优化电机控制

app/src/main/java/com/ismart/ib86/app/MainActivity.java

@@ -103,19 +103,9 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
     // HeadTouchManager removed
     // UI控件
     private ImageView ivFace;
-    private Button btnRotateForward;
-    private Button btnRotateReverse;
-    private SeekBar seekBarDutyCycle;
-    private TextView tvDutyCycleValue;
-    private int currentDutyCyclePercent = 30; // 默认占空比30%
-    private static final int PWM_PERIOD = 1000000; // 1ms周期
     
     // 动画管理器
     private RobotFaceAnimationManager animationManager;
-    private boolean isCalibrating = false;
-    private boolean isForwardCalibration = false;
-    private boolean isReverseCalibration = false;
-
 
     private Runnable wearDetectionRunnable = new Runnable() {
         @Override
@@ -132,45 +122,11 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
         super.onCreate(savedInstanceState);
         setContentView(R.layout.activity_robot_face);
         
+        // 禁止休眠，保持屏幕常亮
+//        getWindow().addFlags(android.view.WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
+
         // 初始化UI控件
         ivFace = (ImageView) this.findViewById(R.id.iv_face);
-//        btnRotateForward = (Button) this.findViewById(R.id.btn_rotate_forward);
-//        btnRotateReverse = (Button) this.findViewById(R.id.btn_rotate_reverse);
-//        seekBarDutyCycle = (SeekBar) this.findViewById(R.id.seekbar_duty_cycle);
-//        tvDutyCycleValue = (TextView) this.findViewById(R.id.tv_duty_cycle_value);
-
-//        // 设置占空比调整监听器
-//        seekBarDutyCycle.setOnSeekBarChangeListener(new SeekBar.OnSeekBarChangeListener() {
-//            @Override
-//            public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
-//                currentDutyCyclePercent = progress;
-//                tvDutyCycleValue.setText("占空比: " + progress + "%");
-//            }
-//
-//            @Override
-//            public void onStartTrackingTouch(SeekBar seekBar) {}
-//
-//            @Override
-//            public void onStopTrackingTouch(SeekBar seekBar) {}
-//        });
-//
-//        // 设置正转按钮点击监听器
-//        btnRotateForward.setOnClickListener(v -> {
-//            if (motorController != null) {
-//                int dutyCycle = (int) (PWM_PERIOD * currentDutyCyclePercent / 100.0);
-//                motorController.rotateVerticalDown(PWM_PERIOD, 0); // 确保垂直向下PWM关闭
-//                motorController.rotateVerticalUp(PWM_PERIOD, dutyCycle);
-//            }
-//        });
-//
-//        // 设置反转按钮点击监听器
-//        btnRotateReverse.setOnClickListener(v -> {
-//            if (motorController != null) {
-//                int dutyCycle = (int) (PWM_PERIOD * currentDutyCyclePercent / 100.0);
-//                motorController.rotateVerticalUp(PWM_PERIOD, 0); // 确保垂直向上PWM关闭
-//                motorController.rotateVerticalDown(PWM_PERIOD, dutyCycle);
-//            }
-//        });
 
         // 初始化动画管理器
         animationManager = new RobotFaceAnimationManager(this, ivFace);
@@ -195,8 +151,6 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
             handler.post(faceAnimationRunnable);
         }).start();
 
-
-
         // 检查并请求必要的权限
         checkAndRequestPermissions();
 
@@ -220,16 +174,6 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
                 int min = motorController.getVerticalMinAngle();
                 int mid = max - min;
                 Log.d(TAG,"ver max:" + max + " ver min:"+min + " mid:"+ mid);
-//                while(true)
-//                {
-//                    try {
-//                        angleListener.rotateToAngle(direction, direction? 15 : 15 , direction ? 35 : 12);
-//                        direction = !direction;
-//                        Thread.sleep(200);
-//                    }catch (InterruptedException e) {
-//                        Log.e(TAG, "初始化延时失败", e);
-//                    }
-//                }
             } catch (InterruptedException e) {
                 Log.e(TAG, "初始化延时失败", e);
             }
@@ -237,7 +181,6 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
 
         //xiaozhi
         initAudio();
-//        setupListeners();
         initWebSocket();
 
