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新增agent功能

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This commit is contained in:
张梦南 2026-04-20 14:19:12 +08:00
parent dae78fffc3
commit d9ec92220e
2 changed files with 14 additions and 14 deletions
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8
main/camera.py
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@ -99,7 +99,7 @@ while True:
if area < 75: # 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
if area > 5000: # 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
@ -117,7 +117,7 @@ while True:
best_match = None
min_distance = float('inf')
search_radius = 100 # 目标锁定区域半径
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
@ -170,7 +170,7 @@ while True:
cy = int(alpha * prev_cy + (1 - alpha) * cy)
# 绘制画面中心
center_x = 50 # 画面中心x坐标
center_x = 90 # 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)
@ -197,7 +197,7 @@ while True:
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_x = 90 # 画面中心x坐标
center_y = 120 # 画面中心y坐标
threshold = 15 # 阈值范围

20
main/motor.py
View File

@ -72,25 +72,25 @@ def motor_drive(name, speed):
# ======================
# 基础移动
# ======================
def forward(speed=0.8):
def forward(speed=0.6):
motor_drive("M1", -speed)
motor_drive("M2", -speed)
motor_drive("M3", speed)
motor_drive("M4", speed)
def backward(speed=0.8):
def backward(speed=0.6):
motor_drive("M1", speed)
motor_drive("M2", speed)
motor_drive("M3", -speed)
motor_drive("M4", -speed)
def move_left(speed=0.8):
def move_left(speed=0.6):
motor_drive("M1", -speed)
motor_drive("M2", speed)
motor_drive("M3", speed)
motor_drive("M4", -speed)
def move_right(speed=0.8):
def move_right(speed=0.6):
motor_drive("M1", speed)
motor_drive("M2", -speed)
motor_drive("M3", -speed)
@ -99,13 +99,13 @@ def move_right(speed=0.8):
# ======================
# 旋转
# ======================
def rotate_left(speed=0.8):
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=0.8):
def rotate_right(speed=0.6):
motor_drive("M1", speed)
motor_drive("M2", speed)
motor_drive("M3", speed)
@ -114,25 +114,25 @@ def rotate_right(speed=0.8):
# ======================
# 斜向移动
# ======================
def move_left_forward(speed=0.8):
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=0.8):
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=0.8):
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=0.8):
def move_right_backward(speed=0.6):
motor_drive("M1", 0)
motor_drive("M2", -speed)
motor_drive("M3", 0)