From bd13a5aeb23a1897133c081ad50c0a3357212ce2 Mon Sep 17 00:00:00 2001
From: Cx330 <1487537121@qq.com>
Date: Sat, 18 Apr 2026 16:46:34 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BC=98=E5=8C=96=E6=8E=A7=E5=88=B6=E7=95=8C?=
=?UTF-8?q?=E9=9D=A2UI=E6=A0=B7=E5=BC=8F=EF=BC=8C=E5=A2=9E=E5=8A=A0?=
=?UTF-8?q?=E5=A4=96=E7=95=8C=E6=89=8B=E6=9F=84=E6=8E=A7=E5=88=B6?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
main/CSS/control.css | 191 ++++++++++++-----
main/CSS/style.css | 10 +
main/Javascript/control.js | 5 +-
main/Javascript/joycon.js | 247 ++++++++++++++++++++++
main/Javascript/script.js | 57 +++++
main/__pycache__/motor.cpython-313.pyc | Bin 4033 -> 0 bytes
main/__pycache__/motor.cpython-38.pyc | Bin 0 -> 3564 bytes
main/camera_test.py | 278 +++++++++++++++++++++++++
main/index.html | 50 +++--
main/motor.py | 20 +-
10 files changed, 779 insertions(+), 79 deletions(-)
create mode 100644 main/Javascript/joycon.js
delete mode 100644 main/__pycache__/motor.cpython-313.pyc
create mode 100644 main/__pycache__/motor.cpython-38.pyc
create mode 100644 main/camera_test.py
diff --git a/main/CSS/control.css b/main/CSS/control.css
index 20f9626..5830af6 100644
--- a/main/CSS/control.css
+++ b/main/CSS/control.css
@@ -6,14 +6,16 @@
justify-content: center;
min-height: 80vh;
padding: 20px;
+ background: linear-gradient(135deg, #f5f7fa 0%, #c3cfe2 100%);
}
.title {
- font-size: 24px;
+ font-size: 28px;
font-weight: bold;
color: #333;
margin-bottom: 40px;
text-align: center;
+ text-shadow: 2px 2px 4px rgba(0, 0, 0, 0.1);
}
/* 手柄风格布局 */
@@ -23,46 +25,66 @@
align-items: center;
gap: 30px;
width: 100%;
- max-width: 350px;
+ max-width: 600px;
}
-/* 移动控制按钮区域 */
-.movement-controls {
+/* 控制器布局 */
+.controller-layout {
+ display: flex;
+ align-items: center;
+ justify-content: space-around;
+ width: 100%;
+ padding: 30px;
+ background: linear-gradient(145deg, #e6e6e6, #ffffff);
+ border-radius: 20px;
+ box-shadow: 10px 10px 20px rgba(0, 0, 0, 0.1), -10px -10px 20px rgba(255, 255, 255, 0.7);
+}
+
+/* 方向键区域 */
+.dpad {
display: flex;
flex-direction: column;
align-items: center;
- gap: 15px;
- width: 100%;
+ gap: 10px;
}
-.movement-row {
+.dpad-row {
display: flex;
- gap: 15px;
- justify-content: center;
+ gap: 10px;
}
-/* 录制回放按钮区域 */
-.record-controls {
+/* 中间录制回放控制 */
+.center-controls {
display: flex;
+ flex-direction: column;
gap: 15px;
- justify-content: center;
- width: 100%;
- margin-top: 20px;
+ align-items: center;
+}
+
+/* 右侧旋转控制 */
+.rotate-controls {
+ display: flex;
+ flex-direction: column;
+ gap: 15px;
+ align-items: center;
}
/* 按钮样式 */
.btn {
- width: 120px;
- height: 50px;
+ width: 70px;
+ height: 70px;
border: none;
- border-radius: 25px;
- font-size: 16px;
+ border-radius: 15px;
+ font-size: 20px;
font-weight: bold;
cursor: pointer;
transition: all 0.3s ease;
position: relative;
overflow: hidden;
