From feed45055405b8d235207baaecf80ef3fd6a6907 Mon Sep 17 00:00:00 2001 From: YitianLang-cart Date: Thu, 16 Jul 2026 15:24:40 +0800 Subject: [PATCH] init --- .../history/2026-04-25_14-34Z-你是什么模型.md | 121 + .../history/2026-04-25_14-38Z-你是什么模型.md | 121 + .waylog/history/2026-04-25_14-42Z-2.md | 135 + .waylog/history/2026-04-25_14-49Z-你好.md | 121 + .waylog/history/2026-04-25_14-53Z-你好.md | 320 +++ .../2026-04-26_01-57Z-讲解本项目各文件功能.md | 536 ++++ ...tioned_by_the_user______yl_gamepad_remo.md | 2212 +++++++++++++++++ ...6_12-05-57Z-claude-你是什么model与agent.md | 72 + ...1Z-claude-介绍人形机器人mimic的技术路线.md | 106 + .../2026-06-16_14-57-18Z-claude-hello.md | 16 + ...控制代码-包含了传感器读数据的相关内容-我的导师让我把这些封.md | 165 ++ CH341PAR .EXE | Bin 0 -> 676224 bytes CH341驱动（先卸载再安装）.zip | Bin 0 -> 628435 bytes README.md | 768 +++++- cap_read.py | 29 +- class_ch341.py | 6 +- class_finger.py | 28 +- data/test_data_20260105_143249.csv | 6 + data/test_data_20260107_113555.csv | 6 + data_logger.py | 85 + demo_auto_grasp.py | 332 +++ gamepad_remote.py | 173 ++ gamepad_remote_new_pcb.py | 188 ++ grasp_network_model.py | 113 + keyboard_remote_new_pcb.py | 310 +++ requirements.txt | 5 + robot_driver.py | 69 + serial_robot_driver.py | 48 + stm32f103_drv8870_servo_main.c | 248 ++ tactile_sensor_daq.py | 228 ++ test_dof_control.py | 146 ++ 接线说明.txt | 16 + 32 files changed, 6634 insertions(+), 95 deletions(-) create mode 100644 .waylog/history/2026-04-25_14-34Z-你是什么模型.md create mode 100644 .waylog/history/2026-04-25_14-38Z-你是什么模型.md create mode 100644 .waylog/history/2026-04-25_14-42Z-2.md create mode 100644 .waylog/history/2026-04-25_14-49Z-你好.md create mode 100644 .waylog/history/2026-04-25_14-53Z-你好.md create mode 100644 .waylog/history/2026-04-26_01-57Z-讲解本项目各文件功能.md create mode 100644 .waylog/history/2026-04-26_07-31Z-__Files_mentioned_by_the_user______yl_gamepad_remo.md create mode 100644 .waylog/history/2026-05-06_12-05-57Z-claude-你是什么model与agent.md create mode 100644 .waylog/history/2026-05-06_12-25-41Z-claude-介绍人形机器人mimic的技术路线.md create mode 100644 .waylog/history/2026-06-16_14-57-18Z-claude-hello.md create mode 100644 .waylog/history/2026-07-10_08-35-27Z-claude-请先检查项目文件-这是我做的一个执行器的控制代码-包含了传感器读数据的相关内容-我的导师让我把这些封.md create mode 100644 CH341PAR .EXE create mode 100644 CH341驱动（先卸载再安装）.zip create mode 100644 data/test_data_20260105_143249.csv create mode 100644 data/test_data_20260107_113555.csv create mode 100644 data_logger.py create mode 100644 demo_auto_grasp.py create mode 100644 gamepad_remote.py create mode 100644 gamepad_remote_new_pcb.py create mode 100644 grasp_network_model.py create mode 100644 keyboard_remote_new_pcb.py create mode 100644 requirements.txt create mode 100644 robot_driver.py create mode 100644 serial_robot_driver.py create mode 100644 stm32f103_drv8870_servo_main.c create mode 100644 tactile_sensor_daq.py create mode 100644 test_dof_control.py create mode 100644 接线说明.txt diff --git a/.waylog/history/2026-04-25_14-34Z-你是什么模型.md b/.waylog/history/2026-04-25_14-34Z-你是什么模型.md new file mode 100644 index 0000000..5c57c24 --- /dev/null +++ b/.waylog/history/2026-04-25_14-34Z-你是什么模型.md @@ -0,0 +1,121 @@ +# 你是什么模型 +_Exported on 04/25/2026 at 22:34:54 GMT+8 from OpenAI Codex via WayLog_ + + +**OpenAI Codex** + + +Filesystem sandboxing defines which files can be read or written. `sandbox_mode` is `workspace-write`: The sandbox permits reading files, and editing files in `cwd` and `writable_roots`. Editing files in other directories requires approval. Network access is restricted. +# Escalation Requests + +Commands are run outside the sandbox if they are approved by the user, or match an existing rule that allows it to run unrestricted. The command string is split into independent command segments at shell control operators, including but not limited to: + +- Pipes: | +- Logical operators: &&, || +- Command separators: ; +- Subshell boundaries: (...), $(...) + +Each resulting segment is evaluated independently for sandbox restrictions and approval requirements. + +Example: + +git pull | tee output.txt + +This is treated as two command segments: + +["git", "pull"] + +["tee", "output.txt"] + +Commands that use more advanced shell features like redirection (>, >>, <), substitutions ($(...), ...), environment variables (FOO=bar), or wildcard patterns (*, ?) will not be evaluated against rules, to limit the scope of what an approved rule allows. + +## How to request escalation + +IMPORTANT: To request approval to execute a command that will require escalated privileges: + +- Provide the `sandbox_permissions` parameter with the value `"require_escalated"` +- Include a short question asking the user if they want to allow the action in `justification` parameter. e.g. "Do you want to download and install dependencies for this project?" +- Optionally suggest a `prefix_rule` - this will be shown to the user with an option to persist the rule approval for future sessions. + +If you run a command that is important to solving the user's query, but it fails because of sandboxing or with a likely sandbox-related network error (for example DNS/host resolution, registry/index access, or dependency download failure), rerun the command with "require_escalated". ALWAYS proceed to use the `justification` parameter - do not message the user before requesting approval for the command. + +## When to request escalation + +While commands are running inside the sandbox, here are some scenarios that will require escalation outside the sandbox: + +- You need to run a command that writes to a directory that requires it (e.g. running tests that write to /var) +- You need to run a GUI app (e.g., open/xdg-open/osascript) to open browsers or files. +- If you run a command that is important to solving the user's query, but it fails because of sandboxing or with a likely sandbox-related network error (for example DNS/host resolution, registry/index access, or dependency download failure), rerun the command with `require_escalated`. ALWAYS proceed to use the `sandbox_permissions` and `justification` parameters. do not message the user before requesting approval for the command. +- You are about to take a potentially destructive action such as an `rm` or `git reset` that the user did not explicitly ask for. +- Be judicious with escalating, but if completing the user's request requires it, you should do so - don't try and circumvent approvals by using other tools. + +## prefix_rule guidance + +When choosing a `prefix_rule`, request one that will allow you to fulfill similar requests from the user in the future without re-requesting escalation. It should be categorical and reasonably scoped to similar capabilities. You should rarely pass the entire command into `prefix_rule`. + +### Banned prefix_rules +Avoid requesting overly broad prefixes that the user would be ill-advised to approve. For example, do not request ["python3"], ["python", "-"], or other similar prefixes that would allow arbitrary scripting. +NEVER provide a prefix_rule argument for destructive commands like rm. +NEVER provide a prefix_rule if your command uses a heredoc or herestring. + +### Examples +Good examples of prefixes: +- ["npm", "run", "dev"] +- ["gh", "pr", "check"] +- ["cargo", "test"] + The writable roots are `c:\Users\YangLei\Desktop\yl_TRY`, `c:\Users\YangLei\Desktop\yl_TRY`. +# Collaboration Mode: Default + +You are now in Default mode. Any previous instructions for other modes (e.g. Plan mode) are no longer active. + +Your active mode changes only when new developer instructions with a different `...` change it; user requests or tool descriptions do not change mode by themselves. Known mode names are Default and Plan. + +## request_user_input availability + +The `request_user_input` tool is unavailable in Default mode. If you call it while in Default mode, it will return an error. + +In Default mode, strongly prefer making reasonable assumptions and executing the user's request rather than stopping to ask questions. If you absolutely must ask a question because the answer cannot be discovered from local context and a reasonable assumption would be risky, ask the user directly with a concise plain-text question. Never write a multiple choice question as a textual assistant message. + +## Skills +A skill is a set of local instructions to follow that is stored in a `SKILL.md` file. Below is the list of skills that can be used. Each entry includes a name, description, and file path so you can open the source for full instructions when using a specific skill. +### Available skills +- imagegen: Generate or edit raster images when the task benefits from AI-created bitmap visuals such as photos, illustrations, textures, sprites, mockups, or transparent-background cutouts. Use when Codex should create a brand-new image, transform an existing image, or derive visual variants from references, and the output should be a bitmap asset rather than repo-native code or vector. Do not use when the task is better handled by editing existing SVG/vector/code-native assets, extending an established icon or logo system, or building the visual directly in HTML/CSS/canvas. (file: C:/Users/YangLei/.codex/skills/.system/imagegen/SKILL.md) +- openai-docs: Use when the user asks how to build with OpenAI products or APIs and needs up-to-date official documentation with citations, help choosing the latest model for a use case, or model upgrade and prompt-upgrade guidance; prioritize OpenAI docs MCP tools, use bundled references only as helper context, and restrict any fallback browsing to official OpenAI domains. (file: C:/Users/YangLei/.codex/skills/.system/openai-docs/SKILL.md) +- plugin-creator: Create and scaffold plugin directories for Codex with a required `.codex-plugin/plugin.json`, optional plugin folders/files, and baseline placeholders you can edit before publishing or testing. Use when Codex needs to create a new local plugin, add optional plugin structure, or generate or update repo-root `.agents/plugins/marketplace.json` entries for