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八方向运动控制优化完成

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张梦南 2026-04-13 16:51:31 +08:00
parent 4faa9f6b35
commit ad69c30df4
6 changed files with 555 additions and 101 deletions
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40
main/CSS/control.css
View File

@ -91,6 +91,46 @@
color: white;
}
.btn-left {
background-color: #2196F3;
color: white;
}
.btn-right {
background-color: #FF9800;
color: white;
}
.btn-rotate-left {
background-color: #9C27B0;
color: white;
}
.btn-rotate-right {
background-color: #607D8B;
color: white;
}
.btn-forward-left {
background-color: #4CAF50;
color: white;
}
.btn-forward-right {
background-color: #4CAF50;
color: white;
}
.btn-backward-left {
background-color: #f44336;
color: white;
}
.btn-backward-right {
background-color: #f44336;
color: white;
}
.btn:hover {
transform: translateY(-3px);
box-shadow: 0 6px 12px rgba(0, 0, 0, 0.15);

305
main/Javascript/control.js
View File

@ -1,6 +1,14 @@
// 获取按钮和状态元素
const forwardBtn = document.getElementById('forwardBtn');
const backwardBtn = document.getElementById('backwardBtn');
const leftBtn = document.getElementById('leftBtn');
const rightBtn = document.getElementById('rightBtn');
const rotateLeftBtn = document.getElementById('rotateLeftBtn');
const rotateRightBtn = document.getElementById('rotateRightBtn');
const forwardLeftBtn = document.getElementById('forwardLeftBtn');
const forwardRightBtn = document.getElementById('forwardRightBtn');
const backwardLeftBtn = document.getElementById('backwardLeftBtn');
const backwardRightBtn = document.getElementById('backwardRightBtn');
const status = document.getElementById('status');
// 实际控制函数
@ -9,7 +17,21 @@ function controlMotor(direction) {
if (direction === 'stop') {
status.innerHTML = `<p>正在停止...</p>`;
} else {
status.innerHTML = `<p>正在${direction === 'forward' ? '前进' : '后退'}...</p>`;
let actionText = '';
switch (direction) {
case 'forward': actionText = '前进'; break;
case 'backward': actionText = '后退'; break;
case 'left': actionText = '左移'; break;
case 'right': actionText = '右移'; break;
case 'rotate_left': actionText = '左旋转'; break;
case 'rotate_right': actionText = '右旋转'; break;
case 'forward_left': actionText = '左前移动'; break;
case 'forward_right': actionText = '右前移动'; break;
case 'backward_left': actionText = '左后移动'; break;
case 'backward_right': actionText = '右后移动'; break;
default: actionText = '移动'; break;
}
status.innerHTML = `<p>正在${actionText}...</p>`;
}
// 记录操作（如果正在录制）
@ -114,6 +136,287 @@ backwardBtn.addEventListener('touchcancel', (e) => {
stopMotor();
});