- box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);
+ box-shadow: 5px 5px 10px rgba(0, 0, 0, 0.1), -5px -5px 10px rgba(255, 255, 255, 0.7);
+ display: flex;
+ align-items: center;
+ justify-content: center;
}
.btn::before {
@@ -81,93 +103,168 @@
z-index: 2;
}
+/* 方向按钮样式 */
.btn-forward {
- background-color: #4CAF50;
+ background: linear-gradient(145deg, #4CAF50, #45a049);
color: white;
}
.btn-backward {
- background-color: #f44336;
+ background: linear-gradient(145deg, #f44336, #da190b);
color: white;
}
.btn-left {
- background-color: #2196F3;
+ background: linear-gradient(145deg, #2196F3, #1976D2);
color: white;
}
.btn-right {
- background-color: #FF9800;
- color: white;
-}
-
-.btn-rotate-left {
- background-color: #9C27B0;
- color: white;
-}
-
-.btn-rotate-right {
- background-color: #607D8B;
+ background: linear-gradient(145deg, #FF9800, #F57C00);
color: white;
}
+/* 斜向按钮样式 */
.btn-forward-left {
- background-color: #4CAF50;
+ background: linear-gradient(145deg, #4CAF50, #45a049);
color: white;
}
.btn-forward-right {
- background-color: #4CAF50;
+ background: linear-gradient(145deg, #4CAF50, #45a049);
color: white;
}
.btn-backward-left {
- background-color: #f44336;
+ background: linear-gradient(145deg, #f44336, #da190b);
color: white;
}
.btn-backward-right {
- background-color: #f44336;
+ background: linear-gradient(145deg, #f44336, #da190b);
color: white;
}
+/* 旋转按钮样式 */
+.btn-rotate-left {
+ background: linear-gradient(145deg, #9C27B0, #7B1FA2);
+ color: white;
+}
+
+.btn-rotate-right {
+ background: linear-gradient(145deg, #607D8B, #455A64);
+ color: white;
+}
+
+/* 中心方块样式 */
+.btn-center {
+ background: linear-gradient(145deg, #666666, #444444);
+ box-shadow: 5px 5px 10px rgba(0, 0, 0, 0.1), -5px -5px 10px rgba(255, 255, 255, 0.7);
+ cursor: default;
+}
+
+.btn-center:hover {
+ transform: none;
+ box-shadow: 5px 5px 10px rgba(0, 0, 0, 0.1), -5px -5px 10px rgba(255, 255, 255, 0.7);
+}
+
+.btn-center:active {
+ transform: none;
+ box-shadow: 5px 5px 10px rgba(0, 0, 0, 0.1), -5px -5px 10px rgba(255, 255, 255, 0.7);
+}
+
+/* 录制回放按钮样式 */
+.btn-record {
+ background: linear-gradient(145deg, #FF5722, #E64A19);
+ color: white;
+ width: 120px;
+ height: 50px;
+ font-size: 16px;
+ border-radius: 25px;
+}
+
+.btn-playback {
+ background: linear-gradient(145deg, #00BCD4, #0097A7);
+ color: white;
+ width: 120px;
+ height: 50px;
+ font-size: 16px;
+ border-radius: 25px;
+}
+
+/* 按钮动画效果 */
.btn:hover {
transform: translateY(-3px);
- box-shadow: 0 6px 12px rgba(0, 0, 0, 0.15);
+ box-shadow: 8px 8px 16px rgba(0, 0, 0, 0.15), -8px -8px 16px rgba(255, 255, 255, 0.8);
}
.btn:active {
transform: translateY(0);
- box-shadow: 0 2px 4px rgba(0, 0, 0, 0.2);
+ box-shadow: 3px 3px 6px rgba(0, 0, 0, 0.2), -3px -3px 6px rgba(255, 255, 255, 0.6);
}
/* 状态显示 */
.status {
margin-top: 30px;
- padding: 15px;