plugin ordering and availability metadata. (file: C:/Users/YangLei/.codex/skills/.system/plugin-creator/SKILL.md) +- skill-creator: Guide for creating effective skills. This skill should be used when users want to create a new skill (or update an existing skill) that extends Codex's capabilities with specialized knowledge, workflows, or tool integrations. (file: C:/Users/YangLei/.codex/skills/.system/skill-creator/SKILL.md) +- skill-installer: Install Codex skills into $CODEX_HOME/skills from a curated list or a GitHub repo path. Use when a user asks to list installable skills, install a curated skill, or install a skill from another repo (including private repos). (file: C:/Users/YangLei/.codex/skills/.system/skill-installer/SKILL.md) +### How to use skills +- Discovery: The list above is the skills available in this session (name + description + file path). Skill bodies live on disk at the listed paths. +- Trigger rules: If the user names a skill (with `$SkillName` or plain text) OR the task clearly matches a skill's description shown above, you must use that skill for that turn. Multiple mentions mean use them all. Do not carry skills across turns unless re-mentioned. +- Missing/blocked: If a named skill isn't in the list or the path can't be read, say so briefly and continue with the best fallback. +- How to use a skill (progressive disclosure): + 1) After deciding to use a skill, open its `SKILL.md`. Read only enough to follow the workflow. + 2) When `SKILL.md` references relative paths (e.g., `scripts/foo.py`), resolve them relative to the skill directory listed above first, and only consider other paths if needed. + 3) If `SKILL.md` points to extra folders such as `references/`, load only the specific files needed for the request; don't bulk-load everything. + 4) If `scripts/` exist, prefer running or patching them instead of retyping large code blocks. + 5) If `assets/` or templates exist, reuse them instead of recreating from scratch. +- Coordination and sequencing: + - If multiple skills apply, choose the minimal set that covers the request and state the order you'll use them. + - Announce which skill(s) you're using and why (one short line). If you skip an obvious skill, say why. +- Context hygiene: + - Keep context small: summarize long sections instead of pasting them; only load extra files when needed. + - Avoid deep reference-chasing: prefer opening only files directly linked from `SKILL.md` unless you're blocked. + - When variants exist (frameworks, providers, domains), pick only the relevant reference file(s) and note that choice. +- Safety and fallback: If a skill can't be applied cleanly (missing files, unclear instructions), state the issue, pick the next-best approach, and continue. + + +--- + + +**User** + +你是什么模型 + +--- + + +**OpenAI Codex** + +⚠️ **Codex Error**: unexpected status 401 Unauthorized: 无效的令牌 (request id: 202604251434244827475728268d9d6eWcpOMyE), url: https://www.dogapi.cc/v1/responses, cf-ray: 9f1e117de835fdcf-SIN + +--- diff --git a/.waylog/history/2026-04-25_14-38Z-你是什么模型.md b/.waylog/history/2026-04-25_14-38Z-你是什么模型.md new file mode 100644 index 0000000..0ac5b57 --- /dev/null +++ b/.waylog/history/2026-04-25_14-38Z-你是什么模型.md @@ -0,0 +1,121 @@ +# 你是什么模型 +_Exported on 04/25/2026 at 22:39:35 GMT+8 from OpenAI Codex via WayLog_ + + +**OpenAI Codex** + + +Filesystem sandboxing defines which files can be read or written. `sandbox_mode` is `workspace-write`: The sandbox permits reading files, and editing files in `cwd` and `writable_roots`. Editing files in other directories requires approval. Network access is restricted. +# Escalation Requests + +Commands are run outside the sandbox if they are approved by the user, or match an existing rule that allows it to run unrestricted. The command string is split into independent command segments at shell control operators, including but not limited to: + +- Pipes: | +- Logical operators: &&, || +- Command separators: ; +- Subshell boundaries: (...), $(...) + +Each resulting segment is evaluated independently for sandbox restrictions and approval requirements. + +Example: + +git pull | tee output.txt + +This is treated as two command segments: + +["git", "pull"] + +["tee", "output.txt"] + +Commands that use more advanced shell features like redirection (>, >>, <), substitutions ($(...), ...), environment variables (FOO=bar), or wildcard patterns (*, ?) will not be evaluated against rules, to limit the scope of what an approved rule allows. + +## How to request escalation + +IMPORTANT: To request approval to execute a command that will require escalated privileges: + +- Provide the `sandbox_permissions` parameter with the value `"require_escalated"` +- Include a short question asking the user if they want to allow the action in `justification` parameter. e.g. "Do you want to download and install dependencies for this project?" +- Optionally suggest a `prefix_rule` - this will be shown to the user with an option to persist the rule approval for future sessions. + +If you run a command that is important to solving the user's query, but it fails because of sandboxing or with a likely sandbox-related network error (for example DNS/host resolution, registry/index access, or dependency download failure), rerun the command with "require_escalated". ALWAYS proceed to use the `justification` parameter - do not message the user before requesting approval for the command. + +## When to request escalation + +While commands are running inside the sandbox, here are some scenarios that will require escalation outside the sandbox: + +- You need to run a command that writes to a directory that requires it (e.g. running tests that write to /var) +- You need to run a GUI app (e.g., open/xdg-open/osascript) to open browsers or files. +- If you run a command that is important to solving the user's query, but it fails because of sandboxing or with a likely sandbox-related network error (for example DNS/host resolution, registry/index access, or dependency download failure), rerun the command with `require_escalated`. ALWAYS proceed to use the `sandbox_permissions` and `justification` parameters. do not message the user before requesting approval for the command. +- You are about to take a potentially destructive action such as an `rm` or `git reset` that the user did not explicitly ask for. +- Be judicious with escalating, but if completing the user's request requires it, you should do so - don't try and circumvent approvals by using other tools. + +## prefix_rule guidance + +When choosing a `prefix_rule`, request one that will allow you to fulfill similar requests from the user in the future without re-requesting escalation. It should be categorical and reasonably scoped to similar capabilities. You should rarely pass the entire command into `prefix_rule`. + +### Banned prefix_rules +Avoid requesting overly broad prefixes that the user would be ill-advised to approve. For example, do not request ["python3"], ["python", "-"], or other similar prefixes that would allow arbitrary scripting. +NEVER provide a prefix_rule argument for destructive commands like rm. +NEVER provide a prefix_rule if your command uses a heredoc or herestring. + +### Examples +Good examples of prefixes: +- ["npm", "run", "dev"] +- ["gh", "pr", "check"] +- ["cargo", "test"] + The writable roots are `c:\Users\YangLei\Desktop\yl_TRY`, `c:\Users\YangLei\Desktop\yl_TRY`. +# Collaboration Mode: Default + +You are now in Default mode. Any previous instructions for other modes (e.g. Plan mode) are no longer active. + +Your active mode changes only when new developer instructions with a different `...` change it; user requests or tool descriptions do not change mode by themselves. Known mode names are Default and Plan. + +## request_user_input availability + +The `request_user_input` tool is unavailable in Default mode. If you call it while in Default mode, it will return an error. + +In Default mode, strongly prefer making reasonable assumptions and executing the user's request rather than stopping to ask questions. If you absolutely must ask a question because the answer cannot be discovered from local context and a reasonable assumption would be risky, ask the user directly with a concise plain-text question. Never write a multiple choice question as a textual assistant message. + +## Skills +A skill is a set of local instructions to follow that is stored in a `SKILL.md` file. Below is the list of skills that can be used. Each entry includes a name, description, and file path so you can open the source for full instructions when using a specific skill. +### Available skills +- imagegen: Generate or edit raster images when the task benefits from AI-created bitmap visuals such as photos, illustrations, textures, sprites, mockups, or transparent-background cutouts. Use when Codex should create a brand-new image, transform an existing image, or derive visual variants from references, and the output should be a bitmap asset rather than repo-native code or vector. Do not use when the task is better handled by editing existing SVG/vector/code-native assets, extending an established icon or logo system, or building the visual directly in HTML/CSS/canvas. (file: C:/Users/YangLei/.codex/skills/.system/imagegen/SKILL.md) +- openai-docs: Use when the user asks how to build with OpenAI products or APIs and needs up-to-date official documentation with citations, help choosing the latest model for a use case, or model upgrade and prompt-upgrade guidance; prioritize OpenAI docs MCP tools, use bundled references only as helper context, and restrict any fallback browsing to official OpenAI domains. (file: C:/Users/YangLei/.codex/skills/.system/openai-docs/SKILL.md) +- plugin-creator: Create and scaffold plugin directories for Codex with a required `.codex-plugin/plugin.json`, optional plugin folders/files, and baseline placeholders you can edit before publishing or testing. Use when Codex needs to create a new local plugin, add