// 左移按钮 - 支持鼠标和触摸事件
leftBtn.addEventListener('mousedown', () => {
// 发送左移请求
controlMotor('left');
});
leftBtn.addEventListener('mouseup', () => {
// 停止电机
stopMotor();
});
leftBtn.addEventListener('mouseleave', () => {
// 鼠标离开按钮时也停止
stopMotor();
});
// 左移按钮 - 触摸事件
leftBtn.addEventListener('touchstart', (e) => {
e.preventDefault(); // 防止默认行为
// 发送左移请求
controlMotor('left');
});
leftBtn.addEventListener('touchend', (e) => {
e.preventDefault(); // 防止默认行为
// 停止电机
stopMotor();
});
leftBtn.addEventListener('touchcancel', (e) => {
e.preventDefault(); // 防止默认行为
// 触摸被取消时停止电机
stopMotor();
});
// 右移按钮 - 支持鼠标和触摸事件
rightBtn.addEventListener('mousedown', () => {
// 发送右移请求
controlMotor('right');
});
rightBtn.addEventListener('mouseup', () => {
// 停止电机
stopMotor();
});
rightBtn.addEventListener('mouseleave', () => {
// 鼠标离开按钮时也停止
stopMotor();
});
// 右移按钮 - 触摸事件
rightBtn.addEventListener('touchstart', (e) => {
e.preventDefault(); // 防止默认行为
// 发送右移请求
controlMotor('right');
});
rightBtn.addEventListener('touchend', (e) => {
e.preventDefault(); // 防止默认行为
// 停止电机
stopMotor();
});
rightBtn.addEventListener('touchcancel', (e) => {
e.preventDefault(); // 防止默认行为
// 触摸被取消时停止电机
stopMotor();
});
// 左旋转按钮 - 支持鼠标和触摸事件
rotateLeftBtn.addEventListener('mousedown', () => {
// 发送左旋转请求
controlMotor('rotate_left');
});
rotateLeftBtn.addEventListener('mouseup', () => {
// 停止电机
stopMotor();
});
rotateLeftBtn.addEventListener('mouseleave', () => {
// 鼠标离开按钮时也停止
stopMotor();
});
// 左旋转按钮 - 触摸事件
rotateLeftBtn.addEventListener('touchstart', (e) => {
e.preventDefault(); // 防止默认行为
// 发送左旋转请求
controlMotor('rotate_left');
});
rotateLeftBtn.addEventListener('touchend', (e) => {
e.preventDefault(); // 防止默认行为
// 停止电机
stopMotor();
});
rotateLeftBtn.addEventListener('touchcancel', (e) => {
e.preventDefault(); // 防止默认行为
// 触摸被取消时停止电机
stopMotor();
});
// 右旋转按钮 - 支持鼠标和触摸事件
rotateRightBtn.addEventListener('mousedown', () => {
// 发送右旋转请求
controlMotor('rotate_right');
});
rotateRightBtn.addEventListener('mouseup', () => {
// 停止电机
stopMotor();
});
rotateRightBtn.addEventListener('mouseleave', () => {
// 鼠标离开按钮时也停止
stopMotor();
});
// 右旋转按钮 - 触摸事件
rotateRightBtn.addEventListener('touchstart', (e) => {
e.preventDefault(); // 防止默认行为
// 发送右旋转请求
controlMotor('rotate_right');
});
rotateRightBtn.addEventListener('touchend', (e) => {
e.preventDefault(); // 防止默认行为
// 停止电机
stopMotor();
});
// 右旋转按钮 - 触摸事件
rotateRightBtn.addEventListener('touchcancel', (e) => {
e.preventDefault(); // 防止默认行为
// 触摸被取消时停止电机
stopMotor();
});
// 左前按钮 - 支持鼠标和触摸事件
forwardLeftBtn.addEventListener('mousedown', () => {
// 发送左前移动请求