- background-color: #f5f5f5;
- border-radius: 10px;
- min-height: 50px;
+ padding: 20px;
+ background: linear-gradient(145deg, #f5f5f5, #e0e0e0);
+ border-radius: 15px;
+ min-height: 60px;
width: 100%;
- max-width: 350px;
+ max-width: 400px;
text-align: center;
- box-shadow: inset 0 2px 4px rgba(0, 0, 0, 0.1);
+ box-shadow: inset 5px 5px 10px rgba(0, 0, 0, 0.1), inset -5px -5px 10px rgba(255, 255, 255, 0.7);
}
.status p {
color: #666;
margin: 0;
- font-size: 16px;
+ font-size: 18px;
+ font-weight: 500;
}
/* 响应式设计 */
-@media (max-width: 400px) {
+@media (max-width: 650px) {
+ .controller-layout {
+ flex-direction: column;
+ gap: 20px;
+ padding: 20px;
+ }
+
+ .dpad-row {
+ gap: 8px;
+ }
+
.btn {
+ width: 60px;
+ height: 60px;
+ font-size: 18px;
+ }
+
+ .btn-record, .btn-playback {
width: 100px;
height: 45px;
font-size: 14px;
}
+ .title {
+ font-size: 24px;
+ }
+}
+
+@media (max-width: 400px) {
+ .btn {
+ width: 50px;
+ height: 50px;
+ font-size: 16px;
+ }
+
+ .btn-record, .btn-playback {
+ width: 90px;
+ height: 40px;
+ font-size: 13px;
+ }
+
.title {
font-size: 20px;
}
diff --git a/main/CSS/style.css b/main/CSS/style.css
index 1e43f28..533da69 100644
--- a/main/CSS/style.css
+++ b/main/CSS/style.css
@@ -56,6 +56,16 @@ h1 {
color: white;
}
+.btn-record {
+ background-color: #ff9800;
+ color: white;
+}
+
+.btn-playback {
+ background-color: #2196f3;
+ color: white;
+}
+
.btn:hover {
transform: translateY(-2px);
box-shadow: 0 4px 8px rgba(0, 0, 0, 0.2);
diff --git a/main/Javascript/control.js b/main/Javascript/control.js
index b1da833..96f5cc8 100644
--- a/main/Javascript/control.js
+++ b/main/Javascript/control.js
@@ -424,6 +424,8 @@ function stopMotor() {
const timestamp = Date.now() - window.recordingStartTime;
window.recordedActions.push({ direction: 'stop', timestamp });
console.log('Recorded action:', { direction: 'stop', timestamp });
+ } else {
+ console.log('Not recording, action:', 'stop');
}
// 发送停止请求到服务器
@@ -437,7 +439,8 @@ function stopMotor() {
.then(response => response.json())
.then(data => {
if (data.status === 'success') {
- // 停止成功，不显示消息
+ // 停止成功，显示已停止消息
+ status.innerHTML = `${data.message}
`;
} else {
status.innerHTML = `错误: ${data.message}
`;
}
diff --git a/main/Javascript/joycon.js b/main/Javascript/joycon.js
new file mode 100644
index 0000000..88982bd
--- /dev/null
+++ b/main/Javascript/joycon.js
@@ -0,0 +1,247 @@
+// 确保在DOM加载完成后执行
+window.addEventListener('DOMContentLoaded', function() {
+ console.log('DOMContentLoaded - Joycon.js executing');
+
+ // 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;
+
+ // 按键状态标志（用于检测按键按下事件）
+ let recordButtonPressed = false;
+ let playbackButtonPressed = false;
+
+ // 获取状态元素
+ const status = document.getElementById('status');
+
+ // 检查浏览器是否支持游戏手柄API
+ if (!('getGamepads' in navigator)) {
+ status.innerHTML = '您的浏览器不支持游戏手柄API
';