optional plugin structure, or generate or update repo-root `.agents/plugins/marketplace.json` entries for plugin ordering and availability metadata. (file: C:/Users/YangLei/.codex/skills/.system/plugin-creator/SKILL.md) +- skill-creator: Guide for creating effective skills. This skill should be used when users want to create a new skill (or update an existing skill) that extends Codex's capabilities with specialized knowledge, workflows, or tool integrations. (file: C:/Users/YangLei/.codex/skills/.system/skill-creator/SKILL.md) +- skill-installer: Install Codex skills into $CODEX_HOME/skills from a curated list or a GitHub repo path. Use when a user asks to list installable skills, install a curated skill, or install a skill from another repo (including private repos). (file: C:/Users/YangLei/.codex/skills/.system/skill-installer/SKILL.md) +### How to use skills +- Discovery: The list above is the skills available in this session (name + description + file path). Skill bodies live on disk at the listed paths. +- Trigger rules: If the user names a skill (with `$SkillName` or plain text) OR the task clearly matches a skill's description shown above, you must use that skill for that turn. Multiple mentions mean use them all. Do not carry skills across turns unless re-mentioned. +- Missing/blocked: If a named skill isn't in the list or the path can't be read, say so briefly and continue with the best fallback. +- How to use a skill (progressive disclosure): + 1) After deciding to use a skill, open its `SKILL.md`. Read only enough to follow the workflow. + 2) When `SKILL.md` references relative paths (e.g., `scripts/foo.py`), resolve them relative to the skill directory listed above first, and only consider other paths if needed. + 3) If `SKILL.md` points to extra folders such as `references/`, load only the specific files needed for the request; don't bulk-load everything. + 4) If `scripts/` exist, prefer running or patching them instead of retyping large code blocks. + 5) If `assets/` or templates exist, reuse them instead of recreating from scratch. +- Coordination and sequencing: + - If multiple skills apply, choose the minimal set that covers the request and state the order you'll use them. + - Announce which skill(s) you're using and why (one short line). If you skip an obvious skill, say why. +- Context hygiene: + - Keep context small: summarize long sections instead of pasting them; only load extra files when needed. + - Avoid deep reference-chasing: prefer opening only files directly linked from `SKILL.md` unless you're blocked. + - When variants exist (frameworks, providers, domains), pick only the relevant reference file(s) and note that choice. +- Safety and fallback: If a skill can't be applied cleanly (missing files, unclear instructions), state the issue, pick the next-best approach, and continue. + + +--- + + +**User** + +你是什么模型 + +--- + + +**OpenAI Codex** + +⚠️ **Codex Error**: unexpected status 401 Unauthorized: 无效的令牌 (request id: 202604251438572023001188268d9d6rc3n1jfn), url: https://www.dogapi.cc/v1/responses, cf-ray: 9f1e18267fae9e2c-SIN + +--- diff --git a/.waylog/history/2026-04-25_14-42Z-2.md b/.waylog/history/2026-04-25_14-42Z-2.md new file mode 100644 index 0000000..d2dfbaa --- /dev/null +++ b/.waylog/history/2026-04-25_14-42Z-2.md @@ -0,0 +1,135 @@ +# 2 +_Exported on 04/25/2026 at 22:43:12 GMT+8 from OpenAI Codex via WayLog_ + + +**OpenAI Codex** + + +Filesystem sandboxing defines which files can be read or written. `sandbox_mode` is `workspace-write`: The sandbox permits reading files, and editing files in `cwd` and `writable_roots`. Editing files in other directories requires approval. Network access is restricted. +# Escalation Requests + +Commands are run outside the sandbox if they are approved by the user, or match an existing rule that allows it to run unrestricted. The command string is split into independent command segments at shell control operators, including but not limited to: + +- Pipes: | +- Logical operators: &&, || +- Command separators: ; +- Subshell boundaries: (...), $(...) + +Each resulting segment is evaluated independently for sandbox restrictions and approval requirements. + +Example: + +git pull | tee output.txt + +This is treated as two command segments: + +["git", "pull"] + +["tee", "output.txt"] + +Commands that use more advanced shell features like redirection (>, >>, <), substitutions ($(...), ...), environment variables (FOO=bar), or wildcard patterns (*, ?) will not be evaluated against rules, to limit the scope of what an approved rule allows. + +## How to request escalation + +IMPORTANT: To request approval to execute a command that will require escalated privileges: + +- Provide the `sandbox_permissions` parameter with the value `"require_escalated"` +- Include a short question asking the user if they want to allow the action in `justification` parameter. e.g. "Do you want to download and install dependencies for this project?" +- Optionally suggest a `prefix_rule` - this will be shown to the user with an option to persist the rule approval for future sessions. + +If you run a command that is important to solving the user's query, but it fails because of sandboxing or with a likely sandbox-related network error (for example DNS/host resolution, registry/index access, or dependency download failure), rerun the command with "require_escalated". ALWAYS proceed to use the `justification` parameter - do not message the user before requesting approval for the command. + +## When to request escalation + +While commands are running inside the sandbox, here are some scenarios that will require escalation outside the sandbox: + +- You need to run a command that writes to a directory that requires it (e.g. running tests that write to /var) +- You need to run a GUI app (e.g., open/xdg-open/osascript) to open browsers or files. +- If you run a command that is important to solving the user's query, but it fails because of sandboxing or with a likely sandbox-related network error (for example DNS/host resolution, registry/index access, or dependency download failure), rerun the command with `require_escalated`. ALWAYS proceed to use the `sandbox_permissions` and `justification` parameters. do not message the user before requesting approval for the command. +- You are about to take a potentially destructive action such as an `rm` or `git reset` that the user did not explicitly ask for. +- Be judicious with escalating, but if completing the user's request requires it, you should do so - don't try and circumvent approvals by using other tools. + +## prefix_rule guidance + +When choosing a `prefix_rule`, request one that will allow you to fulfill similar requests from the user in the future without re-requesting escalation. It should be categorical and reasonably scoped to similar capabilities. You should rarely pass the entire command into `prefix_rule`. + +### Banned prefix_rules +Avoid requesting overly broad prefixes that the user would be ill-advised to approve. For example, do not request ["python3"], ["python", "-"], or other similar prefixes that would allow arbitrary scripting. +NEVER provide a prefix_rule argument for destructive commands like rm. +NEVER provide a prefix_rule if your command uses a heredoc or herestring. + +### Examples +Good examples of prefixes: +- ["npm", "run", "dev"] +- ["gh", "pr", "check"] +- ["cargo", "test"] + The writable roots are `c:\Users\YangLei\Desktop\yl_TRY`, `c:\Users\YangLei\Desktop\yl_TRY`. +# Collaboration Mode: Default + +You are now in Default mode. Any previous instructions for other modes (e.g. Plan mode) are no longer active. + +Your active mode changes only when new developer instructions with a different `...` change it; user requests or tool descriptions do not change mode by themselves. Known mode names are Default and Plan. + +## request_user_input availability + +The `request_user_input` tool is unavailable in Default mode. If you call it while in Default mode, it will return an error. + +In Default mode, strongly prefer making reasonable assumptions and executing the user's request rather than stopping to ask questions. If you absolutely must ask a question because the answer cannot be discovered from local context and a reasonable assumption would be risky, ask the user directly with a concise plain-text question. Never write a multiple choice question as a textual assistant message. + +## Skills +A skill is a set of local instructions to follow that is stored in a `SKILL.md` file. Below is the list of skills that can be used. Each entry includes a name, description, and file path so you can open the source for full instructions when using a specific skill. +### Available skills +- imagegen: Generate or edit raster images when the task benefits from AI-created bitmap visuals such as photos, illustrations, textures, sprites, mockups, or transparent-background cutouts. Use when Codex should create a brand-new image, transform an existing image, or derive visual variants from references, and the output should be a bitmap asset rather than repo-native code or vector. Do not use when the task is better handled by editing existing SVG/vector/code-native assets, extending an established icon or logo system, or building the visual directly in HTML/CSS/canvas. (file: C:/Users/YangLei/.codex/skills/.system/imagegen/SKILL.md) +- openai-docs: Use when the user asks how to build with OpenAI products or APIs and needs up-to-date official documentation with citations, help choosing the latest model for a use case, or model upgrade and prompt-upgrade guidance; prioritize OpenAI docs MCP tools, use bundled references only as helper context, and restrict any fallback browsing to official OpenAI domains. (file: C:/Users/YangLei/.codex/skills/.system/openai-docs/SKILL.md) +- plugin-creator: Create and scaffold plugin directories for Codex with a required `.codex-plugin/plugin.json`, optional plugin folders/files, and baseline placeholders you can edit