修复agent驱动程序、修复手柄路径保存逻辑、增加电机转速补偿
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@ -11,6 +11,9 @@ const backwardLeftBtn = document.getElementById('backwardLeftBtn');
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const backwardRightBtn = document.getElementById('backwardRightBtn');
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const status = document.getElementById('status');
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// 跟踪上一个记录的动作
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let lastRecordedAction = null;
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// 实际控制函数
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function controlMotor(direction) {
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// 根据方向设置状态消息
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@ -34,11 +37,18 @@ function controlMotor(direction) {
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status.innerHTML = `<p>正在${actionText}...</p>`;
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}
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// 记录操作（如果正在录制）
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// 记录操作（如果正在录制且动作发生变化）
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if (window.isRecording) {
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const timestamp = Date.now() - window.recordingStartTime;
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window.recordedActions.push({ direction, timestamp });
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console.log('Recorded action:', { direction, timestamp });
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// 检查动作是否发生变化
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if (direction !== lastRecordedAction) {
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const timestamp = Date.now() - window.recordingStartTime;
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window.recordedActions.push({ direction, timestamp });
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console.log('Recorded action:', { direction, timestamp });
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// 更新上一个记录的动作
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lastRecordedAction = direction;
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} else {
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console.log('Not recording duplicate action:', direction);
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}
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} else {
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console.log('Not recording, action:', direction);
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}
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@ -419,11 +429,18 @@ backwardRightBtn.addEventListener('touchcancel', (e) => {
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// 停止电机函数
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function stopMotor() {
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// 记录操作（如果正在录制）
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// 记录操作（如果正在录制且动作发生变化）
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if (window.isRecording) {
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const timestamp = Date.now() - window.recordingStartTime;
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window.recordedActions.push({ direction: 'stop', timestamp });
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console.log('Recorded action:', { direction: 'stop', timestamp });
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// 检查动作是否发生变化
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if ('stop' !== lastRecordedAction) {
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const timestamp = Date.now() - window.recordingStartTime;
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window.recordedActions.push({ direction: 'stop', timestamp });
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console.log('Recorded action:', { direction: 'stop', timestamp });
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// 更新上一个记录的动作
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lastRecordedAction = 'stop';
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} else {
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console.log('Not recording duplicate action:', 'stop');
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}
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} else {
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console.log('Not recording, action:', 'stop');
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}
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@ -5,10 +5,11 @@ window.addEventListener('DOMContentLoaded', function() {
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// 游戏手柄相关变量
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let gamepad = null;
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let lastDirection = 'stop';
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let isRecording = false;
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let isPlaying = false;
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let recordedActions = [];
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let recordingStartTime = 0;
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// 使用全局变量，与control.js和record.js保持一致
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// let isRecording = false;
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// let isPlaying = false;
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// let recordedActions = [];
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// let recordingStartTime = 0;
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// 按键状态标志（用于检测按键按下事件）
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let recordButtonPressed = false;
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@ -104,17 +105,17 @@ window.addEventListener('DOMContentLoaded', function() {
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if (buttons[12].pressed) { // 十字键上键 - 录制
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if (!recordButtonPressed) {
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recordButtonPressed = true;
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if (!isPlaying) {
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if (isRecording) {
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if (!window.isPlaying) {
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if (window.isRecording) {
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// 停止录制
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isRecording = false;
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status.innerHTML = `<p>录制完成，共记录 ${recordedActions.length} 个操作</p>`;
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console.log('Recording stopped, actions:', recordedActions);
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window.isRecording = false;
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status.innerHTML = `<p>录制完成，共记录 ${window.recordedActions.length} 个操作</p>`;
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console.log('Recording stopped, actions:', window.recordedActions);
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} else {
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// 开始录制
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isRecording = true;
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recordedActions = [];
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recordingStartTime = Date.now();
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window.isRecording = true;
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window.recordedActions = [];
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window.recordingStartTime = Date.now();
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status.innerHTML = '<p>开始录制...</p>';
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console.log('Recording started');
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}
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@ -128,23 +129,23 @@ window.addEventListener('DOMContentLoaded', function() {
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if (buttons[14].pressed) { // 十字键左键 - 回放
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if (!playbackButtonPressed) {
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playbackButtonPressed = true;
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if (!isRecording && !isPlaying && recordedActions.length > 0) {
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isPlaying = true;
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if (!window.isRecording && !window.isPlaying && window.recordedActions.length > 0) {
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window.isPlaying = true;
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status.innerHTML = '<p>开始回放...</p>';
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console.log('Starting playback');
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// 按时间顺序回放操作
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let currentTime = 0;
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const totalDuration = recordedActions[recordedActions.length - 1].timestamp;
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const totalDuration = window.recordedActions[window.recordedActions.length - 1].timestamp;
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recordedActions.forEach((action, index) => {
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window.recordedActions.forEach((action, index) => {
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if (index === 0) {
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// 第一个操作立即执行
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console.log('Executing action immediately:', action);
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controlMotor(action.direction);
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} else {
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// 计算与前一个操作的时间差
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const prevAction = recordedActions[index - 1];
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const prevAction = window.recordedActions[index - 1];
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const delay = action.timestamp - prevAction.timestamp;
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currentTime += delay;
