修复录制与回放功能，添加新电机控制程序进行测试

main/Javascript/record.js

@@ -4,6 +4,7 @@ window.addEventListener('DOMContentLoaded', function() {
     
     // 录制相关全局变量
     window.isRecording = false;
+    window.isPlaying = false;
     window.recordedActions = [];
     window.recordingStartTime = 0;
 
@@ -21,6 +22,11 @@ window.addEventListener('DOMContentLoaded', function() {
     // 录制按钮点击事件 - 支持鼠标和触摸事件
     function toggleRecording() {
         console.log('toggleRecording called, current isRecording:', window.isRecording);
+        if (window.isPlaying) {
+            alert('正在回放，不能录制');
+            return;
+        }
+        
         if (window.isRecording) {
             // 停止录制
             window.isRecording = false;
@@ -52,6 +58,11 @@ window.addEventListener('DOMContentLoaded', function() {
     // 回放按钮点击事件 - 支持鼠标和触摸事件
     function startPlayback() {
         console.log('startPlayback called, recordedActions:', window.recordedActions);
+        if (window.isRecording) {
+            alert('请先停止录制');
+            return;
+        }
+        
         if (window.recordedActions.length === 0) {
             status.innerHTML = `<p>没有可回放的操作</p>`;
             console.log('No actions to playback');
@@ -61,32 +72,35 @@ window.addEventListener('DOMContentLoaded', function() {
         // 保存当前录制状态并禁用录制
         const originalRecordingState = window.isRecording;
         window.isRecording = false;
+        window.isPlaying = true;
         
         status.innerHTML = `<p>开始回放...</p>`;
         console.log('Starting playback');
         
         // 按时间顺序回放操作
-        let lastTimestamp = 0;
+        let currentTime = 0;
         const totalDuration = window.recordedActions[window.recordedActions.length - 1].timestamp;
         
-        // 确保至少有一个操作
+        // 执行所有操作
-        if (window.recordedActions.length > 0) {
+        window.recordedActions.forEach((action, index) => {
-            // 执行第一个操作
+            if (index === 0) {
-            console.log('Executing first action immediately:', window.recordedActions[0]);
+                // 第一个操作立即执行
-            controlMotor(window.recordedActions[0].direction);
+                console.log('Executing action immediately:', action);
-            
+                controlMotor(action.direction);
-            // 执行剩余的操作
+            } else {
-            for (let i = 1; i < window.recordedActions.length; i++) {
+                // 计算与前一个操作的时间差
-                const action = window.recordedActions[i];
+                const prevAction = window.recordedActions[index - 1];
-                const delay = action.timestamp - window.recordedActions[i-1].timestamp;
+                const delay = action.timestamp - prevAction.timestamp;
-                console.log('Scheduling action:', action, 'at delay:', delay);
+                currentTime += delay;
+                
+                console.log('Scheduling action:', action, 'at delay:', currentTime);
                 setTimeout(() => {
                     // 调用控制函数执行操作
                     console.log('Executing action:', action);
                     controlMotor(action.direction);
-                }, delay);
+                }, currentTime);
             }
-        }
+        });
         
         // 回放完成后，确保发送停止请求
         setTimeout(() => {
@@ -96,7 +110,8 @@ window.addEventListener('DOMContentLoaded', function() {
             console.log('Playback completed');
             // 恢复原始录制状态
             window.isRecording = originalRecordingState;
-        }, totalDuration + 1000);
+            window.isPlaying = false;
+        }, totalDuration + 2000); // 增加延迟，确保所有动作都已执行
     }
 
     console.log('Adding click event listener to playbackBtn');

main/motor_test.py

@@ -0,0 +1,146 @@
+from smbus2 import SMBus
+import time
+import signal
+import sys
+
+# ======================
+# Ctrl+C 安全退出
+# ======================
+def signal_handler(sig, frame):
+    print("\n停止电机...")
+    stop()
+    sys.exit(0)
+
+signal.signal(signal.SIGINT, signal_handler)
+
+# ======================
+# PCA9685 初始化
+# ======================
+bus = SMBus(1)
+addr = 0x60
+
+bus.write_byte_data(addr, 0x00, 0x00)
+bus.write_byte_data(addr, 0xFE, 60)
+
+# ======================
+# 电机定义
+# ======================
+MOTOR = {
+    "M1": (0, 1),   # 前左（Y轴）
+    "M2": (2, 3),   # 前右（Y轴）
+    "M3": (4, 5),   # 后左（X轴）
+    "M4": (6, 7),   # 后右（X轴）
+}
+
+# ⚠️ 需要你微调方向（如果反了就改 ±1）
+DIR = {
+    "M1": 1,
+    "M2": 1,
+    "M3": 1,
+    "M4": 1,
+}
+
+# ======================
+# PWM输出
+# ======================
+def set_pwm(ch, value):
+    value = max(0, min(4095, value))
+    bus.write_byte_data(addr, 0x06 + 4 * ch, 0)
+    bus.write_byte_data(addr, 0x07 + 4 * ch, 0)
+    bus.write_byte_data(addr, 0x08 + 4 * ch, value & 0xFF)
+    bus.write_byte_data(addr, 0x09 + 4 * ch, value >> 8)
+
+# ======================
+# 单电机控制
+# ======================
+def motor_drive(name, speed):
+    in1, in2 = MOTOR[name]
+
+    speed *= DIR[name]
+    pwm = int(abs(speed) * 4095)
+
+    if speed > 0:
+        set_pwm(in1, pwm)
+        set_pwm(in2, 0)
+    elif speed < 0:
+        set_pwm(in1, 0)
+        set_pwm(in2, pwm)
+    else:
+        # 刹车
+        set_pwm(in1, 4095)
+        set_pwm(in2, 4095)
+
+# ======================
+# ⭐ 全向轮核心控制（重点）
+# vx: 左右 (-1~1)
+# vy: 前后 (-1~1)
+# w : 旋转 (-1~1)
+# ======================
+def move(vx, vy, w):
+    m1 = vy + w
+    m2 = vy - w
+    m3 = vx + w
+    m4 = vx - w
+
+    # 归一化（防止超限）
+    max_val = max(abs(m1), abs(m2), abs(m3), abs(m4), 1)
+
+    motor_drive("M1", m1 / max_val)
+    motor_drive("M2", m2 / max_val)
+    motor_drive("M3", m3 / max_val)
+    motor_drive("M4", m4 / max_val)
+
+# ======================
+# 基础动作（封装）
+# ======================
+def forward(speed=0.6):
+    move(0, speed, 0)
+
+def backward(speed=0.6):
+    move(0, -speed, 0)
+
+def left(speed=0.6):
+    move(-speed, 0, 0)
+
+def right(speed=0.6):
+    move(speed, 0, 0)
+
+def rotate_left(speed=0.6):
+    move(0, 0, speed)
+
+def rotate_right(speed=0.6):
+    move(0, 0, -speed)
+
+def stop():
+    motor_drive("M1", 0)
+    motor_drive("M2", 0)
+    motor_drive("M3", 0)
+    motor_drive("M4", 0)
+
+# ======================
+# 测试
+# ======================
+if __name__ == "__main__":
+
+    print("前进")
+    forward()
+    time.sleep(1)
+
+    print("后退")
+    backward()
+    time.sleep(1)
+
+    print("左移")
+    left()
+    time.sleep(1)
+
+    print("右移")
+    right()
+    time.sleep(1)
+
+    print("左旋转")
+    rotate_left()
+    time.sleep(1)
+
+    print("停止")
+    stop()