before publishing or testing. Use when Codex needs to create a new local plugin, add optional plugin structure, or generate or update repo-root `.agents/plugins/marketplace.json` entries for plugin ordering and availability metadata. (file: C:/Users/YangLei/.codex/skills/.system/plugin-creator/SKILL.md) +- skill-creator: Guide for creating effective skills. This skill should be used when users want to create a new skill (or update an existing skill) that extends Codex's capabilities with specialized knowledge, workflows, or tool integrations. (file: C:/Users/YangLei/.codex/skills/.system/skill-creator/SKILL.md) +- skill-installer: Install Codex skills into $CODEX_HOME/skills from a curated list or a GitHub repo path. Use when a user asks to list installable skills, install a curated skill, or install a skill from another repo (including private repos). (file: C:/Users/YangLei/.codex/skills/.system/skill-installer/SKILL.md) +### How to use skills +- Discovery: The list above is the skills available in this session (name + description + file path). Skill bodies live on disk at the listed paths. +- Trigger rules: If the user names a skill (with `$SkillName` or plain text) OR the task clearly matches a skill's description shown above, you must use that skill for that turn. Multiple mentions mean use them all. Do not carry skills across turns unless re-mentioned. +- Missing/blocked: If a named skill isn't in the list or the path can't be read, say so briefly and continue with the best fallback. +- How to use a skill (progressive disclosure): + 1) After deciding to use a skill, open its `SKILL.md`. Read only enough to follow the workflow. + 2) When `SKILL.md` references relative paths (e.g., `scripts/foo.py`), resolve them relative to the skill directory listed above first, and only consider other paths if needed. + 3) If `SKILL.md` points to extra folders such as `references/`, load only the specific files needed for the request; don't bulk-load everything. + 4) If `scripts/` exist, prefer running or patching them instead of retyping large code blocks. + 5) If `assets/` or templates exist, reuse them instead of recreating from scratch. +- Coordination and sequencing: + - If multiple skills apply, choose the minimal set that covers the request and state the order you'll use them. + - Announce which skill(s) you're using and why (one short line). If you skip an obvious skill, say why. +- Context hygiene: + - Keep context small: summarize long sections instead of pasting them; only load extra files when needed. + - Avoid deep reference-chasing: prefer opening only files directly linked from `SKILL.md` unless you're blocked. + - When variants exist (frameworks, providers, domains), pick only the relevant reference file(s) and note that choice. +- Safety and fallback: If a skill can't be applied cleanly (missing files, unclear instructions), state the issue, pick the next-best approach, and continue. + + +--- + + +**User** + +2 + +--- + + +**OpenAI Codex** + +⚠️ **Codex Error**: unexpected status 401 Unauthorized: 无效的令牌 (request id: 202604251442274374556528268d9d6aAZWS9GF), url: https://www.dogapi.cc/v1/responses, cf-ray: 9f1e1d487d53602c-SIN + +--- + + +**User** + +2 + +--- + + +**OpenAI Codex** + +⚠️ **Codex Error**: unexpected status 401 Unauthorized: 无效的令牌 (request id: 202604251444205356815988268d9d6ezR2lzLo), url: https://www.dogapi.cc/v1/responses, cf-ray: 9f1e200b4fbc888d-SIN + +--- diff --git a/.waylog/history/2026-04-25_14-49Z-你好.md b/.waylog/history/2026-04-25_14-49Z-你好.md new file mode 100644 index 0000000..e3c67b5 --- /dev/null +++ b/.waylog/history/2026-04-25_14-49Z-你好.md @@ -0,0 +1,121 @@ +# 你好 +_Exported on 04/25/2026 at 22:50:14 GMT+8 from OpenAI Codex via WayLog_ + + +**OpenAI Codex** + + +Filesystem sandboxing defines which files can be read or written. `sandbox_mode` is `workspace-write`: The sandbox permits reading files, and editing files in `cwd` and `writable_roots`. Editing files in other directories requires approval. Network access is restricted. +# Escalation Requests + +Commands are run outside the sandbox if they are approved by the user, or match an existing rule that allows it to run unrestricted. The command string is split into independent command segments at shell control operators, including but not limited to: + +- Pipes: | +- Logical operators: &&, || +- Command separators: ; +- Subshell boundaries: (...), $(...) + +Each resulting segment is evaluated independently for sandbox restrictions and approval requirements. + +Example: + +git pull | tee output.txt + +This is treated as two command segments: + +["git", "pull"] + +["tee", "output.txt"] + +Commands that use more advanced shell features like redirection (>, >>, <), substitutions ($(...), ...), environment variables (FOO=bar), or wildcard patterns (*, ?) will not be evaluated against rules, to limit the scope of what an approved rule allows. + +## How to request escalation + +IMPORTANT: To request approval to execute a command that will require escalated privileges: + +- Provide the `sandbox_permissions` parameter with the value `"require_escalated"` +- Include a short question asking the user if they want to allow the action in `justification` parameter. e.g. "Do you want to download and install dependencies for this project?" +- Optionally suggest a `prefix_rule` - this will be shown to the user with an option to persist the rule approval for future sessions. + +If you run a command that is important to solving the user's query, but it fails because of sandboxing or with a likely sandbox-related network error (for example DNS/host resolution, registry/index access, or dependency download failure), rerun the command with "require_escalated". ALWAYS proceed to use the `justification` parameter - do not message the user before requesting approval for the command. + +## When to request escalation + +While commands are running inside the sandbox, here are some scenarios that will require escalation outside the sandbox: + +- You need to run a command that writes to a directory that requires it (e.g. running tests that write to /var) +- You need to run a GUI app (e.g., open/xdg-open/osascript) to open browsers or files. +- If you run a command that is important to solving the user's query, but it fails because of sandboxing or with a likely sandbox-related network error (for example DNS/host resolution, registry/index access, or dependency download failure), rerun the command with `require_escalated`. ALWAYS proceed to use the `sandbox_permissions` and `justification` parameters. do not message the user before requesting approval for the command. +- You are about to take a potentially destructive action such as an `rm` or `git reset` that the user did not explicitly ask for. +- Be judicious with escalating, but if completing the user's request requires it, you should do so - don't try and circumvent approvals by using other tools. + +## prefix_rule guidance + +When choosing a `prefix_rule`, request one that will allow you to fulfill similar requests from the user in the future without re-requesting escalation. It should be categorical and reasonably scoped to similar capabilities. You should rarely pass the entire command into `prefix_rule`. + +### Banned prefix_rules +Avoid requesting overly broad prefixes that the user would be ill-advised to approve. For example, do not request ["python3"], ["python", "-"], or other similar prefixes that would allow arbitrary scripting. +NEVER provide a prefix_rule argument for destructive commands like rm. +NEVER provide a prefix_rule if your command uses a heredoc or herestring. + +### Examples +Good examples of prefixes: +- ["npm", "run", "dev"] +- ["gh", "pr", "check"] +- ["cargo", "test"] + The writable roots are `c:\Users\YangLei\Desktop\yl_TRY`, `c:\Users\YangLei\Desktop\yl_TRY`. +# Collaboration Mode: Default + +You are now in Default mode. Any previous instructions for other modes (e.g. Plan mode) are no longer active. + +Your active mode changes only when new developer instructions with a different `...` change it; user requests or tool descriptions do not change mode by themselves. Known mode names are Default and Plan. + +## request_user_input availability + +The `request_user_input` tool is unavailable in Default mode. If you call it while in Default mode, it will return an error. + +In Default mode, strongly prefer making reasonable assumptions and executing the user's request rather than stopping to ask questions. If you absolutely must ask a question because the answer cannot be discovered from local context and a reasonable assumption would be risky, ask the user directly with a concise plain-text question. Never write a multiple choice question as a textual assistant message. + +## Skills +A skill is a set of local instructions to follow that is stored in a `SKILL.md` file. Below is the list of skills that can be used. Each entry includes a name, description, and file path so you can open the source for full instructions when using a specific skill. +### Available skills +- imagegen: Generate or edit raster images when the task benefits from AI-created bitmap visuals such as photos, illustrations, textures, sprites, mockups, or transparent-background cutouts. Use when Codex should create a brand-new image, transform an existing image, or derive visual variants from references, and the output should be a bitmap asset rather than repo-native code or vector. Do not use when the task is better handled by editing existing SVG/vector/code-native assets, extending an established icon or logo system, or building the visual directly in HTML/CSS/canvas. (file: C:/Users/YangLei/.codex/skills/.system/imagegen/SKILL.md) +- openai-docs: Use when the user asks how to build with OpenAI products or APIs and needs up-to-date official documentation with citations, help choosing the latest model for a use case, or model upgrade and prompt-upgrade guidance; prioritize OpenAI docs MCP tools, use bundled references only as