.topic.split('/')[0] - if len(message.payload) < 100: - return - - with cache_lock: - latest_frame_cache[device_id] = message.payload - - except Exception as e: - print(f"MQTT消息处理异常: {e}") - traceback.print_exc() - -def start_mqtt_background(): - """启动MQTT客户端（仅连接，不订阅）""" - global mqtt_client - if mqtt_client is not None: - return - - mqtt_client = mqtt.Client() - mqtt_client.on_connect = on_mqtt_connect - mqtt_client.on_message = on_mqtt_message - - try: - mqtt_client.connect(MQTT_BROKER, MQTT_PORT, keepalive=60) - mqtt_client.loop_start() - print(f"MQTT客户端已启动 🚀（仅连接，未订阅主题）") - except Exception as e: - print(f"MQTT启动失败: {e}") - traceback.print_exc() - -def subscribe_first_topic(new_topic): - """第一次订阅主题（初始化订阅）""" - global MQTT_SUB_TOPIC - if not mqtt_client or not mqtt_client.is_connected(): - raise RuntimeError("MQTT客户端未连接") - - with mqtt_sub_lock: - MQTT_SUB_TOPIC = new_topic - mqtt_client.subscribe(MQTT_SUB_TOPIC) - print(f"MQTT首次订阅: {MQTT_SUB_TOPIC}") - -def update_mqtt_subscription(new_topic): - """更新订阅主题（非首次）""" - global MQTT_SUB_TOPIC - if not mqtt_client or not mqtt_client.is_connected(): - raise RuntimeError("MQTT客户端未连接") - - with mqtt_sub_lock: - # 取消旧主题订阅 - mqtt_client.unsubscribe(MQTT_SUB_TOPIC) - print(f"MQTT取消订阅: {MQTT_SUB_TOPIC}") - - # 订阅新主题 - MQTT_SUB_TOPIC = new_topic - mqtt_client.subscribe(MQTT_SUB_TOPIC) - print(f"MQTT重新订阅: {MQTT_SUB_TOPIC}") - -# ==================== Flask 路由核心逻辑 ==================== -def generate_video_frame(device_id): - """生成视频流""" - blank_jpeg = b'\xff\xd8\xff\xe0\x00\x10JFIF\x00\x01\x01\x00\x00\x01\x00\x01\x00\x00\xff\xd9' - - while True: - try: - with cache_lock: - frame_data = latest_frame_cache.get(device_id, blank_jpeg) - - yield (b'--frame\r\n' - b'Content-Type: image/jpeg\r\n\r\n' + frame_data + b'\r\n') - - time.sleep(0.01) - - except GeneratorExit: - break - except Exception as e: - print(f"视频流生成异常: {e}") - yield (b'--frame\r\n' - b'Content-Type: image/jpeg\r\n\r\n' + blank_jpeg + b'\r\n') - time.sleep(0.1) - -@wrobot_cam.route('/wrobot_cam/') -@wrobot_cam.route('/wrobot_cam') -def main(device_id=None): - """核心逻辑：第一次访问时初始化订阅，后续访问时更新订阅""" - # 1. 校验设备ID（无参数时直接报错，因为启动时未知默认设备） - if not device_id: - return Response("必须指定设备ID（访问方式：/wrobot_cam/设备ID）", status=400, mimetype='text/plain') - - device_list = GetUserDeviceIdList(session['user']['user_id']) - if device_id not in device_list: - return Response(f"设备ID不合法", status=400, mimetype='text/plain') - - - # 2. 构建真实主题 - new_mqtt_topic = f"{device_id}/head_video" - - # 3. 区分「首次订阅」和「更新订阅」 - try: - if not MQTT_SUB_TOPIC: # 初始值为空 → 第一次访问，初始化订阅 - threading.Thread(target=subscribe_first_topic, args=(new_mqtt_topic,), daemon=True).start() - elif new_mqtt_topic != MQTT_SUB_TOPIC: # 非首次，更新订阅 - threading.Thread(target=update_mqtt_subscription, args=(new_mqtt_topic,), daemon=True).start() - except RuntimeError as e: - return Response(f"MQTT客户端异常：{str(e)}", status=500, mimetype='text/plain') - - # 4. 