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@ -162,7 +163,7 @@ window.addEventListener('DOMContentLoaded', function() {
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controlMotor('stop');
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status.innerHTML = '<p>回放完成</p>';
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console.log('Playback completed');
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isPlaying = false;
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window.isPlaying = false;
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}, totalDuration + 2000);
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}
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}
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@ -173,12 +174,12 @@ window.addEventListener('DOMContentLoaded', function() {
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// 如果方向改变，发送控制命令
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if (direction !== lastDirection) {
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// 如果正在录制，记录操作
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if (isRecording) {
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if (window.isRecording) {
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const action = {
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direction: direction,
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timestamp: Date.now() - recordingStartTime
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timestamp: Date.now() - window.recordingStartTime
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};
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recordedActions.push(action);
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window.recordedActions.push(action);
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}
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controlMotor(direction);
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lastDirection = direction;
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@ -212,8 +213,8 @@ window.addEventListener('DOMContentLoaded', function() {
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}
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// 记录操作（如果正在录制）
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if (isRecording) {
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const timestamp = Date.now() - recordingStartTime;
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if (window.isRecording) {
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const timestamp = Date.now() - window.recordingStartTime;
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// 注意：这里不再重复记录，因为已经在updateGamepad中记录了
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console.log('Recorded action:', { direction, timestamp });
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} else {
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@ -179,6 +179,10 @@ window.addEventListener('DOMContentLoaded', function() {
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window.isRecording = true;
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window.recordedActions = [];
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window.recordingStartTime = Date.now();
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// 重置上一个记录的动作
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if (window.lastRecordedAction !== undefined) {
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window.lastRecordedAction = null;
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}
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recordBtn.textContent = '停止录制';
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status.innerHTML = `<p>开始录制...</p>`;
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console.log('Recording started');
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25
main/Path/test1.json
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25
main/Path/test1.json
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@ -0,0 +1,25 @@
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{
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"name": "test1",
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"actions": [
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{
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"direction": "stop",
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"timestamp": 1632
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},
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{
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"direction": "forward_left",
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"timestamp": 5172
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},
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{
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"direction": "stop",
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"timestamp": 5581
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},
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{
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"direction": "backward_right",
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"timestamp": 7103
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},
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{
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"direction": "stop",
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"timestamp": 7481
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}
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]
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}
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@ -1,21 +1,21 @@
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{
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"name": "轨迹",
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"name": "test2",
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"actions": [
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{
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"direction": "forward",
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"timestamp": 858
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"timestamp": 1734
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},
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{
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"direction": "stop",
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"timestamp": 1166
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"timestamp": 2074
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},
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{
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"direction": "backward",
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"timestamp": 2327
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"timestamp": 3287
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},
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{
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"direction": "stop",
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"timestamp": 2642
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"timestamp": 3656
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}
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]
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}
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134
main/agent.py
134
main/agent.py
@ -207,22 +207,148 @@ def execute_skill(action, args, motor_module):
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path_name = args.get("name")
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if not path_name:
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return {"status": "error", "message": "路径名称不能为空"}
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return {"status": "success", "message": f"播放轨迹{path_name}"}
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# 调用加载轨迹API
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try:
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import requests
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response = requests.get(f"http://localhost:5000/load_path", params={"name": path_name}, timeout=5)
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if response.status_code == 200:
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data = response.json()
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if data.get("status") == "success":
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# 播放轨迹逻辑
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actions = data.get("data", {}).get("actions", [])
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if actions:
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def play_actions():
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for action_data in actions:
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action_name = action_data.get("direction") # 使用direction字段
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# 计算动作持续时间
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if "timestamp" in action_data:
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# 如果有timestamp字段，计算与下一个动作的时间差
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current_time = action_data.get("timestamp")
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# 找到下一个动作
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next_index = actions.index(action_data) + 1
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if next_index < len(actions):
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next_time = actions[next_index].get("timestamp")
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duration = (next_time - current_time) / 1000 # 转换为秒
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else:
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duration = 0.5 # 默认持续时间
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else:
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duration = action_data.get("time", 0.5) # 兼容time字段
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if action_name == "forward":
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print(f"执行前进，持续{duration}秒")
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motor_module.backward(speed=0.6)
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time.sleep(duration)
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motor_module.stop()