controlMotor('forward_left');
});
forwardLeftBtn.addEventListener('mouseup', () => {
// 停止电机
stopMotor();
});
forwardLeftBtn.addEventListener('mouseleave', () => {
// 鼠标离开按钮时也停止
stopMotor();
});
// 左前按钮 - 触摸事件
forwardLeftBtn.addEventListener('touchstart', (e) => {
e.preventDefault(); // 防止默认行为
// 发送左前移动请求
controlMotor('forward_left');
});
forwardLeftBtn.addEventListener('touchend', (e) => {
e.preventDefault(); // 防止默认行为
// 停止电机
stopMotor();
});
forwardLeftBtn.addEventListener('touchcancel', (e) => {
e.preventDefault(); // 防止默认行为
// 触摸被取消时停止电机
stopMotor();
});
// 右前按钮 - 支持鼠标和触摸事件
forwardRightBtn.addEventListener('mousedown', () => {
// 发送右前移动请求
controlMotor('forward_right');
});
forwardRightBtn.addEventListener('mouseup', () => {
// 停止电机
stopMotor();
});
forwardRightBtn.addEventListener('mouseleave', () => {
// 鼠标离开按钮时也停止
stopMotor();
});
// 右前按钮 - 触摸事件
forwardRightBtn.addEventListener('touchstart', (e) => {
e.preventDefault(); // 防止默认行为
// 发送右前移动请求
controlMotor('forward_right');
});
forwardRightBtn.addEventListener('touchend', (e) => {
e.preventDefault(); // 防止默认行为
// 停止电机
stopMotor();
});
forwardRightBtn.addEventListener('touchcancel', (e) => {
e.preventDefault(); // 防止默认行为
// 触摸被取消时停止电机
stopMotor();
});
// 左后按钮 - 支持鼠标和触摸事件
backwardLeftBtn.addEventListener('mousedown', () => {
// 发送左后移动请求
controlMotor('backward_left');
});
backwardLeftBtn.addEventListener('mouseup', () => {
// 停止电机
stopMotor();
});
backwardLeftBtn.addEventListener('mouseleave', () => {
// 鼠标离开按钮时也停止
stopMotor();
});
// 左后按钮 - 触摸事件
backwardLeftBtn.addEventListener('touchstart', (e) => {
e.preventDefault(); // 防止默认行为
// 发送左后移动请求
controlMotor('backward_left');
});
backwardLeftBtn.addEventListener('touchend', (e) => {
e.preventDefault(); // 防止默认行为
// 停止电机
stopMotor();
});
backwardLeftBtn.addEventListener('touchcancel', (e) => {
e.preventDefault(); // 防止默认行为
// 触摸被取消时停止电机
stopMotor();
});
// 右后按钮 - 支持鼠标和触摸事件
backwardRightBtn.addEventListener('mousedown', () => {
// 发送右后移动请求
controlMotor('backward_right');
});
backwardRightBtn.addEventListener('mouseup', () => {
// 停止电机
stopMotor();
});
backwardRightBtn.addEventListener('mouseleave', () => {
// 鼠标离开按钮时也停止
stopMotor();
});
// 右后按钮 - 触摸事件
backwardRightBtn.addEventListener('touchstart', (e) => {
e.preventDefault(); // 防止默认行为
// 发送右后移动请求
controlMotor('backward_right');
});
backwardRightBtn.addEventListener('touchend', (e) => {
e.preventDefault(); // 防止默认行为
// 停止电机
stopMotor();
});
backwardRightBtn.addEventListener('touchcancel', (e) => {
e.preventDefault(); // 防止默认行为
// 触摸被取消时停止电机
stopMotor();
});
// 停止电机函数
function stopMotor() {
// 记录操作（如果正在录制）