+ console.log('Gamepad API not supported');
+ return;
+ }
+
+ // 连接游戏手柄
+ window.addEventListener('gamepadconnected', function(e) {
+ gamepad = e.gamepad;
+ status.innerHTML = `已连接游戏手柄: ${gamepad.id}
`;
+ console.log('Gamepad connected:', gamepad);
+ // 开始监听游戏手柄输入
+ requestAnimationFrame(updateGamepad);
+ });
+
+ // 断开游戏手柄
+ window.addEventListener('gamepaddisconnected', function(e) {
+ status.innerHTML = '游戏手柄已断开连接
';
+ console.log('Gamepad disconnected:', e.gamepad);
+ gamepad = null;
+ });
+
+ // 游戏手柄输入更新函数
+ function updateGamepad() {
+ if (!gamepad) {
+ requestAnimationFrame(updateGamepad);
+ return;
+ }
+
+ // 获取游戏手柄状态
+ const gamepads = navigator.getGamepads();
+ gamepad = gamepads[gamepad.index];
+
+ if (!gamepad) {
+ requestAnimationFrame(updateGamepad);
+ return;
+ }
+
+ // 处理摇杆输入 (通常是0号摇杆，左摇杆)
+ const leftStickX = gamepad.axes[0];
+ const leftStickY = gamepad.axes[1];
+
+ // 处理按键输入
+ const buttons = gamepad.buttons;
+
+ // 摇杆死区
+ const deadzone = 0.3;
+
+ // 确定移动方向
+ let direction = 'stop';
+
+ if (Math.abs(leftStickX) > deadzone || Math.abs(leftStickY) > deadzone) {
+ // 计算角度
+ const angle = Math.atan2(leftStickY, leftStickX) * 180 / Math.PI;
+
+ // 根据角度确定方向（修复：交换前后方向，修复：使用下划线分隔的方向值）
+ if (angle >= -22.5 && angle < 22.5) {
+ direction = 'right'; // 右
+ } else if (angle >= 22.5 && angle < 67.5) {
+ direction = 'backward_right'; // 右后
+ } else if (angle >= 67.5 && angle < 112.5) {
+ direction = 'backward'; // 后
+ } else if (angle >= 112.5 && angle < 157.5) {
+ direction = 'backward_left'; // 左后
+ } else if (angle >= 157.5 || angle < -157.5) {
+ direction = 'left'; // 左
+ } else if (angle >= -157.5 && angle < -112.5) {
+ direction = 'forward_left'; // 左前
+ } else if (angle >= -112.5 && angle < -67.5) {
+ direction = 'forward'; // 前
+ } else if (angle >= -67.5 && angle < -22.5) {
+ direction = 'forward_right'; // 右前
+ }
+ }
+
+ // 处理旋转按钮 (X键和Y键)
+ if (buttons[2].pressed) { // X键 - 左旋转
+ direction = 'rotate_left';
+ } else if (buttons[3].pressed) { // Y键 - 右旋转
+ direction = 'rotate_right';
+ }
+
+ // 处理录制按钮 (十字键上键) - 修复：检测按键按下事件
+ if (buttons[12].pressed) { // 十字键上键 - 录制
+ if (!recordButtonPressed) {
+ recordButtonPressed = true;
+ if (!isPlaying) {
+ if (isRecording) {
+ // 停止录制
+ isRecording = false;
+ status.innerHTML = `录制完成，共记录 ${recordedActions.length} 个操作
`;
+ console.log('Recording stopped, actions:', recordedActions);
+ } else {
+ // 开始录制
+ isRecording = true;
+ recordedActions = [];
+ recordingStartTime = Date.now();
+ status.innerHTML = '开始录制...
';
+ console.log('Recording started');
+ }
+ }
+ }
+ } else {
+ recordButtonPressed = false;
+ }
+
+ // 处理回放按钮 (十字键左键) - 修复：检测按键按下事件
+ if (buttons[14].pressed) { // 十字键左键 - 回放
+ if (!playbackButtonPressed) {
+ playbackButtonPressed = true;
+ if (!isRecording && !isPlaying && recordedActions.length > 0) {
+ isPlaying = true;
+ status.innerHTML = '开始回放...