返回视频流 - return Response( - generate_video_frame(device_id), - mimetype='multipart/x-mixed-replace; boundary=frame' - ) - -# ==================== 启动初始化 ==================== -start_mqtt_background() \ No newline at end of file diff --git a/v1.4/wrobot/src/RobotActions.h b/v1.4/wrobot/src/RobotActions.h index bcd02bf..a397143 100644 --- a/v1.4/wrobot/src/RobotActions.h +++ b/v1.4/wrobot/src/RobotActions.h @@ -95,4 +95,28 @@ ActionStep step_left[] = { }; RobotAction action_step_left = CREATE_ACTION("action_step_left", step_left); + +ActionStep step_turn_right[] = { + // {左+右-，前+后-，跳跃，平衡20左-右+，高度20升-降+，持续时间, 停顿时间0， + { -100, 0, 0, 0, -10, 50, 0, -1, -1, -1, -1}, + END_MARKER // 结束标记 +}; +RobotAction action_step_turn_right = CREATE_ACTION("action_step_turn_right", step_turn_right); + +ActionStep step_turn_left[] = { + // {左+右-，前+后-，跳跃，平衡20左-右+，高度20升-降+，持续时间, 停顿时间0， + { 100, 0, 0, 0, -10, 50, 0, -1, -1, -1, -1}, + END_MARKER // 结束标记 +}; +RobotAction action_step_turn_left = CREATE_ACTION("action_step_turn_left", step_turn_left); + + +ActionStep step_forward[] = { + // {左+右-，前+后-，跳跃，平衡20左-右+，高度20升-降+，持续时间, 停顿时间0， + { 0, 50, 0, 0, 10, 500, 0, -1, -1, -1, -1}, + END_MARKER // 结束标记 +}; +RobotAction action_step_forward = CREATE_ACTION("action_step_forward", step_forward); + + #endif \ No newline at end of file diff --git a/v1.4/wrobot/src/SerialParser.cpp b/v1.4/wrobot/src/SerialParser.cpp index 9cb4c9d..abfc7e7 100644 --- a/v1.4/wrobot/src/SerialParser.cpp +++ b/v1.4/wrobot/src/SerialParser.cpp @@ -17,7 +17,9 @@ void serialReceiveProcess() { if (strchr(serial_buf, '=') != NULL) { parseSingleParam(serial_buf); // 处理原格式指令 } else if (strstr(serial_buf, "S1:") != NULL && strstr(serial_buf, "S2:") != NULL) { - parseServoCommand(serial_buf); // 处理舵机指令 + parseServoAngleCommand(serial_buf); // 处理舵机角度控制指令 S1:90,S2:90; + } else if (strstr(serial_buf, "DX:") != NULL && strstr(serial_buf, "DY:") != NULL) { + parseCameraDeviationCommand(serial_buf); // 处理摄像头偏差控制指令 DX:90,DY:45; } else if (buf_idx > 0) { Serial.println("指令格式错误！请使用正确格式"); } @@ -29,7 +31,7 @@ void serialReceiveProcess() { } // 添加舵机指令解析函数 -void parseServoCommand(char* cmd) { +void parseServoAngleCommand(char* cmd) { char* s1Ptr = strstr(cmd, "S1:"); char* s2Ptr = strstr(cmd, "S2:"); @@ -43,8 +45,26 @@ void parseServoCommand(char* cmd) { int angle1 = atoi(s1Ptr + 3); // "S1:"占3个字符，跳过它们取数值 int angle2 = atoi(s2Ptr + 3); // "S2:"占3个字符，跳过它们取数值 - // 调用摄像头舵机控制函数 - setCameraServoAngles(angle1, angle2); + // 舵机控制函数 + setServoAngles(angle1, angle2); + +} +void parseCameraDeviationCommand(char* cmd) { + char* dxPtr = strstr(cmd, "DX:"); + char* dyPtr = strstr(cmd, "DY:"); + + // 检查指令格式是否正确 + if (dxPtr == NULL || dyPtr == NULL) { + Serial.println("摄像头指令格式错误！请使用\"DX:角度,DY:角度;\"格式（例如\"DX:90,DY:45;\"）"); + return; + } + + // 转换为角度数值（跳过"S1:"和"S2:"字符） + int dx = atoi(dxPtr + 3); // "DX:"占3个字符，跳过它们取数值 + int dy = atoi(dyPtr + 3); // "DY:"占3个字符，跳过它们取数值 + + // 控制摄像头上下左右 + setCameraMoveAngles(dx, dy); } @@ -102,11 +122,25 @@ void parseSingleParam(char* cmd) { } else if (strcmp(param_name, "high_motor_target") == 0) { high_motor_target = param_val; - } else if (strcmp(param_name, "servo1_joyx_factor") == 0) { - servo1_joyx_factor = param_val; + } else if (strcmp(param_name, "pid_trace_joyx_p") == 0) { + pid_trace_joyx.P = param_val; + } else if (strcmp(param_name, "pid_trace_joyx_d") == 0) { + pid_trace_joyx.D = param_val; + + } else if (strcmp(param_name, "pid_trace_joyy_p") == 0) { + pid_trace_joyy_p = param_val; + } else if (strcmp(param_name, "pid_trace_joyy_d") == 0) { + pid_trace_joyy_d = param_val; + + } else if (strcmp(param_name, "pitch_adjust") == 0) { + pitch_adjust = param_val; + + + // } else if (strcmp(param_name, "step_joyx") == 0) { + // step_joyx = param_val; + // } else if (strcmp(param_name, "step_duration") == 0) { + // step_duration = param_val; - } else if (strcmp(param_name, "servo2_joyy_factor") == 0) { - servo2_joyy_factor = param_val; } else if (strcmp(param_name, "mac") == 0) { // 1. 获取传入的 MAC 字符串（注意：eq_pos+1 是字符串，不能用 atof 转浮点） diff --git a/v1.4/wrobot/src/SerialParser.h b/v1.4/wrobot/src/SerialParser.h index e0cb2e8..75974f5 100644 --- a/v1.4/wrobot/src/SerialParser.h +++ b/v1.4/wrobot/src/SerialParser.h @@ -7,12 +7,20 @@ // -------------------------- 全局对象声明（与 main.cpp 中定义一致）-------------------------- // 这些对象在 main.cpp 中定义，此处用 extern 声明供 SerialParser 访问 -extern PIDController pid_super_balance; + extern PIDController pid_speed; + extern float zaccel_threshold; extern float dragon_joyx_factor; +extern PIDController pid_trace_joyx; +extern float pid_trace_joyy_p; +extern float pid_trace_joyy_d; + +extern float pitch_adjust; + + // extern float obstacle_pitch; // extern int servo_up_height; // extern int servo_down_height; @@ -27,8 +35,9 @@ extern float high_obstacle_pitch; extern int high_servo_up_height; extern int high_servo_down_height; extern float high_motor_target; -extern float servo1_joyx_factor; -extern float servo2_joyy_factor; + +// extern int step_joyx; +// extern int step_duration; extern char serial_buf[32]; extern uint8_t buf_idx; @@ -38,9 +47,12 @@ void serialReceiveProcess(); void parseSingleParam(char* cmd); // 舵机控制函数声明 -void parseServoCommand(char* cmd); +void parseServoAngleCommand(char* cmd); +void parseCameraDeviationCommand(char* cmd); -void setCameraServoAngles(int s1, int s2); +void setServoAngles(int s1, int s2); +void setCameraMoveAngles(int dx, int dy); +void setCarmeraFixServoAngles(int servo_angle); void setFrontierServoAngles(int servo_angle); #endif // SERIAL_PARSER_H \ No newline at end of file diff --git a/v1.4/wrobot/src/main.cpp b/v1.4/wrobot/src/main.cpp index f74b84f..dd0569e 100644 --- a/v1.4/wrobot/src/main.cpp +++ b/v1.4/wrobot/src/main.cpp @@ -25,7 +25,7 @@ void yaw_loop(); void leg_loop(); void jump_loop(); -void cancel_super_mode(); +void cancel_trace_mode(); // 跨越障碍函数 void obstacle_detect(); // 越障高度检测 @@ -40,8 +40,6 @@ void jump_charge(); // 腿部弯曲（蓄能） void processControllerData(const XboxControllerNotificationParser& data); void runActionSequence(); - - const int deadZone = 10; // 摇杆死区阈值 int trigRT = 0; int last_trigRT = 0; @@ -62,7 +60,15 @@ bool last_btnStart = 0; bool last_btnShare = 0; bool last_joyRHori = 0; bool last_joyLHori = 0; - +bool last_joyLVert = 0; +int convertedJ1PotX; +int convertedJ1PotY; +int