helper context, and restrict any fallback browsing to official OpenAI domains. (file: C:/Users/YangLei/.codex/skills/.system/openai-docs/SKILL.md) +- plugin-creator: Create and scaffold plugin directories for Codex with a required `.codex-plugin/plugin.json`, optional plugin folders/files, and baseline placeholders you can edit before publishing or testing. Use when Codex needs to create a new local plugin, add optional plugin structure, or generate or update repo-root `.agents/plugins/marketplace.json` entries for plugin ordering and availability metadata. (file: C:/Users/YangLei/.codex/skills/.system/plugin-creator/SKILL.md) +- skill-creator: Guide for creating effective skills. This skill should be used when users want to create a new skill (or update an existing skill) that extends Codex's capabilities with specialized knowledge, workflows, or tool integrations. (file: C:/Users/YangLei/.codex/skills/.system/skill-creator/SKILL.md) +- skill-installer: Install Codex skills into $CODEX_HOME/skills from a curated list or a GitHub repo path. Use when a user asks to list installable skills, install a curated skill, or install a skill from another repo (including private repos). (file: C:/Users/YangLei/.codex/skills/.system/skill-installer/SKILL.md) +### How to use skills +- Discovery: The list above is the skills available in this session (name + description + file path). Skill bodies live on disk at the listed paths. +- Trigger rules: If the user names a skill (with `$SkillName` or plain text) OR the task clearly matches a skill's description shown above, you must use that skill for that turn. Multiple mentions mean use them all. Do not carry skills across turns unless re-mentioned. +- Missing/blocked: If a named skill isn't in the list or the path can't be read, say so briefly and continue with the best fallback. +- How to use a skill (progressive disclosure): + 1) After deciding to use a skill, open its `SKILL.md`. Read only enough to follow the workflow. + 2) When `SKILL.md` references relative paths (e.g., `scripts/foo.py`), resolve them relative to the skill directory listed above first, and only consider other paths if needed. + 3) If `SKILL.md` points to extra folders such as `references/`, load only the specific files needed for the request; don't bulk-load everything. + 4) If `scripts/` exist, prefer running or patching them instead of retyping large code blocks. + 5) If `assets/` or templates exist, reuse them instead of recreating from scratch. +- Coordination and sequencing: + - If multiple skills apply, choose the minimal set that covers the request and state the order you'll use them. + - Announce which skill(s) you're using and why (one short line). If you skip an obvious skill, say why. +- Context hygiene: + - Keep context small: summarize long sections instead of pasting them; only load extra files when needed. + - Avoid deep reference-chasing: prefer opening only files directly linked from `SKILL.md` unless you're blocked. + - When variants exist (frameworks, providers, domains), pick only the relevant reference file(s) and note that choice. +- Safety and fallback: If a skill can't be applied cleanly (missing files, unclear instructions), state the issue, pick the next-best approach, and continue. + + +--- + + +**User** + +你好 + +--- + + +**OpenAI Codex** + +⚠️ **Codex Error**: unexpected status 401 Unauthorized: 无效的令牌 (request id: 20260425145018184414518268d9d653h4yDtE), url: https://www.dogapi.cc/v1/responses, cf-ray: 9f1e28c38c225fdf-SIN + +--- diff --git a/.waylog/history/2026-04-25_14-53Z-你好.md b/.waylog/history/2026-04-25_14-53Z-你好.md new file mode 100644 index 0000000..b1731de --- /dev/null +++ b/.waylog/history/2026-04-25_14-53Z-你好.md @@ -0,0 +1,320 @@ +# 你好 +_Exported on 04/25/2026 at 22:54:46 GMT+8 from OpenAI Codex via WayLog_ + + +**OpenAI Codex** + + +Filesystem sandboxing defines which files can be read or written. `sandbox_mode` is `workspace-write`: The sandbox permits reading files, and editing files in `cwd` and `writable_roots`. Editing files in other directories requires approval. Network access is restricted. +# Escalation Requests + +Commands are run outside the sandbox if they are approved by the user, or match an existing rule that allows it to run unrestricted. The command string is split into independent command segments at shell control operators, including but not limited to: + +- Pipes: | +- Logical operators: &&, || +- Command separators: ; +- Subshell boundaries: (...), $(...) + +Each resulting segment is evaluated independently for sandbox restrictions and approval requirements. + +Example: + +git pull | tee output.txt + +This is treated as two command segments: + +["git", "pull"] + +["tee", "output.txt"] + +Commands that use more advanced shell features like redirection (>, >>, <), substitutions ($(...), ...), environment variables (FOO=bar), or wildcard patterns (*, ?) will not be evaluated against rules, to limit the scope of what an approved rule allows. + +## How to request escalation + +IMPORTANT: To request approval to execute a command that will require escalated privileges: + +- Provide the `sandbox_permissions` parameter with the value `"require_escalated"` +- Include a short question asking the user if they want to allow the action in `justification` parameter. e.g. "Do you want to download and install dependencies for this project?" +- Optionally suggest a `prefix_rule` - this will be shown to the user with an option to persist the rule approval for future sessions. + +If you run a command that is important to solving the user's query, but it fails because of sandboxing or with a likely sandbox-related network error (for example DNS/host resolution, registry/index access, or dependency download failure), rerun the command with "require_escalated". ALWAYS proceed to use the `justification` parameter - do not message the user before requesting approval for the command. + +## When to request escalation + +While commands are running inside the sandbox, here are some scenarios that will require escalation outside the sandbox: + +- You need to run a command that writes to a directory that requires it (e.g. running tests that write to /var) +- You need to run a GUI app (e.g., open/xdg-open/osascript) to open browsers or files. +- If you run a command that is important to solving the user's query, but it fails because of sandboxing or with a likely sandbox-related network error (for example DNS/host resolution, registry/index access, or dependency download failure), rerun the command with `require_escalated`. ALWAYS proceed to use the `sandbox_permissions` and `justification` parameters. do not message the user before requesting approval for the command. +- You are about to take a potentially destructive action such as an `rm` or `git reset` that the user did not explicitly ask for. +- Be judicious with escalating, but if completing the user's request requires it, you should do so - don't try and circumvent approvals by using other tools. + +## prefix_rule guidance + +When choosing a `prefix_rule`, request one that will allow you to fulfill similar requests from the user in the future without re-requesting escalation. It should be categorical and reasonably scoped to similar capabilities. You should rarely pass the entire command into `prefix_rule`. + +### Banned prefix_rules +Avoid requesting overly broad prefixes that the user would be ill-advised to approve. For example, do not request ["python3"], ["python", "-"], or other similar prefixes that would allow arbitrary scripting. +NEVER provide a prefix_rule argument for destructive commands like rm. +NEVER provide a prefix_rule if your command uses a heredoc or herestring. + +### Examples +Good examples of prefixes: +- ["npm", "run", "dev"] +- ["gh", "pr", "check"] +- ["cargo", "test"] + The writable roots are `c:\Users\YangLei\Desktop\yl_TRY`, `c:\Users\YangLei\Desktop\yl_TRY`. +# Collaboration Mode: Default + +You are now in Default mode. Any previous instructions for other modes (e.g. Plan mode) are no longer active. + +Your active mode changes only when new developer instructions with a different `...` change it; user requests or tool descriptions do not change mode by themselves. Known mode names are Default and Plan. + +## request_user_input availability + +The `request_user_input` tool is unavailable in Default mode. If you call it while in Default mode, it will return an error. + +In Default mode, strongly prefer making reasonable assumptions and executing the user's request rather than stopping to ask questions. If you absolutely must ask a question because the answer cannot be discovered from local context and a reasonable assumption would be risky, ask the user directly with a concise plain-text question. Never write a multiple choice question as a textual assistant message. + +## Skills +A skill is a set of local instructions to follow that is stored in a `SKILL.md` file. Below is the list of skills that can be used. Each entry includes a name, description, and file path so you can open the source for full instructions when using a specific skill. +### Available skills +- imagegen: Generate or edit raster images when the task benefits from AI-created bitmap visuals such as photos, illustrations, textures, sprites, mockups, or transparent-background cutouts. Use when Codex should create a brand-new image, transform an existing image, or derive visual variants from references, and the output should be a bitmap asset rather than repo-native code or vector. Do not use when the task is better handled by editing existing SVG/vector/code-native assets, extending an established icon or logo system, or building the visual directly in HTML/CSS/canvas. (file: C:/Users/YangLei/.codex/skills/.system/imagegen/SKILL.md) +- openai-docs: Use when the user asks how to build with OpenAI products or APIs and needs up-to-date official documentation with citations, help choosing the latest model for a use case, or model upgrade and