10
main/index.html
View File

@ -16,10 +16,20 @@
<!-- 移动控制区域 -->
<div class="movement-controls">
<div class="movement-row">
<button class="btn btn-forward-left" id="forwardLeftBtn"><span>左前</span></button>
<button class="btn btn-forward" id="forwardBtn"><span>前进</span></button>
<button class="btn btn-forward-right" id="forwardRightBtn"><span>右前</span></button>
</div>
<div class="movement-row">
<button class="btn btn-left" id="leftBtn"><span>左移</span></button>
<button class="btn btn-backward" id="backwardBtn"><span>后退</span></button>
<button class="btn btn-right" id="rightBtn"><span>右移</span></button>
</div>
<div class="movement-row">
<button class="btn btn-backward-left" id="backwardLeftBtn"><span>左后</span></button>
<button class="btn btn-rotate-left" id="rotateLeftBtn"><span>左旋转</span></button>
<button class="btn btn-rotate-right" id="rotateRightBtn"><span>右旋转</span></button>
<button class="btn btn-backward-right" id="backwardRightBtn"><span>右后</span></button>
</div>
</div>

124
main/motor.py
View File

@ -19,35 +19,28 @@ signal.signal(signal.SIGINT, signal_handler)
bus = SMBus(1)
addr = 0x60
MODE1 = 0x00
PRESCALE = 0xFE
bus.write_byte_data(addr, MODE1, 0x00)
bus.write_byte_data(addr, PRESCALE, 60)
bus.write_byte_data(addr, 0x00, 0x00)
bus.write_byte_data(addr, 0xFE, 60)
# ======================
# 电机通道映射（每个电机 IN1 / IN2）
# 电机定义
# ======================
MOTOR = {
"M1": (0, 1), # 前左
"M2": (2, 3), # 前右
"M3": (4, 5), # 后左
"M4": (6, 7), # 后右
"M1": (0, 1),
"M2": (2, 3),
"M3": (4, 5),
"M4": (6, 7),
}
# ======================
# 方向修正（麦克纳姆关键）
# 根据你 / \ + \ / 结构校正
# ======================
DIR = {
"M1": 1,
"M2": -1,
"M3": -1,
"M2": 1,
"M3": 1,
"M4": 1,
}
# ======================
# PWM输出函数
# PWM输出
# ======================
def set_pwm(ch, value):
value = max(0, min(4095, value))
@ -58,7 +51,6 @@ def set_pwm(ch, value):
# ======================
# 单电机控制
# speed: -1 ~ 1
# ======================
def motor_drive(name, speed):
in1, in2 = MOTOR[name]
@ -69,34 +61,29 @@ def motor_drive(name, speed):
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（关键，不是0！）
# 刹车
set_pwm(in1, 4095)
set_pwm(in2, 4095)
# ======================
# 基础运动控制
# 基础移动
# ======================
def forward(speed=0.6):
motor_drive("M1", speed)
motor_drive("M2", speed)
motor_drive("M1", -speed)
motor_drive("M2", -speed)
motor_drive("M3", speed)
motor_drive("M4", speed)
def backward(speed=0.6):
motor_drive("M1", -speed)
motor_drive("M2", -speed)
motor_drive("M1", speed)
motor_drive("M2", speed)
motor_drive("M3", -speed)
motor_drive("M4", -speed)
# ======================
# 麦克纳姆左右移动
# ======================
def move_left(speed=0.6):
motor_drive("M1", -speed)
motor_drive("M2", speed)
@ -110,7 +97,49 @@ def move_right(speed=0.6):
motor_drive("M4", speed)
# ======================
# 停止（刹车模式）
# 旋转
# ======================
def rotate_left(speed=0.6):
motor_drive("M1", -speed)
motor_drive("M2", -speed)
motor_drive("M3", -speed)
motor_drive("M4", -speed)
def rotate_right(speed=0.6):
motor_drive("M1", speed)
motor_drive("M2", speed)
motor_drive("M3", speed)
motor_drive("M4", speed)
# ======================
# 斜向移动
# ======================
def move_left_forward(speed=0.6):
motor_drive("M1", 0)
motor_drive("M2", speed)
motor_drive("M3", 0)
motor_drive("M4", -speed)
def move_right_forward(speed=0.6):
motor_drive("M1", speed)
motor_drive("M2", 0)
motor_drive("M3", -speed)
motor_drive("M4", 0)
def move_left_backward(speed=0.6):
motor_drive("M1", -speed)
motor_drive("M2", 0)
motor_drive("M3", speed)
motor_drive("M4", 0)
def move_right_backward(speed=0.6):
motor_drive("M1", 0)
motor_drive("M2", -speed)
motor_drive("M3", 0)
motor_drive("M4", speed)
# ======================
# 停止
# ======================
def stop():
motor_drive("M1", 0)
@ -123,21 +152,24 @@ def stop():
# ======================
if __name__ == "__main__":
print("前进")
forward(0.5)
time.sleep(1)
actions = [
("前进", forward),
("后退", backward),
("左移", move_left),
("右移", move_right),
("左前", move_left_forward),
("右前", move_right_forward),
("左后", move_left_backward),
("右后", move_right_backward),
("左旋", rotate_left),
("右旋", rotate_right),
]
print("停止")
stop()
time.sleep(1)
for name, func in actions:
print(name)
func()
time.sleep(1)
stop()
time.sleep(2)
print("后退")
backward(0.5)
time.sleep(1)
print("停止")
stop()
time.sleep(1)
print("停止")
stop()
print("完成")