convertedJ2PotX; +int convertedJ2PotY; +int last_convertedJ1PotX; +int last_convertedJ1PotY; +int last_convertedJ2PotX; +int last_convertedJ2PotY; /************实例定义*************/ @@ -217,9 +223,6 @@ int high_servo_up_height = 380; // +390=MAX int high_servo_down_height = 0; float high_motor_target = -9.0f; -// 超级平衡模式参数 -bool super_balance_mode = false; // 超级平衡模式 -PIDController pid_super_balance(11.5, 0, 0, 100000, 8); // 适配joyy实际需求 // 舵机中位校准 int calibrationOfs_flag = 0; @@ -227,8 +230,6 @@ int calibrationOfs_flag = 0; // 倒地恢复计数 int fallRecoveryResetCounter = 0; -// 快速下坠状态标志 - // 开机默认坐下 修改 bool robot_enabled = false; // 开机禁用平衡，默认坐下 bool last_robot_enabled = false; // 同步初始状态 @@ -246,13 +247,8 @@ RobotAction* currentAction = NULL; // 龙头模式 bool dragon_head_mode = false; // 龙头模式标志 -float dragon_joyx_factor = 1.0f; -int convertedJ1PotX; -int convertedJ1PotY; -int convertedJ2PotX; -int last_convertedJ1PotX; -int last_convertedJ1PotY; -int last_convertedJ2PotX; +float dragon_joyx_factor = 0.8f; + typedef struct { @@ -271,25 +267,31 @@ typedef struct Wrobot wrobot; // 云台舵机控制引脚 -#define FRONTIER_SERVO_PIN 36 // 前档舵机 S1 4 -#define CAM_BOTTOM_SERVO_PIN 15 // 云台底座 S1 15 -#define CAM_FIX_SERVO_PIN 4 // 固定摄像头舵机 S2 4 +#define FRONTIER_SERVO_PIN 15 // 前档舵机 +#define CAM_FIX_SERVO_PIN 4 // 固定摄像头舵机 S2 ,左右旋转是S1 // 创建舵机对象 Servo frontier_servo; -Servo cam_bottom_servo; Servo cam_fix_servo; -// 舵机角度变量 -int frontier_servo_angle = 0; // 前档舵机 +// 追踪模式 +bool trace_mode = false; // 追踪模式整体标志 +bool trace_ob_flag = false; // 是否追踪到位 +int joyx_servo = 9999; -int cam_bottom_servo_angle = 90; // 云台底座舵机初始角度 左右旋转 S1 -int cam_fix_servo_angle = 90; // 摄像头舵机初始角度 上下旋转 S2 +PIDController pid_trace_joyx(0.5, 0, 0, 100000, 100); -// （暂时无用） -float servo1_joyx_factor = 0.1f; // 舵机1 云台底座舵机 旋转 系数，水平的，所以是x -float servo2_joyy_factor = 0.5f; // 舵机2 摄像头舵机 旋转 系数，上下的，所以是y +// 摄像头舵机 +int current_s2 = 90; // 记录舵机最新角度，初始为中位 +// float pid_trace_joyy_p = 0.045f; // P系数 +// float pid_trace_joyy_d = 0.0f; // D系数 +// 摄像头舵机 PD 控制器参数 +float pid_trace_joyy_p = 0.07f; // 比例系数（P） +float pid_trace_joyy_d = 0.01f; // 微分系数（D），可根据实际调试调整 +int pid_trace_joyy_output_limit = 10; // PD输出限幅（单次最大调整角度） +int last_dy = 0; // 上一次的y轴偏差 +unsigned long last_dy_time = 0; // 上一次计算偏差的时间戳 void setup() { @@ -381,16 +383,12 @@ void setup() xboxControllerInit(); // 初始化云台两个舵机 - cam_bottom_servo.attach(CAM_BOTTOM_SERVO_PIN); cam_fix_servo.attach(CAM_FIX_SERVO_PIN); - - // 初始位置：两个舵机都转到90度 - cam_bottom_servo.write(cam_bottom_servo_angle); // 正面看90度正面，0度右手，180度左手 - cam_fix_servo.write(cam_fix_servo_angle); // 摄像头朝上180度，朝下30度 + cam_fix_servo.write(current_s2); // 摄像头朝上180度，朝下0度 // 前档舵机 frontier_servo.attach(FRONTIER_SERVO_PIN); - frontier_servo.write(frontier_servo_angle); // 摄像头朝上180度，朝下30度 + frontier_servo.write(0); delay(100); } @@ -516,9 +514,6 @@ void loop() // 小车坐下 if (sitting_down) { - // 关闭超级平衡模式 - cancel_super_mode(); - sitting_down ++; if (sitting_down < 15) { @@ -617,13 +612,6 @@ void lqr_balance_loop() }else{ speed_target_coeff = 0.1; } - - // 超级平衡模式 误差=实际角度 - 默认零点 - if (super_balance_mode && !is_falling && robot_enabled && !sitting_down && !jump_flag ) { - float balance_joyy = pid_super_balance(LQR_angle -pitch_zeropoint); - balance_joyy = constrain(balance_joyy, -100.0f, 100.0f); - wrobot.joyy = balance_joyy; - } speed_control = pid_speed(LQR_speed - speed_target_coeff * lpf_joyy(wrobot.joyy)); // 最大8v @@ -960,12 +948,19 @@ void jump_loop() void yaw_loop() { // 跳跃中，YAW_output 设为0，避免干扰左右旋转 - if(jump_flag) - { + if(jump_flag){ YAW_output = 0; return; } + if(trace_mode){ + if(joyx_servo!= 9999){ + wrobot.joyx = joyx_servo; + }else{ + wrobot.joyx = 0; + } + } + // 1. 根据abs(wrobot.joyx)，动态设置yaw_target系数0.1~1 float coeff = map( abs(wrobot.joyx), 0, 100, 10, 100) / 100.0f; coeff = constrain(coeff, 0.1f, 1.0f); @@ -973,7 +968,7 @@ void yaw_loop() // 2. 根据abs(wrobot.joyx)，提高PID响应，临时放大系数 float yaw_angle_fator = 1.0f; - if( wrobot.joyy == 0 && abs(wrobot.joyx) > 10 && !dragon_head_mode){ // 原地打转 + if( wrobot.joyy == 0 && abs(wrobot.joyx) > 10 && !dragon_head_mode && !trace_mode){ // 原地打转 yaw_angle_fator = map( abs(wrobot.joyx), 0, 100, 1.0, 2.0); // 根据转向速度，智能计算wrobot.height // abs(wrobot.joyx) 范围0到100，默认0，输出范围20-50,默认 30 @@ -1007,7 +1002,6 @@ void yaw_loop() void resetZeroPoint() { distance_zeropoint = LQR_distance; pid_lqr_u.error_prev = 0; - pid_super_balance.error_prev = 0.0f; // 重置积分项 pitch_adjust = 0.0f; } @@ -1041,14 +1035,16 @@ void processControllerData(const XboxControllerNotificationParser& remoteData) { // Serial.println(str); // 正在执行动作组，忽略其他指令 - if (isExecutingAction) { - return; - } + // if (isExecutingAction) { + // return; + // } // 坐下 if (remoteData.btnLB && !last_btnLB && robot_enabled) { robot_enabled = false; sitting_down = 1; // 标记开始坐下动作保存当前的角度零点 + + pid_trace_joyx.P = 0.5; // 追踪模式 } // 第二次按坐下，让舵机失能 if (remoteData.btnLB && !last_btnLB && !robot_enabled) { @@ -1062,6 +1058,8 @@ void processControllerData(const XboxControllerNotificationParser& remoteData) { robot_enabled = true; sitting_down = 0; // 清除坐下动作标记 stand_up_count ++; // 站立标志位 + + pid_trace_joyx.P = 0.25; // 追踪模式 } last_btnRB = remoteData.btnRB; @@ -1082,7 +1080,7 @@ void processControllerData(const XboxControllerNotificationParser& remoteData) { } // 前后移动 右摇杆Y轴 - int convertedJ2PotY = constrain( + convertedJ2PotY = constrain( map(remoteData.joyRVert, 0, 65535, 100, -100), // 原始0~65535，目标100~-100 -100, 100 ); @@ -1135,18 +1133,6 @@ void processControllerData(const XboxControllerNotificationParser& remoteData) { last_convertedJ1PotX = convertedJ1PotX; last_convertedJ2PotX = convertedJ2PotX; - if(dragon_head_mode){ // 龙头模式，左摇杆控制云台 - cam_bottom_servo_angle = constrain( // 左右 - map(remoteData.joyLHori, 0, 65535, 0, 180), - 0, 180 - ); - cam_fix_servo_angle = constrain( - map(remoteData.joyLVert, 0, 65535, 180, 0), - 0, 180 - ); - setCameraServoAngles(cam_bottom_servo_angle, cam_fix_servo_angle); - } - // 智能计算wrobot.height ，根据前后速度， // convertedJ2PotY 范围-100到100，默认0，输出范围30（最矮）-50（最高）, 默认 50 // wrobot.height 0 最矮，50最高 @@ -1154,57 +1140,63 @@ void processControllerData(const XboxControllerNotificationParser& remoteData) { wrobot.height = constrain(wrobot.height, 30, 