     }
@@ -354,6 +297,21 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
         if (keyCode == HEAD_TOUCH_KEY) {
             // 处理返回键按下事件
             Log.d(TAG, "触摸了机器人的头");
+            try {
+                Thread.sleep(500);
+                if(motorController != null){
+                    int angle = motorController.getVerticalCurrentAngle();
+                    int max = motorController.getVerticalMaxAngle();
+                    int min = motorController.getVerticalMinAngle();
+                    int mid = max - ((max - min) / 2)+500;
+                    Log.d(TAG, "angle: " + angle + " mid: "+ mid);
+                    if(angle <= mid)
+                        motorController.rotateVerticalToAngle(1,100,10);
+                }
+            } catch (InterruptedException e) {
+                throw new RuntimeException(e);
+            }
+
             return true; // 返回true表示事件已被处理
         }
         return super.onKeyDown(keyCode, event); // 让系统继续处理其他按键事件
@@ -680,7 +638,7 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
 
                     if (!isAllZero) {
                         webSocketManager.sendBinaryMessage(encodedData);
-                        Log.d(TAG, "发送音频数据: " + encodedSize + " bytes");
+                        //Log.d(TAG, "发送音频数据: " + encodedSize + " bytes");
 
                         // 更新波形图
 //                        byte[] buffer = new byte[size * 2];

app/src/main/java/com/ismart/ib86/feature/motor/MotorController.java

@@ -52,6 +52,7 @@ public class MotorController {
     // 垂直方向角度限制常量
     private static final String VERTICAL_MAX_ANGLE_PATH = "/sys/bus/i2c/drivers/kth5502/8-006a/max_angle";
     private static final String VERTICAL_MIN_ANGLE_PATH = "/sys/bus/i2c/drivers/kth5502/8-006a/min_angle";
+    private static final String VERTICAL_CURRENT_ANGLE_PATH = "/sys/bus/i2c/drivers/kth5502/8-006a/angle";
     
     // 水平电机命令常量
     public static final byte CMD_ROTATE_TO_ANGLE = 0x04;  // 控制电机转动到目标角度
@@ -672,6 +673,43 @@ public class MotorController {
         return sb.toString().trim();
     }
     
+    /**
+     * 控制垂直电机旋转至指定角度
+     * @param direction 方向：1=抬头，0=低头
+     * @param dutyCycle 占空比（0-100）
+     * @param angle 目标角度（度）
+     * @return 是否控制成功
+     */
+    /**
+     * 获取当前垂直角度
+     * @return 当前垂直角度值，如果传感器未开启或读取失败则返回-1
+     */
+    public int getVerticalCurrentAngle() {
+        // 首先检查传感器是否开启
+        if (!isVerticalSensorEnabled()) {
+            LogManager.e(TAG, "Cannot read vertical angle: sensor is not enabled");
+            return -1;
+        }
+        
+        try {
+            BufferedReader reader = new BufferedReader(new FileReader(VERTICAL_CURRENT_ANGLE_PATH));
+            String line = reader.readLine();
+            reader.close();
+            
+            if (line != null) {
+                int angle = Integer.parseInt(line.trim());
+                LogManager.d(TAG, "Current vertical angle: " + angle);
+                return angle;
+            } else {
+                LogManager.e(TAG, "Failed to read vertical angle: empty response");
+                return -1;
+            }
+        } catch (IOException | NumberFormatException e) {
+            LogManager.e(TAG, "Failed to read vertical angle: " + e.getMessage());
+            return -1;
+        }
+    }
+    
     /**
      * 控制垂直电机旋转至指定角度
      * @param direction 方向：1=抬头，0=低头

app/src/main/java/com/lhht/xiaozhi/websocket/WebSocketManager.java

@@ -83,7 +83,7 @@ public class WebSocketManager {
 
                 @Override
                 public void onMessage(ByteBuffer bytes) {
-                    Log.d(TAG, "Received binary message: " + bytes.remaining() + " bytes");
+                    //Log.d(TAG, "Received binary message: " + bytes.remaining() + " bytes");
                     byte[] data = new byte[bytes.remaining()];
                     bytes.get(data);
                     mainHandler.post(() -> {