137
main/motor_test.py
View File

@ -26,13 +26,12 @@ 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）
"M1": (0, 1),
"M2": (2, 3),
"M3": (4, 5),
"M4": (6, 7),
}
# ⚠️ 需要你微调方向（如果反了就改 ±1）
DIR = {
"M1": 1,
"M2": 1,
@ -71,46 +70,77 @@ def motor_drive(name, speed):
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）
# 基础移动
# ======================
def forward(speed=0.6):
move(0, speed, 0)
motor_drive("M1", speed)
motor_drive("M2", speed)
motor_drive("M3", -speed)
motor_drive("M4", -speed)
def backward(speed=0.6):
move(0, -speed, 0)
motor_drive("M1", -speed)
motor_drive("M2", -speed)
motor_drive("M3", speed)
motor_drive("M4", speed)
def left(speed=0.6):
move(-speed, 0, 0)
def move_left(speed=0.6):
motor_drive("M1", -speed)
motor_drive("M2", speed)
motor_drive("M3", speed)
motor_drive("M4", -speed)
def right(speed=0.6):
move(speed, 0, 0)
def move_right(speed=0.6):
motor_drive("M1", speed)
motor_drive("M2", -speed)
motor_drive("M3", -speed)
motor_drive("M4", speed)
# ======================
# ⭐ 旋转
# ======================
def rotate_left(speed=0.6):
move(0, 0, speed)
motor_drive("M1", -speed)
motor_drive("M2", -speed)
motor_drive("M3", -speed)
motor_drive("M4", -speed)
def rotate_right(speed=0.6):
move(0, 0, -speed)
motor_drive("M1", speed)
motor_drive("M2", speed)
motor_drive("M3", speed)
motor_drive("M4", speed)
# ======================
# ⭐ 斜向移动（新增）
# ======================
def move_left_forward(speed=0.6):
motor_drive("M1", 0)
motor_drive("M2", speed)
motor_drive("M3", 0)
motor_drive("M4", -speed)
def move_right_forward(speed=0.6):
motor_drive("M1", speed)
motor_drive("M2", 0)
motor_drive("M3", -speed)
motor_drive("M4", 0)
def move_left_backward(speed=0.6):
motor_drive("M1", -speed)
motor_drive("M2", 0)
motor_drive("M3", speed)
motor_drive("M4", 0)
def move_right_backward(speed=0.6):
motor_drive("M1", 0)
motor_drive("M2", -speed)
motor_drive("M3", 0)
motor_drive("M4", speed)
# ======================
# 停止
# ======================
def stop():
motor_drive("M1", 0)
motor_drive("M2", 0)
@ -122,25 +152,24 @@ def stop():
# ======================
if __name__ == "__main__":
print("前进")
forward()
time.sleep(1)
actions = [
("前进", forward),
("后退", backward),
("左移", move_left),
("右移", move_right),
("左前", move_left_forward),
("右前", move_right_forward),
("左后", move_left_backward),
("右后", move_right_backward),
("左旋", rotate_left),
("右旋", rotate_right),
]
print("后退")
backward()
time.sleep(1)
for name, func in actions:
print(name)
func()
time.sleep(1)
stop()
time.sleep(2)
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()
print("完成")

40
main/server.py
View File

@ -37,6 +37,46 @@ def control():
motor.forward(speed=0.6)
# 不使用time.sleep，让电机持续运行
return jsonify({'status': 'success', 'message': '后退中'})
elif direction == 'left':
print("控制垃圾桶左移")
motor.move_left(speed=0.6)
# 不使用time.sleep，让电机持续运行
return jsonify({'status': 'success', 'message': '左移中'})
elif direction == 'right':
print("控制垃圾桶右移")
motor.move_right(speed=0.6)
# 不使用time.sleep，让电机持续运行
return jsonify({'status': 'success', 'message': '右移中'})
elif direction == 'rotate_left':
print("控制垃圾桶左旋转")
motor.rotate_left(speed=0.6)
# 不使用time.sleep，让电机持续运行
return jsonify({'status': 'success', 'message': '左旋转中'})
elif direction == 'rotate_right':
print("控制垃圾桶右旋转")
motor.rotate_right(speed=0.6)
# 不使用time.sleep，让电机持续运行
return jsonify({'status': 'success', 'message': '右旋转中'})
elif direction == 'forward_left':
print("控制垃圾桶左前移动")
motor.move_left_forward(speed=0.6)
# 不使用time.sleep，让电机持续运行
return jsonify({'status': 'success', 'message': '左前移动中'})
elif direction == 'forward_right':
print("控制垃圾桶右前移动")
motor.move_right_forward(speed=0.6)
# 不使用time.sleep，让电机持续运行
return jsonify({'status': 'success', 'message': '右前移动中'})
elif direction == 'backward_left':
print("控制垃圾桶左后移动")
motor.move_left_backward(speed=0.6)
# 不使用time.sleep，让电机持续运行
return jsonify({'status': 'success', 'message': '左后移动中'})
elif direction == 'backward_right':
print("控制垃圾桶右后移动")
motor.move_right_backward(speed=0.6)
# 不使用time.sleep，让电机持续运行
return jsonify({'status': 'success', 'message': '右后移动中'})
elif direction == 'stop':
print("停止垃圾桶")
motor.stop()