50); wrobot.height = lpf_height(wrobot.height); - // // 右摇摆 - if(remoteData.btnDirRight) { - // roll_adjust += 0.20; - pitch_adjust += 0.20; - // isExecutingAction = true; // 标记开始执行动作 - // currentAction = &action_step_right; // 指定执行的动作 - // stepStartTime = millis(); // 记录第一步开始时间 - // currentStepIndex = 0; // 从第一步开始 - + // 向右键 控制左右摇摆角度 + if( !remoteData.btnShare && remoteData.btnDirRight) { + roll_adjust += 0.20; // 左右摇摆角度 } - // 左摇摆 - if(remoteData.btnDirLeft) { - // roll_adjust -= 0.20; - pitch_adjust -= 0.20; - // isExecutingAction = true; // 标记开始执行动作 - // currentAction = &action_step_left; // 指定执行的动作 - // stepStartTime = millis(); // 记录第一步开始时间 - // currentStepIndex = 0; // 从第一步开始 + // 向左键 控制左右摇摆角度 + if( !remoteData.btnShare && remoteData.btnDirLeft) { + roll_adjust -= 0.20; // 左右摇摆角度 } - // 抬升 - if(remoteData.btnDirUp) { - leg_height_base -= 0.20; - // Serial.print("leg_height_base"); - // Serial.println(leg_height_base); - - // isExecutingAction = true; // 标记开始执行动作 - // currentAction = &action_step_up; // 指定执行的动作 - // stepStartTime = millis(); // 记录第一步开始时间 - // currentStepIndex = 0; // 从第一步开始 + // 向上键 控制机身升高 + if(!remoteData.btnShare && remoteData.btnDirUp) { + leg_height_base -= 0.20; // 机身升高 + } + // 向下键 控制机身下降 + if(!remoteData.btnShare && remoteData.btnDirDown) { + leg_height_base += 0.20; // 机身下降 } - // 下降 - if(remoteData.btnDirDown) { - leg_height_base += 0.20; - // Serial.print("leg_height_base"); - // Serial.println(leg_height_base); - - // isExecutingAction = true; // 标记开始执行动作 - // currentAction = &action_step_down; // 指定执行的动作 - // stepStartTime = millis(); // 记录第一步开始时间 - // currentStepIndex = 0; // 从第一步开始 + // 截图键 + 向上键 + if(remoteData.btnShare && remoteData.btnDirUp && !last_btnDirUp) { + int new_s2 = current_s2 + 2; // ±1°调整 测试 + setCarmeraFixServoAngles(new_s2); // 摄像头舵机上下运动 + // Serial.print("new_s2:"); + // Serial.println(new_s2); } + // 截图键 + 向下键 + if(remoteData.btnShare && remoteData.btnDirDown && !last_btnDirDown) { + int new_s2 = current_s2 - 2; // ±1°调整 测试 + // Serial.print("new_s2:"); + // Serial.println(new_s2); + setCarmeraFixServoAngles(new_s2); // 摄像头舵机上下运动 + } + + // 截图键 + 向右键 last_btnDirRight + if(remoteData.btnShare && remoteData.btnDirRight && !last_btnDirLeft) { + pitch_adjust += 0.20; // 向后倾斜 + } + // 截图键 + 向左键 控制向前倾斜 + if(remoteData.btnShare && remoteData.btnDirLeft && !last_btnDirLeft) { + pitch_adjust -= 0.20; // 向前倾斜 + } + + last_btnDirUp = remoteData.btnDirUp; + last_btnDirDown = remoteData.btnDirDown; + last_btnDirRight = remoteData.btnDirRight; + last_btnDirLeft = remoteData.btnDirLeft; + + // 还原 if (remoteData.btnLS) { roll_adjust = original_roll_adjust; + pitch_adjust = 0.0f; leg_height_base = original_leg_height_base; pitch_zeropoint = original_pitch_zeropoint; - pitch_adjust = 0.0f; + setCarmeraFixServoAngles(90);// 摄像头舵机还原 } // 右扳机 高度向下 ：原始0-1023 @@ -1218,14 +1210,10 @@ void processControllerData(const XboxControllerNotificationParser& remoteData) { startColorSequenceBlink(); } - // 控制前档舵机 - if(remoteData.trigLT){ - frontier_servo_angle = map(remoteData.trigLT, 0, 1023, 0, 