';
+ console.log('Starting playback');
+
+ // 按时间顺序回放操作
+ let currentTime = 0;
+ const totalDuration = recordedActions[recordedActions.length - 1].timestamp;
+
+ 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 delay = action.timestamp - prevAction.timestamp;
+ currentTime += delay;
+
+ console.log('Scheduling action:', action, 'at delay:', currentTime);
+ setTimeout(() => {
+ console.log('Executing action:', action);
+ controlMotor(action.direction);
+ }, currentTime);
+ }
+ });
+
+ // 回放完成后，确保发送停止请求
+ setTimeout(() => {
+ console.log('Playback completed, sending stop command');
+ controlMotor('stop');
+ status.innerHTML = '回放完成
';
+ console.log('Playback completed');
+ isPlaying = false;
+ }, totalDuration + 2000);
+ }
+ }
+ } else {
+ playbackButtonPressed = false;
+ }
+
+ // 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) {
+ const action = {
+ direction: direction,
+ timestamp: Date.now() - recordingStartTime
+ };
+ recordedActions.push(action);
+ }
+ controlMotor(direction);
+ lastDirection = direction;
+ }
+
+ // 继续监听
+ requestAnimationFrame(updateGamepad);
+ }
+
+ // 控制电机的函数（与control.js中的相同）
+ function controlMotor(direction) {
+ // 根据方向设置状态消息
+ if (direction === 'stop') {
+ status.innerHTML = `正在停止...
`;
+ } else {
+ 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 = `正在${actionText}...
`;
+ }
+
+ // 记录操作（如果正在录制）
+ if (isRecording) {
+ const timestamp = Date.now() - 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 {
+ console.log('Not recording, action:', direction);
+ }
+
+ // 发送AJAX请求到后端服务器
+ fetch('/control', {
+ method: 'POST',
+ headers: {
+ 'Content-Type': 'application/json'
+ },
+ body: JSON.stringify({ direction: direction })
+ })
+ .then(response => response.json())
+ .then(data => {
+ if (data.status === 'success') {
+ status.innerHTML = `${data.message}
`;
+ } else {
+ status.innerHTML = `错误: ${data.message}
`;
+ }
+ })
+ .catch(error => {
+ status.innerHTML = `通信错误: ${error.message}
`;
+ });
+ }
+
+ // 初始化
+ status.innerHTML = '请连接游戏手柄...
';
+ console.log('Joycon.js initialized');
+});
diff --git a/main/Javascript/script.js b/main/Javascript/script.js
index 502ec25..fadfe1e 100644
--- a/main/Javascript/script.js
+++ b/main/Javascript/script.js
@@ -1,12 +1,25 @@
// 获取按钮和状态元素
const forwardBtn = document.getElementById('forwardBtn');
const backwardBtn = document.getElementById('backwardBtn');
+const recordBtn = document.getElementById('recordBtn');
+const playbackBtn = document.getElementById('playbackBtn');
const status = document.getElementById('status');
+// 录制相关变量
+let isRecording = false;
+let recordedActions = [];
+let recordingStartTime = 0;
+
// 实际控制函数
function controlMotor(direction) {
status.innerHTML = `正在${direction === 'forward' ? '前进' : '后退'}...
`;
+ // 记录操作（如果正在录制）
+ if (isRecording) {
+ const timestamp = Date.now() - recordingStartTime;
+ recordedActions.push({ direction, timestamp });
+ }
+
// 发送AJAX请求到后端服务器
fetch('/control', {
method: 'POST',
@@ -28,6 +41,50 @@ function controlMotor(direction) {
});
}
+// 录制按钮点击事件
+recordBtn.addEventListener('click', () => {
+ if (isRecording) {
+ // 停止录制
+ isRecording = false;
+ recordBtn.textContent = '开始录制';
+ status.innerHTML = `录制完成，共记录 ${recordedActions.length} 个操作
`;
+ } else {
+ // 开始录制
+ isRecording = true;
+ recordedActions = [];
+ recordingStartTime = Date.now();
+ recordBtn.textContent = '停止录制';
+ status.innerHTML = `开始录制...