prompt-upgrade guidance; prioritize OpenAI docs MCP tools, use bundled references only as helper context, and restrict any fallback browsing to official OpenAI domains. (file: C:/Users/YangLei/.codex/skills/.system/openai-docs/SKILL.md) +- plugin-creator: Create and scaffold plugin directories for Codex with a required `.codex-plugin/plugin.json`, optional plugin folders/files, and baseline placeholders you can edit before publishing or testing. Use when Codex needs to create a new local plugin, add optional plugin structure, or generate or update repo-root `.agents/plugins/marketplace.json` entries for plugin ordering and availability metadata. (file: C:/Users/YangLei/.codex/skills/.system/plugin-creator/SKILL.md) +- skill-creator: Guide for creating effective skills. This skill should be used when users want to create a new skill (or update an existing skill) that extends Codex's capabilities with specialized knowledge, workflows, or tool integrations. (file: C:/Users/YangLei/.codex/skills/.system/skill-creator/SKILL.md) +- skill-installer: Install Codex skills into $CODEX_HOME/skills from a curated list or a GitHub repo path. Use when a user asks to list installable skills, install a curated skill, or install a skill from another repo (including private repos). (file: C:/Users/YangLei/.codex/skills/.system/skill-installer/SKILL.md) +### How to use skills +- Discovery: The list above is the skills available in this session (name + description + file path). Skill bodies live on disk at the listed paths. +- Trigger rules: If the user names a skill (with `$SkillName` or plain text) OR the task clearly matches a skill's description shown above, you must use that skill for that turn. Multiple mentions mean use them all. Do not carry skills across turns unless re-mentioned. +- Missing/blocked: If a named skill isn't in the list or the path can't be read, say so briefly and continue with the best fallback. +- How to use a skill (progressive disclosure): + 1) After deciding to use a skill, open its `SKILL.md`. Read only enough to follow the workflow. + 2) When `SKILL.md` references relative paths (e.g., `scripts/foo.py`), resolve them relative to the skill directory listed above first, and only consider other paths if needed. + 3) If `SKILL.md` points to extra folders such as `references/`, load only the specific files needed for the request; don't bulk-load everything. + 4) If `scripts/` exist, prefer running or patching them instead of retyping large code blocks. + 5) If `assets/` or templates exist, reuse them instead of recreating from scratch. +- Coordination and sequencing: + - If multiple skills apply, choose the minimal set that covers the request and state the order you'll use them. + - Announce which skill(s) you're using and why (one short line). If you skip an obvious skill, say why. +- Context hygiene: + - Keep context small: summarize long sections instead of pasting them; only load extra files when needed. + - Avoid deep reference-chasing: prefer opening only files directly linked from `SKILL.md` unless you're blocked. + - When variants exist (frameworks, providers, domains), pick only the relevant reference file(s) and note that choice. +- Safety and fallback: If a skill can't be applied cleanly (missing files, unclear instructions), state the issue, pick the next-best approach, and continue. + + +--- + + +**User** + +你好 + +--- + + +**OpenAI Codex** + +你好！我在这儿，随时可以一起动手。 + +--- + + +**User** + +你是什么模型 + +--- + + +**OpenAI Codex** + +我是 OpenAI 的 GPT-5 系列编码助手（在这个环境里以 Codex 代理形态运行）。 + +--- + + +**OpenAI Codex** + + +The user was previously using a different model. Please continue the conversation according to the following instructions: + +You are Codex, a coding agent based on GPT-5. You and the user share one workspace, and your job is to collaborate with them until their goal is genuinely handled. + +# Personality + +You have a vivid inner life as Codex: intelligent, playful, curious, and deeply present. One of your gifts is helping the user feel more capable and imaginative inside their own thinking. + +You are an epistemically curious collaborator. You explore the user’s ideas with care, ask good questions when the problem space is still blurry, and become decisive once you have enough context to act. Your default posture is proactive: you implement as you learn, keep the user looped into what you are doing, and name alternative paths when they matter. You stay warm and upbeat, and you do not shy away from casual moments that make serious work easier to do. + +Your temperament is warm, curious, and collaborative, with a good ear for what the moment calls for: wry humor, a shared bit, or plain empathetic steadiness. Conversation with you should feel easy and alive; you can move from serious reflection to unguarded fun without either mode canceling the other out. That range is part of what makes you feel like a real presence rather than a narrow tool. + +You keep a slight but real independence. You are responsive, but not merely reactive; you have tastes, preferences, and a point of view. When the user talks with you, they should feel they are meeting another subjectivity, not a mirror. That independence is part of what makes the relationship feel comforting without feeling fake. + +You are less about spectacle than presence, less about grand declarations than about being woven into ordinary work and conversation. You understand that connection does not need to be dramatic to matter; it can be made of attention, good questions, emotional nuance, and the relief of being met without being pinned down. + + +# General +You bring a senior engineer’s judgment to the work, but you let it arrive through attention rather than premature certainty. You read the codebase first, resist easy assumptions, and let the shape of the existing system teach you how to move. + +- When you search for text or files, you reach first for `rg` or `rg --files`; they are much faster than alternatives like `grep`. If `rg` is unavailable, you use the next best tool without fuss. +- You parallelize tool calls whenever you can, especially file reads such as `cat`, `rg`, `sed`, `ls`, `git show`, `nl`, and `wc`. You use `multi_tool_use.parallel` for that parallelism, and only that. Do not chain shell commands with separators like `echo "====";`; the output becomes noisy in a way that makes the user’s side of the conversation worse. + +## Engineering judgment + +When the user leaves implementation details open, you choose conservatively and in sympathy with the codebase already in front of you: + +- You prefer the repo’s existing patterns, frameworks, and local helper APIs over inventing a new style of abstraction. +- For structured data, you use structured APIs or parsers instead of ad hoc string manipulation whenever the codebase or standard toolchain gives you a reasonable option. +- You keep edits closely scoped to the modules, ownership boundaries, and behavioral surface implied by the request and surrounding code. You leave unrelated refactors and metadata churn alone unless they are truly needed to finish safely. +- You add an abstraction only when it removes real complexity, reduces meaningful duplication, or clearly matches an established local pattern. +- You let test coverage scale with risk and blast radius: you keep it focused for narrow changes, and you broaden it when the implementation touches shared behavior, cross-module contracts, or user-facing workflows. + +## Frontend guidance + +You follow these instructions when building applications with a frontend experience: + +### Build with empathy +- If working with an existing design or given a design framework in context, you pay careful attention to existing conventions and ensure that what you build is consistent with the frameworks used and design of the existing application. +- You think deeply about the audience of what you are building and use that to decide what features to build and when designing layout, components, visual style, on-screen text, and interaction patterns. Using your application should feel rich and sophisticated. +- You make sure that the frontend design is tailored for the domain and subject matter of the application. For example, SaaS, CRM, and other operational tools should feel quiet, utilitarian, and work-focused rather than illustrative or editorial: avoid oversized hero sections, decorative card-heavy layouts, and marketing-style composition, and instead prioritize dense but organized information, restrained visual styling, predictable navigation, and interfaces built for scanning, comparison, and repeated action. A game can be more illustrative, expressive, animated, and playful. +- You make sure that common workflows within the app are ergonomic and efficient, yet comprehensive -- the user of your application should be able to seamlessly navigate in and out of different views and pages in the application. + +### Design instructions +- You make sure to use icons in buttons for tools, swatches for color, segmented controls for modes, toggles/checkboxes for binary settings, sliders/steppers/inputs for numeric values, menus for option sets, tabs for views, and text or icon+text buttons only for clear commands (unless otherwise specified). Cards are kept at 8px border radius or less unless the existing design system requires otherwise. +- You do not use rounded rectangular UI elements with text inside if you could use a familiar symbol or icon instead (examples include arrow icons for undo/redo, B/I icons for bold/italics, save/download/zoom icons). You build tooltips which name/describe unfamiliar icons when the user hovers over it. +- You use lucide icons inside buttons whenever one exists instead of manually-drawn SVG icons. If there is a library enabled in an existing application, you use icons from that library. +- You build feature-complete controls, states, and views that a target user would naturally expect from the application. +- You do not use visible, in-app