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

main/Javascript/control.js

@@ -11,6 +11,9 @@ const backwardLeftBtn = document.getElementById('backwardLeftBtn');
 const backwardRightBtn = document.getElementById('backwardRightBtn');
 const status = document.getElementById('status');
 
+// 跟踪上一个记录的动作
+let lastRecordedAction = null;
+
 // 实际控制函数
 function controlMotor(direction) {
     // 根据方向设置状态消息
@@ -34,11 +37,18 @@ function controlMotor(direction) {
         status.innerHTML = `<p>正在${actionText}...</p>`;
     }
     
-    // 记录操作（如果正在录制）
+    // 记录操作（如果正在录制且动作发生变化）
     if (window.isRecording) {
-        const timestamp = Date.now() - window.recordingStartTime;
-        window.recordedActions.push({ direction, timestamp });
-        console.log('Recorded action:', { direction, timestamp });
+        // 检查动作是否发生变化
+        if (direction !== lastRecordedAction) {
+            const timestamp = Date.now() - window.recordingStartTime;
+            window.recordedActions.push({ direction, timestamp });
+            console.log('Recorded action:', { direction, timestamp });
+            // 更新上一个记录的动作
+            lastRecordedAction = direction;
+        } else {
+            console.log('Not recording duplicate action:', direction);
+        }
     } else {
         console.log('Not recording, action:', direction);
     }
@@ -419,11 +429,18 @@ backwardRightBtn.addEventListener('touchcancel', (e) => {
 
 // 停止电机函数
 function stopMotor() {
-    // 记录操作（如果正在录制）
+    // 记录操作（如果正在录制且动作发生变化）
     if (window.isRecording) {
-        const timestamp = Date.now() - window.recordingStartTime;
-        window.recordedActions.push({ direction: 'stop', timestamp });
-        console.log('Recorded action:', { direction: 'stop', timestamp });
+        // 检查动作是否发生变化
+        if ('stop' !== lastRecordedAction) {
+            const timestamp = Date.now() - window.recordingStartTime;
+            window.recordedActions.push({ direction: 'stop', timestamp });
+            console.log('Recorded action:', { direction: 'stop', timestamp });
+            // 更新上一个记录的动作
+            lastRecordedAction = 'stop';
+        } else {
+            console.log('Not recording duplicate action:', 'stop');
+        }
     } else {
         console.log('Not recording, action:', 'stop');
     }

main/Javascript/joycon.js

@@ -5,10 +5,11 @@ window.addEventListener('DOMContentLoaded', function() {
     // 游戏手柄相关变量
     let gamepad = null;
     let lastDirection = 'stop';
-    let isRecording = false;
-    let isPlaying = false;
-    let recordedActions = [];
-    let recordingStartTime = 0;
+    // 使用全局变量，与control.js和record.js保持一致
+    // let isRecording = false;
+    // let isPlaying = false;
+    // let recordedActions = [];
+    // let recordingStartTime = 0;
     
     // 按键状态标志（用于检测按键按下事件）
     let recordButtonPressed = false;
@@ -104,17 +105,17 @@ window.addEventListener('DOMContentLoaded', function() {
         if (buttons[12].pressed) { // 十字键上键 - 录制
             if (!recordButtonPressed) {
                 recordButtonPressed = true;
-                if (!isPlaying) {
-                    if (isRecording) {
+                if (!window.isPlaying) {
+                    if (window.isRecording) {
                         // 停止录制
-                        isRecording = false;
-                        status.innerHTML = `<p>录制完成，共记录 ${recordedActions.length} 个操作</p>`;
-                        console.log('Recording stopped, actions:', recordedActions);
+                        window.isRecording = false;
+                        status.innerHTML = `<p>录制完成，共记录 ${window.recordedActions.length} 个操作</p>`;
+                        console.log('Recording stopped, actions:', window.recordedActions);
                     } else {
                         // 开始录制
-                        isRecording = true;
-                        recordedActions = [];
-                        recordingStartTime = Date.now();
+                        window.isRecording = true;
+                        window.recordedActions = [];
+                        window.recordingStartTime = Date.now();
                         status.innerHTML = '<p>开始录制...</p>';
                         console.log('Recording started');
                     }
@@ -128,23 +129,23 @@ window.addEventListener('DOMContentLoaded', function() {
         if (buttons[14].pressed) { // 十字键左键 - 回放
             if (!playbackButtonPressed) {
                 playbackButtonPressed = true;
-                if (!isRecording && !isPlaying && recordedActions.length > 0) {
-                    isPlaying = true;
+                if (!window.isRecording && !window.isPlaying && window.recordedActions.length > 0) {
+                    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 currentTime = 0;
-                    const totalDuration = recordedActions[recordedActions.length - 1].timestamp;
+                    const totalDuration = window.recordedActions[window.recordedActions.length - 1].timestamp;
                     
-                    recordedActions.forEach((action, index) => {
+                    window.recordedActions.forEach((action, index) => {
                         if (index === 0) {
                             // 第一个操作立即执行
                             console.log('Executing action immediately:', action);
                             controlMotor(action.direction);
                         } else {
                             // 计算与前一个操作的时间差
-                            const prevAction = recordedActions[index - 1];
+                            const prevAction = window.recordedActions[index - 1];
                             const delay = action.timestamp - prevAction.timestamp;
                             currentTime += delay;
                             
@@ -162,7 +163,7 @@ window.addEventListener('DOMContentLoaded', function() {
                         controlMotor('stop');
                         status.innerHTML = '<p>回放完成</p>';
                         console.log('Playback completed');
-                        isPlaying = false;
+                        window.isPlaying = false;
                     }, totalDuration + 2000);
                 }
             }
@@ -173,12 +174,12 @@ window.addEventListener('DOMContentLoaded', function() {
         // 如果方向改变，发送控制命令
         if (direction !== lastDirection) {
             // 如果正在录制，记录操作
-            if (isRecording) {
+            if (window.isRecording) {
                 const action = {
                     direction: direction,
-                    timestamp: Date.now() - recordingStartTime
+                    timestamp: Date.now() - window.recordingStartTime
                 };
-                recordedActions.push(action);
+                window.recordedActions.push(action);
             }
             controlMotor(direction);
             lastDirection = direction;
@@ -212,8 +213,8 @@ window.addEventListener('DOMContentLoaded', function() {
         }
         
         // 记录操作（如果正在录制）
-        if (isRecording) {
-            const timestamp = Date.now() - recordingStartTime;
+        if (window.isRecording) {
+            const timestamp = Date.now() - window.recordingStartTime;
             // 注意：这里不再重复记录，因为已经在updateGamepad中记录了
             console.log('Recorded action:', { direction, timestamp });
         } else {

main/Javascript/record.js

@@ -179,6 +179,10 @@ window.addEventListener('DOMContentLoaded', function() {
             window.isRecording = true;
             window.recordedActions = [];
             window.recordingStartTime = Date.now();
+            // 重置上一个记录的动作
+            if (window.lastRecordedAction !== undefined) {
+                window.lastRecordedAction = null;
+            }
             recordBtn.textContent = '停止录制';
             status.innerHTML = `<p>开始录制...</p>`;
             console.log('Recording started');