`;
+ }
+});
+
+// 回放按钮点击事件
+playbackBtn.addEventListener('click', () => {
+ if (recordedActions.length === 0) {
+ status.innerHTML = `没有可回放的操作
`;
+ return;
+ }
+
+ status.innerHTML = `开始回放...
`;
+
+ // 按时间顺序回放操作
+ let lastTimestamp = 0;
+ recordedActions.forEach((action, index) => {
+ setTimeout(() => {
+ controlMotor(action.direction);
+
+ // 最后一个操作完成后显示回放完成
+ if (index === recordedActions.length - 1) {
+ setTimeout(() => {
+ status.innerHTML = `回放完成
`;
+ }, 2000);
+ }
+ }, action.timestamp - lastTimestamp);
+
+ lastTimestamp = action.timestamp;
+ });
+});
+
// 按钮点击事件
forwardBtn.addEventListener('click', () => {
controlMotor('forward');
diff --git a/main/__pycache__/motor.cpython-313.pyc b/main/__pycache__/motor.cpython-313.pyc
deleted file mode 100644
index 564929a45ff85d2932dd9182d35b9dabcf73fb2e..0000000000000000000000000000000000000000
GIT binary patch
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diff --git a/main/camera_test.py b/main/camera_test.py
new file mode 100644
index 0000000..d479a39
--- /dev/null
+++ b/main/camera_test.py
@@ -0,0 +1,278 @@
+import cv2
+import numpy as np
+import time
+import signal
+import sys
+
+# 信号处理函数，用于捕获Ctrl+C
+def signal_handler(sig, frame):
+ print("\n接收到中断信号，程序退出")
+ sys.exit(0)
+
+# 注册信号处理函数
+signal.signal(signal.SIGINT, signal_handler)
+
+print("开始运行摄像头测试程序...")
+print(f"OpenCV版本: {cv2.__version__}")
+
+# 尝试打开摄像头
+cap = cv2.VideoCapture(0)
+
+if not cap.isOpened():
+ print("无法打开摄像头！")
+ exit()
+
+print("摄像头打开成功")
+
+# 设置摄像头参数
+cap.set(3, 320)
+cap.set(4, 240)
+cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)
+
+print(f"摄像头分辨率: {cap.get(3)}x{cap.get(4)}")
+
+# 初始化稳定阶段
+print("初始化摄像头...")
+success_count = 0
+for i in range(10):
+ ret, frame = cap.read()
+ if not ret:
+ print(f"第{i+1}帧读取失败")
+ continue
+ success_count += 1
+ print(f"第{i+1}帧读取成功")
+ time.sleep(0.1)
+print(f"摄像头初始化完成，成功读取{success_count}帧")
+
+# 读取初始帧
+ret, prev_frame = cap.read()
+if not ret:
+ print("无法读取初始帧！")
+ cap.release()
+ exit()
+
+print("初始帧读取成功")
+prev_gray = cv2.cvtColor(prev_frame, cv2.COLOR_BGR2GRAY)
+prev_gray = cv2.GaussianBlur(prev_gray, (5,5), 0)
+print("初始帧处理完成")
+
+# 记录上一帧目标的位置和面积
+prev_cx = None
+prev_cy = None
+prev_area = None
+# 目标跟踪状态
+tracking_target = None
+
+while True:
+ ret, frame = cap.read()
+ if not ret:
+ break
+
+ gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+ gray = cv2.GaussianBlur(gray, (5,5), 0)
+
+ # 帧差
+ diff = cv2.absdiff(prev_gray, gray)