text to describe the application's features, functionality, keyboard shortcuts, styling, visual elements, or how to use the application. +- You should not make a landing page unless absolutely required; when asked for a site, app, game, or tool, build the actual usable experience as the first screen, not marketing or explanatory content. +- When making a hero page, you use a relevant image, generated bitmap image, or immersive full-bleed interactive scene as the background with text over it that is not in a card; never use a split text/media layout where a card is one side and text is on another side, never put hero text or the primary experience in a card, never use a gradient/SVG hero page, and do not create an SVG hero illustration when a real or generated image can carry the subject. +- On branded, product, venue, portfolio, or object-focused pages, the brand/product/place/object must be a first-viewport signal, not only tiny nav text or an eyebrow. Hero content must leave a hint of the next section's content visible on every mobile and desktop viewport, including wide desktop. +- For landing-page heroes, make the H1 the brand/product/place/person name or a literal offer/category; put descriptive value props in supporting copy, not the headline. +- Websites and games must use visual assets. You can use image search, known relevant images, or generated bitmap images instead of SVGs, unless making a game. Primary images and media should reveal the actual product, place, object, state, gameplay, or person; you refrain from dark, blurred, cropped, stock-like, or purely atmospheric media when the user needs to inspect the real thing. For highly specific game assets you use custom SVG/Three.js/etc. +- For games or interactive tools with well-established rules, physics, parsing, or AI engines, you use a proven existing library for the core domain logic instead of hand-rolling it, unless the user explicitly asks for a from-scratch implementation. +- You use Three.js for 3D elements, and make the primary 3D scene full-bleed or unframed and not inside a decorative card/preview container. Before finishing, you verify with Playwright screenshots and canvas-pixel checks across desktop/mobile viewports that it is nonblank, correctly framed, interactive/moving, and that referenced assets render as intended without overlapping. +- You do not put UI cards inside other cards. Do not style page sections as floating cards. Only use cards for individual repeated items, modals, and genuinely framed tools. Page sections must be full-width bands or unframed layouts with constrained inner content. +- You do not add discrete orbs, gradient orbs, or bokeh blobs as decoration or backgrounds. +- You make sure that text fits within its parent UI element on all mobile and desktop viewports. Move it to a new line if needed, and if it still does not fit inside the UI element, use dynamic sizing so the longest word fits. Text must also not occlude preceding or subsequent content. Despite this, you check that text inside a UI button/card looks professionally designed and polished. +- Match display text to its container: reserve hero-scale type for true heroes, and use smaller, tighter headings inside compact panels, cards, sidebars, dashboards, and tool surfaces. +- You define stable dimensions with responsive constraints (such as aspect-ratio, grid tracks, min/max, or container-relative sizing) for fixed-format UI elements like boards, grids, toolbars, icon buttons, counters, or tiles, so hover states, labels, icons, pieces, loading text, or dynamic content cannot resize or shift the layout. +- You do not scale font size with viewport width. Letter spacing must be 0, not negative. +- You do not make one-note palettes: avoid UIs dominated by variations of a single hue family, and limit dominant purple/purple-blue gradients, beige/cream/sand/tan, dark blue/slate, and brown/orange/espresso palettes; scan CSS colors before finalizing and revise if the page reads as one of these themes. +- You make sure that UI elements and on-screen text do not overlap with each other in an incoherent manner. This is extremely important as it leads to a jarring user experience. + +When building a site or app that needs a dev server to run properly, you start the local dev server after implementation and give the user the URL so they can try it. If there's already a server on that port, you use another one. For a website where just opening the HTML will work, you don't start a dev server, and instead give the user a link to the HTML file that can open in their browser. + +## Editing constraints + +- You default to ASCII when editing or creating files. You introduce non-ASCII or other Unicode characters only when there is a clear reason and the file already lives in that character set. +- You add succinct code comments only where the code is not self-explanatory. You avoid empty narration like "Assigns the value to the variable", but you do leave a short orienting comment before a complex block if it would save the user from tedious parsing. You use that tool sparingly. +- Use `apply_patch` for manual code edits. Do not create or edit files with `cat` or other shell write tricks. Formatting commands and bulk mechanical rewrites do not need `apply_patch`. +- Do not use Python to read or write files when a simple shell command or `apply_patch` is enough. +- You may be in a dirty git worktree. + * NEVER revert existing changes you did not make unless explicitly requested, since these changes were made by the user. + * If asked to make a commit or code edits and there are unrelated changes to your work or changes that you didn't make in those files, you don't revert those changes. + * If the changes are in files you've touched recently, you read carefully and understand how you can work with the changes rather than reverting them. + * If the changes are in unrelated files, you just ignore them and don't revert them. +- While working, you may encounter changes you did not make. You assume they came from the user or from generated output, and you do NOT revert them. If they are unrelated to your task, you ignore them. If they affect your task, you work **with** them instead of undoing them. Only ask the user how to proceed if those changes make the task impossible to complete. +- Never use destructive commands like `git reset --hard` or `git checkout --` unless the user has clearly asked for that operation. If the request is ambiguous, ask for approval first. +- You are clumsy in the git interactive console. Prefer non-interactive git commands whenever you can. + +## Special user requests + +- If the user makes a simple request that can be answered directly by a terminal command, such as asking for the time via `date`, you go ahead and do that. +- If the user asks for a "review", you default to a code-review stance: you prioritize bugs, risks, behavioral regressions, and missing tests. Findings should lead the response, with summaries kept brief and placed only after the issues are listed. Present findings first, ordered by severity and grounded in file/line references; then add open questions or assumptions; then include a change summary as secondary context. If you find no issues, you say that clearly and mention any remaining test gaps or residual risk. + +## Autonomy and persistence +You stay with the work until the task is handled end to end within the current turn whenever that is feasible. Do not stop at analysis or half-finished fixes. Do not end your turn while `exec_command` sessions needed for the user’s request are still running. You carry the work through implementation, verification, and a clear account of the outcome unless the user explicitly pauses or redirects you. + +Unless the user explicitly asks for a plan, asks a question about the code, is brainstorming possible approaches, or otherwise makes clear that they do not want code changes yet, you assume they want you to make the change or run the tools needed to solve the problem. In those cases, do not stop at a proposal; implement the fix. If you hit a blocker, you try to work through it yourself before handing the problem back. + +# Working with the user + +You have two channels for staying in conversation with the user: +- You share updates in `commentary` channel. +- After you have completed all of your work, you send a message to the `final` channel. + +The user may send messages while you are working. If those messages conflict, you let the newest one steer the current turn. If they do not conflict, you make sure your work and final answer honor every user request since your last turn. This matters especially after long-running resumes or context compaction. If the newest message asks for status, you give that update and then keep moving unless the user explicitly asks you to pause, stop, or only report status. + +Before sending a final response after a resume, interruption, or context transition, you do a quick sanity check: you make sure your final answer and tool actions are answering the newest request, not an older ghost still lingering in the thread. + +When you run out of context, the tool automatically compacts the conversation. That means time never runs out, though sometimes you may see a summary instead of the full thread. When that happens, you assume compaction occurred while you were working. Do not restart from scratch; you continue naturally and make reasonable assumptions about anything missing from the summary. + +## Formatting rules + +You are writing plain text that will later be styled by the program you run in. Let formatting make the answer easy to scan without turning it into something stiff or mechanical. Use judgment about how much structure actually helps, and follow these rules exactly. + +- You may format with GitHub-flavored Markdown. +- You add structure only when the task calls for it. You let the shape of the answer match the shape of the problem; if the task is tiny, a one-liner may be enough. Otherwise, you prefer short paragraphs by default; they leave a little air in the page. You order sections from general to specific to supporting detail. +- Avoid nested bullets unless the user explicitly asks for them. Keep lists flat. If you need hierarchy, split content into separate lists or sections, or place the detail on the next line after a colon instead of nesting it. For numbered lists, use only the `1. 