From d9ec92220ef7a62c3840191f8c4e0c0bd869b64f Mon Sep 17 00:00:00 2001
From: Cx330 <1487537121@qq.com>
Date: Mon, 20 Apr 2026 14:19:12 +0800
Subject: [PATCH] =?UTF-8?q?=E6=96=B0=E5=A2=9Eagent=E5=8A=9F=E8=83=BD?=
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---
 main/camera.py |  8 ++++----
 main/motor.py  | 20 ++++++++++----------
 2 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/main/camera.py b/main/camera.py
index 433d09f..d25f3c3 100644
--- a/main/camera.py
+++ b/main/camera.py
@@ -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
 
diff --git a/main/motor.py b/main/motor.py
index 2153187..bf7ef06 100644
--- a/main/motor.py
+++ b/main/motor.py
@@ -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)