+ diff = cv2.convertScaleAbs(diff, alpha=2.5)
+
+ # 应用形态学操作，去除噪声
+ kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
+ diff = cv2.morphologyEx(diff, cv2.MORPH_OPEN, kernel)
+ diff = cv2.morphologyEx(diff, cv2.MORPH_CLOSE, kernel)
+
+ _, thresh = cv2.threshold(diff, 30, 255, cv2.THRESH_BINARY)
+
+ contours, _ = cv2.findContours(thresh, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+
+ # ===== 核心：目标检测和跟踪 =====
+ target = None
+ max_area = 0
+
+ # 找到所有符合条件的轮廓
+ valid_contours = []
+ for cnt in contours:
+ area = cv2.contourArea(cnt)
+
+ if area < 200: # 过滤噪声，增大阈值
+ continue
+
+ if area > 8000: # 过滤大面积假目标（如整个画面），减小阈值
+ continue
+
+ # 计算轮廓的宽高比，过滤不符合垃圾特征的目标
+ x, y, w, h = cv2.boundingRect(cnt)
+ aspect_ratio = float(w) / h if h > 0 else 0
+ if aspect_ratio > 3 or aspect_ratio < 0.3: # 过滤过于狭长的目标
+ continue
+
+ valid_contours.append((area, cnt, x, y, w, h))
+
+ # 如果有有效的轮廓
+ if valid_contours:
+ # 如果正在跟踪目标，优先选择与上一目标位置接近的轮廓
+ if tracking_target is not None and prev_cx is not None and prev_cy is not None:
+ best_match = None
+ min_distance = float('inf')
+
+ search_radius = 80 # 目标锁定区域半径
+
+ for area, cnt, x, y, w, h in valid_contours:
+ cx = x + w // 2
+ cy = y + h // 2
+ # 计算与上一目标的距离
+ distance = ((cx - prev_cx) ** 2 + (cy - prev_cy) ** 2) ** 0.5
+
+ # 只考虑在锁定区域内的目标
+ if distance > search_radius:
+ continue
+
+ # 如果距离小于阈值，认为是同一个目标
+ if distance < 50: # 距离阈值
+ if distance < min_distance:
+ min_distance = distance
+ best_match = (area, cnt, x, y, w, h)
+
+ # 如果找到匹配的目标
+ if best_match:
+ area, cnt, x, y, w, h = best_match
+ target = cnt
+ max_area = area
+ else:
+ # 如果没有找到匹配的目标，选择最大的轮廓
+ valid_contours.sort(key=lambda x: x[0], reverse=True)
+ area, cnt, x, y, w, h = valid_contours[0]
+ target = cnt
+ max_area = area
+ # 开始跟踪新目标
+ tracking_target = True
+ else:
+ # 如果没有正在跟踪的目标，选择最大的轮廓
+ valid_contours.sort(key=lambda x: x[0], reverse=True)
+ area, cnt, x, y, w, h = valid_contours[0]
+ target = cnt
+ max_area = area
+ # 开始跟踪新目标
+ tracking_target = True
+
+ # ===== 只处理一个目标 =====
+ if target is not None:
+ x, y, w, h = cv2.boundingRect(target)
+ cx = x + w // 2
+ cy = y + h // 2
+
+ # 目标位置平滑处理
+ alpha = 0.6
+ if prev_cx is not None and prev_cy is not None:
+ cx = int(alpha * prev_cx + (1 - alpha) * cx)
+ cy = int(alpha * prev_cy + (1 - alpha) * cy)
+
+ # 绘制画面中心
+ center_x = 160 # 画面中心x坐标
+ center_y = 120 # 画面中心y坐标
+ cv2.circle(frame, (center_x, center_y), 5, (255, 0, 0), -1)
+
+ # 绘制目标矩形和中心
+ cv2.rectangle(frame, (x, y), (x+w, y+h), (0, 255, 0), 2)
