优化电机控制
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383de43c2f
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@ -103,19 +103,9 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
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// HeadTouchManager removed
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// UI控件
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private ImageView ivFace;
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private Button btnRotateForward;
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private Button btnRotateReverse;
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private SeekBar seekBarDutyCycle;
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private TextView tvDutyCycleValue;
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private int currentDutyCyclePercent = 30; // 默认占空比30%
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private static final int PWM_PERIOD = 1000000; // 1ms周期
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// 动画管理器
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private RobotFaceAnimationManager animationManager;
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private boolean isCalibrating = false;
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private boolean isForwardCalibration = false;
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private boolean isReverseCalibration = false;
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private Runnable wearDetectionRunnable = new Runnable() {
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@Override
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@ -131,46 +121,12 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
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protected void onCreate(Bundle savedInstanceState) {
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super.onCreate(savedInstanceState);
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setContentView(R.layout.activity_robot_face);
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// 禁止休眠，保持屏幕常亮
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// getWindow().addFlags(android.view.WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
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// 初始化UI控件
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ivFace = (ImageView) this.findViewById(R.id.iv_face);
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// btnRotateForward = (Button) this.findViewById(R.id.btn_rotate_forward);
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// btnRotateReverse = (Button) this.findViewById(R.id.btn_rotate_reverse);
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// seekBarDutyCycle = (SeekBar) this.findViewById(R.id.seekbar_duty_cycle);
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// tvDutyCycleValue = (TextView) this.findViewById(R.id.tv_duty_cycle_value);
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// // 设置占空比调整监听器
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// seekBarDutyCycle.setOnSeekBarChangeListener(new SeekBar.OnSeekBarChangeListener() {
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// @Override
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// public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
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// currentDutyCyclePercent = progress;
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// tvDutyCycleValue.setText("占空比: " + progress + "%");
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// }
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//
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// @Override
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// public void onStartTrackingTouch(SeekBar seekBar) {}
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//
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// @Override
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// public void onStopTrackingTouch(SeekBar seekBar) {}
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// });
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//
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// // 设置正转按钮点击监听器
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// btnRotateForward.setOnClickListener(v -> {
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// if (motorController != null) {
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// int dutyCycle = (int) (PWM_PERIOD * currentDutyCyclePercent / 100.0);
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// motorController.rotateVerticalDown(PWM_PERIOD, 0); // 确保垂直向下PWM关闭
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// motorController.rotateVerticalUp(PWM_PERIOD, dutyCycle);
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// }
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// });
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//
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// // 设置反转按钮点击监听器
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// btnRotateReverse.setOnClickListener(v -> {
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// if (motorController != null) {
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// int dutyCycle = (int) (PWM_PERIOD * currentDutyCyclePercent / 100.0);
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// motorController.rotateVerticalUp(PWM_PERIOD, 0); // 确保垂直向上PWM关闭
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// motorController.rotateVerticalDown(PWM_PERIOD, dutyCycle);
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// }
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// });
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// 初始化动画管理器
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animationManager = new RobotFaceAnimationManager(this, ivFace);
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@ -195,8 +151,6 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
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handler.post(faceAnimationRunnable);
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}).start();
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// 检查并请求必要的权限
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checkAndRequestPermissions();
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@ -220,16 +174,6 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
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int min = motorController.getVerticalMinAngle();
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int mid = max - min;
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Log.d(TAG,"ver max:" + max + " ver min:"+min + " mid:"+ mid);
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// while(true)
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// {
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// try {
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// angleListener.rotateToAngle(direction, direction? 15 : 15 , direction ? 35 : 12);
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// direction = !direction;
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// Thread.sleep(200);
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// }catch (InterruptedException e) {
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// Log.e(TAG, "初始化延时失败", e);
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// }
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// }
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} catch (InterruptedException e) {
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Log.e(TAG, "初始化延时失败", e);
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}
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@ -237,7 +181,6 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
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//xiaozhi
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initAudio();
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// setupListeners();
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initWebSocket();
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}
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@ -354,6 +297,21 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
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if (keyCode == HEAD_TOUCH_KEY) {
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// 处理返回键按下事件
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Log.d(TAG, "触摸了机器人的头");
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try {
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Thread.sleep(500);
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if(motorController != null){
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int angle = motorController.getVerticalCurrentAngle();
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int max = motorController.getVerticalMaxAngle();
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int min = motorController.getVerticalMinAngle();
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int mid = max - ((max - min) / 2)+500;
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Log.d(TAG, "angle: " + angle + " mid: "+ mid);
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if(angle <= mid)
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motorController.rotateVerticalToAngle(1,100,10);
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}
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} catch (InterruptedException e) {
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throw new RuntimeException(e);
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}
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return true; // 返回true表示事件已被处理
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}
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return super.onKeyDown(keyCode, event); // 让系统继续处理其他按键事件
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@ -680,7 +638,7 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
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if (!isAllZero) {
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webSocketManager.sendBinaryMessage(encodedData);
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Log.d(TAG, "发送音频数据: " + encodedSize + " bytes");
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//Log.d(TAG, "发送音频数据: " + encodedSize + " bytes");
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// 更新波形图
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// byte[] buffer = new byte[size * 2];
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@ -52,6 +52,7 @@ public class MotorController {
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// 垂直方向角度限制常量
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private static final String VERTICAL_MAX_ANGLE_PATH = "/sys/bus/i2c/drivers/kth5502/8-006a/max_angle";
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private static final String VERTICAL_MIN_ANGLE_PATH = "/sys/bus/i2c/drivers/kth5502/8-006a/min_angle";
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private static final String VERTICAL_CURRENT_ANGLE_PATH = "/sys/bus/i2c/drivers/kth5502/8-006a/angle";
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// 水平电机命令常量
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public static final byte CMD_ROTATE_TO_ANGLE = 0x04; // 控制电机转动到目标角度
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@ -672,6 +673,43 @@ public class MotorController {
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return sb.toString().trim();
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}
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/**
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* 控制垂直电机旋转至指定角度
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* @param direction 方向：1=抬头，0=低头
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* @param dutyCycle 占空比（0-100）
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* @param angle 目标角度（度）
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* @return 是否控制成功
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*/
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/**
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* 获取当前垂直角度
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* @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
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*/
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public int getVerticalCurrentAngle() {
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// 首先检查传感器是否开启
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if (!isVerticalSensorEnabled()) {
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LogManager.e(TAG, "Cannot read vertical angle: sensor is not enabled");
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return -1;
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}
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try {
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BufferedReader reader = new BufferedReader(new FileReader(VERTICAL_CURRENT_ANGLE_PATH));
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String line = reader.readLine();
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reader.close();
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if (line != null) {
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int angle = Integer.parseInt(line.trim());
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LogManager.d(TAG, "Current vertical angle: " + angle);
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return angle;
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} else {
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LogManager.e(TAG, "Failed to read vertical angle: empty response");
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return -1;
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}
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} catch (IOException | NumberFormatException e) {
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LogManager.e(TAG, "Failed to read vertical angle: " + e.getMessage());
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return -1;
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}
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}
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/**
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* 控制垂直电机旋转至指定角度
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* @param direction 方向：1=抬头，0=低头
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@ -83,7 +83,7 @@ public class WebSocketManager {
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@Override
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public void onMessage(ByteBuffer bytes) {
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Log.d(TAG, "Received binary message: " + bytes.remaining() + " bytes");
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//Log.d(TAG, "Received binary message: " + bytes.remaining() + " bytes");
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byte[] data = new byte[bytes.remaining()];
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bytes.get(data);
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mainHandler.post(() -> {
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