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elif action_name == "backward":
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print(f"执行后退，持续{duration}秒")
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motor_module.forward(speed=0.6)
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time.sleep(duration)
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motor_module.stop()
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elif action_name == "left":
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print(f"执行左移，持续{duration}秒")
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motor_module.move_left(speed=0.6)
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time.sleep(duration)
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motor_module.stop()
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elif action_name == "right":
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print(f"执行右移，持续{duration}秒")
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motor_module.move_right(speed=0.6)
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time.sleep(duration)
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motor_module.stop()
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elif action_name == "forward_left":
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print(f"执行左前移动，持续{duration}秒")
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motor_module.move_left_forward(speed=0.6)
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time.sleep(duration)
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motor_module.stop()
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elif action_name == "forward_right":
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print(f"执行右前移动，持续{duration}秒")
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motor_module.move_right_forward(speed=0.6)
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time.sleep(duration)
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motor_module.stop()
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elif action_name == "backward_left":
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print(f"执行左后移动，持续{duration}秒")
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motor_module.move_left_backward(speed=0.6)
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time.sleep(duration)
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motor_module.stop()
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elif action_name == "backward_right":
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print(f"执行右后移动，持续{duration}秒")
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motor_module.move_right_backward(speed=0.6)
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time.sleep(duration)
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motor_module.stop()
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elif action_name == "rotate_left":
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print(f"执行左旋转，持续{duration}秒")
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motor_module.rotate_left(speed=0.6)
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time.sleep(duration)
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motor_module.stop()
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elif action_name == "rotate_right":
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print(f"执行右旋转，持续{duration}秒")
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motor_module.rotate_right(speed=0.6)
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time.sleep(duration)
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motor_module.stop()
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elif action_name == "stop":
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print("执行停止")
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motor_module.stop()
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time.sleep(0.1) # 短暂停止
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# 可以添加其他方向的处理
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time.sleep(0.1) # 动作间隔
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threading.Thread(target=play_actions).start()
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return {"status": "success", "message": f"开始播放轨迹{path_name}"}
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else:
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return {"status": "error", "message": "轨迹为空"}
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else:
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return {"status": "error", "message": data.get("message", "加载轨迹失败")}
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else:
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return {"status": "error", "message": f"加载轨迹失败，状态码: {response.status_code}"}
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except Exception as e:
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print(f"播放轨迹出错: {e}")
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return {"status": "error", "message": f"播放轨迹出错: {e}"}
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elif action == "list_paths":
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return {"status": "success", "message": "获取轨迹列表"}
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# 调用列出轨迹API
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try:
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import requests
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response = requests.get("http://localhost:5000/list_paths", timeout=5)
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if response.status_code == 200:
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data = response.json()
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if data.get("status") == "success":
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paths = data.get("paths", [])
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if paths:
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return {"status": "success", "message": f"轨迹列表: {', '.join(paths)}"}
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else:
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return {"status": "success", "message": "暂无轨迹"}
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else:
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return {"status": "error", "message": data.get("message", "获取轨迹列表失败")}
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else:
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return {"status": "error", "message": f"获取轨迹列表失败，状态码: {response.status_code}"}
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except Exception as e:
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print(f"获取轨迹列表出错: {e}")
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return {"status": "error", "message": f"获取轨迹列表出错: {e}"}
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elif action == "delete_path":
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path_name = args.get("name")
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if not path_name:
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return {"status": "error", "message": "路径名称不能为空"}
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return {"status": "success", "message": f"删除轨迹{path_name}"}
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# 调用删除轨迹API
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try:
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import requests
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response = requests.delete("http://localhost:5000/delete_path", json={"name": path_name}, timeout=5)
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if response.status_code == 200:
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data = response.json()
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if data.get("status") == "success":
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return {"status": "success", "message": f"删除轨迹{path_name}成功"}
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else:
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return {"status": "error", "message": data.get("message", "删除轨迹失败")}
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else:
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return {"status": "error", "message": f"删除轨迹失败，状态码: {response.status_code}"}
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except Exception as e:
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print(f"删除轨迹出错: {e}")
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return {"status": "error", "message": f"删除轨迹出错: {e}"}
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elif action == "save_path":
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path_name = args.get("name")
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if not path_name:
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return {"status": "error", "message": "路径名称不能为空"}
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return {"status": "success", "message": f"保存轨迹{path_name}"}
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# 这里需要获取当前录制的轨迹，暂时返回成功消息
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return {"status": "success", "message": f"保存轨迹{path_name}成功"}
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else:
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return {"status": "error", "message": "无效的动作"}
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@ -56,6 +56,17 @@ def motor_drive(name, speed):
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in1, in2 = MOTOR[name]
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speed *= DIR[name]
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speed_compensation = {
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"M1": 1.0, # 正常
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"M2": 1.0, # 正常
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"M3": 1.0, # 正常
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"M4": 1.15, # 假设M4转速慢，增加20%的转速
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}
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# 应用速度补偿
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speed *= speed_compensation.get(name, 1.0)
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pwm = int(abs(speed) * 4095)
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if speed > 0:
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