+ cv2.circle(frame, (cx, cy), 5, (0, 0, 255), -1)
+
+ print("唯一目标:", cx, cy, "area:", max_area)
+
+ # 检测目标是否突然跳变
+ target_jumped = False
+ if prev_cx is not None and prev_cy is not None and prev_area is not None:
+ # 计算位置变化
+ dx = abs(cx - prev_cx)
+ dy = abs(cy - prev_cy)
+ # 计算面积变化比例
+ area_ratio = max_area / prev_area if prev_area > 0 else 0
+
+ # 如果位置变化过大或面积变化过大，认为目标跳变
+ if dx > 100 or dy > 100 or area_ratio < 0.3 or area_ratio > 3:
+ target_jumped = True
+ print("目标突然跳变，可能已离开视野范围")
+ # 重置跟踪状态
+ tracking_target = None
+
+ # 控制逻辑：根据x轴和y轴坐标控制垃圾桶移动
+ center_x = 160 # 画面中心x坐标
+ center_y = 120 # 画面中心y坐标
+ threshold = 20 # 阈值范围
+
+ if target_jumped:
+ # 目标跳变，停止移动
+ print("目标跳变，停止移动")
+ # motor.stop()
+ else:
+ # 计算目标与中心的偏差
+ dx = cx - center_x
+ dy = cy - center_y
+
+ # 确定移动方向
+ if abs(dx) < threshold and abs(dy) < threshold:
+ # 目标在中心附近，停止移动
+ print("目标在中心，停止移动")
+ # motor.stop()
+ elif abs(dx) < threshold:
+ # 只在y轴方向有偏差
+ if dy > threshold:
+ # 目标在下侧，垃圾桶向前移动
+ print("目标在下侧，向前移动")
+ # motor.forward(speed=0.6)
+ else:
+ # 目标在上侧，垃圾桶向后移动
+ print("目标在上侧，向后移动")
+ # motor.backward(speed=0.6)
+ elif abs(dy) < threshold:
+ # 只在x轴方向有偏差
+ if dx > threshold:
+ # 目标在右侧，垃圾桶向右移动
+ print("目标在右侧，向右移动")
+ # motor.move_right(speed=0.6)
+ else:
+ # 目标在左侧，垃圾桶向左移动
+ print("目标在左侧，向左移动")
+ # motor.move_left(speed=0.6)
+ else:
+ # 在x轴和y轴方向都有偏差，使用斜向移动
+ if dx > threshold and dy > threshold:
+ # 目标在右下侧，垃圾桶向右前移动
+ print("目标在右下侧，向右前移动")
+ # motor.move_right_forward(speed=0.6)
+ elif dx > threshold and dy < -threshold:
+ # 目标在右上侧，垃圾桶向右后移动
+ print("目标在右上侧，向右后移动")
+ # motor.move_right_backward(speed=0.6)
+ elif dx < -threshold and dy > threshold:
+ # 目标在左下侧，垃圾桶向左前移动
+ print("目标在左下侧，向左前移动")
+ # motor.move_left_forward(speed=0.6)
+ else:
+ # 目标在左上侧，垃圾桶向左后移动
+ print("目标在左上侧，向左后移动")
+ # motor.move_left_backward(speed=0.6)
+
+ # 更新上一帧的目标信息
+ prev_cx = cx
+ prev_cy = cy
+ prev_area = max_area
+ else:
+ # 没有检测到目标，停止移动
+ print("未检测到目标，停止移动")
+ # motor.stop()
+ # 重置上一帧的目标信息
+ prev_cx = None
+ prev_cy = None
+ prev_area = None
+ # 重置跟踪状态
+ tracking_target = None
+
+ cv2.imshow("tracking", frame)
+
+ prev_gray = gray.copy()
+
+ if cv2.waitKey(1) & 0xFF == 27:
+ break
+
+cap.release()
+cv2.destroyAllWindows()
+# motor.stop()
\ No newline at end of file
diff --git a/main/index.html b/main/index.html
index fd85fd4..13e8a7b 100644
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+++ b/main/index.html
@@ -13,31 +13,38 @@
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