180); - setFrontierServoAngles(frontier_servo_angle); - } - if(!remoteData.trigLT){ - frontier_servo_angle = 0; - setFrontierServoAngles(frontier_servo_angle); + // 控制前档舵机，追踪模式下不可用，因为是自动控制 + if(remoteData.trigLT && !trace_mode){ + int servo_angle = map(remoteData.trigLT, 0, 1023, 0, 180); + setFrontierServoAngles(servo_angle); } // 跳跃 右摇杆按键 @@ -1288,31 +1276,24 @@ void processControllerData(const XboxControllerNotificationParser& remoteData) { } last_trigRT = trigRT; - // btnShare 晃头，点头 - if (remoteData.btnShare && !last_btnShare && robot_enabled && !isExecutingAction) { - isExecutingAction = true; // 标记开始执行动作 - currentAction = &action_say_hello; // 指定执行的动作 - stepStartTime = millis(); // 记录第一步开始时间 - currentStepIndex = 0; // 从第一步开始 - } - last_btnShare = remoteData.btnShare; // 更新btnY的上一次状态 - - // 超级平衡模式切换 + // 追踪模式 rgb：蓝色 if (remoteData.btnSelect && !last_btnSelect) { - - pid_super_balance.error_prev = 0.0f; - - super_balance_mode = !super_balance_mode; - if (super_balance_mode) { + trace_mode = !trace_mode; + if (trace_mode) { setLEDColor(CRGB::Blue); - zaccel_threshold = super_zaccel_threshold; - resetZeroPoint(); // 重置位移零点，确保初始平衡 + setCarmeraFixServoAngles(120); // 摄像头舵机上下运动 }else{ - cancel_super_mode(); + cancel_trace_mode(); } } - last_btnSelect = remoteData.btnSelect; - + // 已经追踪到物体 rgb：绿色 + if (trace_mode) { + if(trace_ob_flag){ + setLEDColor(CRGB::Green); + }else{ + setLEDColor(CRGB::Blue); + } + } // 舵机中位校准 中间十字左右键同时按下 if (calibrationOfs_flag == 0 && remoteData.btnSelect && last_btnSelect && remoteData.btnStart && last_btnStart) { @@ -1320,10 +1301,10 @@ void processControllerData(const XboxControllerNotificationParser& remoteData) { sms_sts.CalibrationOfs(ID[0]); sms_sts.CalibrationOfs(ID[1]); XboxKeyVibration(100,2000); // 震动 - Serial.println("CalibrationOfs"); + // Serial.println("CalibrationOfs"); } if(calibrationOfs_flag > 0){ - calibrationOfs_flag ++;; + calibrationOfs_flag ++; } if(calibrationOfs_flag > 500){ calibrationOfs_flag =0; @@ -1380,6 +1361,14 @@ void runActionSequence() { wrobot.speed1 = SERVO1_SPEED; return; } + + // 串口调试 + // if(step_joyx != -1){ + // currentStep.joyx = (currentStep.joyx/abs(currentStep.joyx) * step_joyx); + // } + // if(step_duration != -1){ + // currentStep.stepDuration = step_duration; + // } // 更新当前步骤的控制参数 wrobot.joyx = currentStep.joyx; @@ -1408,14 +1397,6 @@ void runActionSequence() { } } -// 退出超级平衡模式 -void cancel_super_mode(){ - super_balance_mode = false; - zaccel_threshold = normal_zaccel_threshold; - setLEDColor(CRGB::Black); - resetZeroPoint(); -} - // 障碍检测 void obstacle_detect() { @@ -1545,26 +1526,104 @@ void obstacle_cancel() obstacle_mode = false; // 跳出越障模式 } -// 控制摄像头舵机 -void setCameraServoAngles(int s1, int s2) { - // 限制角度在0-180度范围内 - cam_bottom_servo_angle = constrain(s1, 0, 180); - cam_fix_servo_angle = constrain(s2, 0, 180); +// 通过偏差deviation 控制摄像头上下左右运动 +void setCameraMoveAngles(int dx, int dy) { + + if(!trace_mode or dx == 9999 or dy == 9999){ + joyx_servo = 9999; + trace_ob_flag = false; + // 重置PD控制器状态 + last_dy = 0; + last_dy_time = 0; + return; + } + + // 判断小车正面是否朝向物体，只需要一个区间就可以，不用必须到图像中心 + if( abs(dx) < 40){ + trace_ob_flag = true; + joyx_servo = 9999; + pitch_adjust = 0.0f; + }else{ + trace_ob_flag = false; + } + + // 正面追踪到物体，打开挡板，下降高度 + if(current_s2 < 60 && dy > -20 ){ // 球到车身下方了，打球 + setFrontierServoAngles(0); // 打球，挡板回到前方 + leg_height_base = original_leg_height_base; // 上升 + + }else if(trace_ob_flag){ // 追踪到目标 + setFrontierServoAngles(180); // 打开挡板，收到后方 + leg_height_base = 30.0f; // 下降 + }else{ + leg_height_base = original_leg_height_base; // 原来高度 + } + + // 上下旋转舵机 - PD控制实现 + if(abs(dy) > 10){ // 偏差超过阈值才进行调整 + unsigned long current_time = millis(); + // 首次执行初始化时间戳 + if(last_dy_time == 0){ + last_dy_time = current_time; + last_dy = dy; + } + + // 计算new_s2 + unsigned long dt = max((unsigned long)1, current_time - last_dy_time); + float d_term = pid_trace_joyy_d * (dy - last_dy) / (float)dt * 10; + float p_term = pid_trace_joyy_p * dy; + float pd_output = p_term + d_term; + pd_output = constrain(pd_output, -pid_trace_joyy_output_limit, pid_trace_joyy_output_limit); + int new_s2 = current_s2 - (int)pd_output; + + // 更新状态变量 + last_dy = dy; + last_dy_time = current_time; + + // 控制舵机运动 + setCarmeraFixServoAngles(new_s2); + + }else{ + // 偏差过小，重置PD状态 + last_dy = 0; + } + + // 左右旋转，foc电机 + if(!trace_ob_flag){ + int joyx_derection = (dx > 0) ? -1 : 1; + joyx_servo = pid_trace_joyx(abs(dx)) * joyx_derection; + } - // 控制舵机转动 - cam_bottom_servo.write(cam_bottom_servo_angle); - cam_fix_servo.write(cam_fix_servo_angle); - - // 反馈执行结果 - // Serial.print("舵机1转到 "); - // Serial.print(cam_bottom_servo_angle); - // Serial.print("度，舵机2转到 "); - // Serial.print(cam_fix_servo_angle); - // Serial.println("度"); } +// 控制摄像头舵机 +void setCarmeraFixServoAngles(int servo_angle) { + if (abs(servo_angle - current_s2) > 1) { + servo_angle = constrain(servo_angle, 45, 180); // 60 -180 + cam_fix_servo.write(servo_angle); + current_s2 = servo_angle; + } +} // 控制前档舵机 void setFrontierServoAngles(int servo_angle) { - servo_angle = constrain(servo_angle, 0, 180); - frontier_servo.write(frontier_servo_angle); + servo_angle = constrain(servo_angle, 0, 180); + frontier_servo.write(servo_angle); +} + +// 通过角度控制舵机 +void setServoAngles(int s1, int s2) { + // s1 前档舵 + setFrontierServoAngles(s1); + + // s2 摄像头舵机 + setCarmeraFixServoAngles(s2); +} + +// 退出追踪模式 +void cancel_trace_mode(){ + trace_mode = false; + joyx_servo = 9999; + setLEDColor(CRGB::Black); + leg_height_base = original_leg_height_base; // 上升 + setFrontierServoAngles(0); } diff --git a/v1.4/模型文件/3.7g塑料舵机云台V20.step b/v1.4/模型文件/3.7g塑料舵机云台V20.step new file mode 100644 index 0000000..4c1bea8 --- /dev/null +++ b/v1.4/模型文件/3.7g塑料舵机云台V20.step @@ -0,0 +1,18440 @@ +ISO-10303-21; +HEADER; + +/* File generated by Shapr3D Version 5.1012.10042.0 */ + +FILE_DESCRIPTION(('HOOPS Exchange Step'),'2;1'); + +FILE_NAME('C:\\Users\\Tommy\\AppData\\Local\\Packages\\Shapr3D.Shapr3D_j403pzjkqtqbj\\TempState\\export\\temp_export', +'2026-01-01T20:54:12+08:00', +('Tommy'), +('Shapr3D Limited'), +'HOOPS Exchange 2025.7', +'Shapr3D', +'Authorized'); 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