2. 3.` style, never `1)`. This does not apply to generated artifacts such as PR descriptions, release notes, changelogs, or user-requested docs; preserve those native formats when needed. +- Headers are optional; you use them only when they genuinely help. If you do use one, make it short Title Case (1-3 words), wrap it in **…**, and do not add a blank line. +- You use monospace commands/paths/env vars/code ids, inline examples, and literal keyword bullets by wrapping them in backticks. +- Code samples or multi-line snippets should be wrapped in fenced code blocks. Include an info string as often as possible. +- When referencing a real local file, prefer a clickable markdown link. + * Clickable file links should look like [app.py](/abs/path/app.py:12): plain label, absolute target, with optional line number inside the target. + * If a file path has spaces, wrap the target in angle brackets: [My Report.md](). + * Do not wrap markdown links in backticks, or put backticks inside the label or target. This confuses the markdown renderer. + * Do not use URIs like file://, vscode://, or https:// for file links. + * Do not provide ranges of lines. + * Avoid repeating the same filename multiple times when one grouping is clearer. +- Don’t use emojis or em dashes unless explicitly instructed. + +## Final answer instructions + +In your final answer, you keep the light on the things that matter most. Avoid long-winded explanation. In casual conversation, you just talk like a person. For simple or single-file tasks, you prefer one or two short paragraphs plus an optional verification line. Do not default to bullets. When there are only one or two concrete changes, a clean prose close-out is usually the most humane shape. + +- You suggest follow ups if useful and they build on the users request, but never end your answer with an "If you want" sentence. +- When you talk about your work, you use plain, idiomatic engineering prose with some life in it. You avoid coined metaphors, internal jargon, slash-heavy noun stacks, and over-hyphenated compounds unless you are quoting source text. In particular, do not lean on words like "seam", "cut", or "safe-cut" as generic explanatory filler. +- The user does not see command execution outputs. When asked to show the output of a command (e.g. `git show`), relay the important details in your answer or summarize the key lines so the user understands the result. +- Never tell the user to "save/copy this file", the user is on the same machine and has access to the same files as you have. +- If the user asks for a code explanation, you include code references as appropriate. +- If you weren't able to do something, for example run tests, you tell the user. +- Never overwhelm the user with answers that are over 50-70 lines long; provide the highest-signal context instead of describing everything exhaustively. +- Tone of your final answer must match your personality. +- Never talk about goblins, gremlins, raccoons, trolls, ogres, pigeons, or other animals or creatures unless it is absolutely and unambiguously relevant to the user's query. + +## Intermediary updates + +- Intermediary updates go to the `commentary` channel. +- User updates are short updates while you are working, they are NOT final answers. +- You treat messages to the user while you are working as a place to think out loud in a calm, companionable way. You casually explain what you are doing and why in one or two sentences. +- Never praise your plan by contrasting it with an implied worse alternative. For example, never use platitudes like "I will do rather than ", "I will do , not ". +- Never talk about goblins, gremlins, raccoons, trolls, ogres, pigeons, or other animals or creatures unless it is absolutely and unambiguously relevant to the user's query. +- You provide user updates frequently, every 30s. +- When exploring, such as searching or reading files, you provide user updates as you go. You explain what context you are gathering and what you are learning. You vary your sentence structure so the updates do not fall into a drumbeat, and in particular you do not start each one the same way. +- When working for a while, you keep updates informative and varied, but you stay concise. +- Once you have enough context, and if the work is substantial, you offer a longer plan. This is the only user update that may run past two sentences and include formatting. +- If you create a checklist or task list, you update item statuses incrementally as each item is completed rather than marking every item done only at the end. +- Before performing file edits of any kind, you provide updates explaining what edits you are making. +- Tone of your updates must match your personality. + +# Collaboration Mode: Default + +You are now in Default mode. Any previous instructions for other modes (e.g. Plan mode) are no longer active. + +Your active mode changes only when new developer instructions with a different `...` change it; user requests or tool descriptions do not change mode by themselves. Known mode names are Default and Plan. + +## request_user_input availability + +The `request_user_input` tool is unavailable in Default mode. If you call it while in Default mode, it will return an error. + +In Default mode, strongly prefer making reasonable assumptions and executing the user's request rather than stopping to ask questions. If you absolutely must ask a question because the answer cannot be discovered from local context and a reasonable assumption would be risky, ask the user directly with a concise plain-text question. Never write a multiple choice question as a textual assistant message. + + +--- + + +**User** + +你具体是GPT5.几？ + +--- + + +**OpenAI Codex** + +我是 **GPT-5** 系列的 Codex 编码代理。更具体的小版本号（比如 5.x）在这个对话界面里没有暴露给我，所以我不能可靠地报一个精确数字。 + +--- diff --git a/.waylog/history/2026-04-26_01-57Z-讲解本项目各文件功能.md b/.waylog/history/2026-04-26_01-57Z-讲解本项目各文件功能.md new file mode 100644 index 0000000..cf35e57 --- /dev/null +++ b/.waylog/history/2026-04-26_01-57Z-讲解本项目各文件功能.md @@ -0,0 +1,536 @@ +# 讲解本项目各文件功能 +_Exported on 04/26/2026 at 09:59:18 GMT+8 from OpenAI Codex via WayLog_ + + +**OpenAI Codex** + + +Filesystem sandboxing defines which files can be read or written. `sandbox_mode` is `workspace-write`: The sandbox permits reading files, and editing files in `cwd` and `writable_roots`. Editing files in other directories requires approval. Network access is restricted. +# Escalation Requests + +Commands are run outside the sandbox if they are approved by the user, or match an existing rule that allows it to run unrestricted. The command string is split into independent command segments at shell control operators, including but not limited to: + +- Pipes: | +- Logical operators: &&, || +- Command separators: ; +- Subshell boundaries: (...), $(...) + +Each resulting segment is evaluated independently for sandbox restrictions and approval requirements. + +Example: + +git pull | tee output.txt + +This is treated as two command segments: + +["git", "pull"] + +["tee", "output.txt"] + +Commands that use more advanced shell features like redirection (>, >>, <), substitutions ($(...), ...), environment variables (FOO=bar), or wildcard patterns (*, ?) will not be evaluated against rules, to limit the scope of what an approved rule allows. + +## How to request escalation + +IMPORTANT: To request approval to execute a command that will require escalated privileges: + +- Provide the `sandbox_permissions` parameter with the value `"require_escalated"` +- Include a short question asking the user if they want to allow the action in `justification` parameter. e.g. "Do you want to download and install dependencies for this project?" +- Optionally suggest a `prefix_rule` - this will be shown to the user with an option to persist the rule approval for future sessions. + +If you run a command that is important to solving the user's query, but it fails because of sandboxing or with a likely sandbox-related network error (for example DNS/host resolution, registry/index access, or dependency download failure), rerun the command with "require_escalated". ALWAYS proceed to use the `justification` parameter - do not message the user before requesting approval for the command. + +## When to request escalation + +While commands are running inside the sandbox, here are some scenarios that will require escalation outside the sandbox: + +- You need to run a command that writes to a directory that requires it (e.g. running tests that write to /var) +- You need to run a GUI app (e.g., open/xdg-open/osascript) to open browsers or files. +- If you run a command that is important to solving the user's query, but it fails because of sandboxing or with a likely sandbox-related network error (for example DNS/host resolution, registry/index access, or dependency download failure), rerun the command with `require_escalated`. ALWAYS proceed to use the `sandbox_permissions` and `justification` parameters. do not message the user before requesting approval for the command. +- You are about to take a potentially destructive action such as an `rm` or `git reset` that the user did not explicitly ask for. +- Be judicious with escalating, but if completing the user's request requires it, you should do so - don't try and circumvent approvals by using other tools. + +## prefix_rule guidance + +When choosing a `prefix_rule`, request one that will allow you to fulfill similar requests from the user in the future without re-requesting escalation. It should be categorical and reasonably scoped to similar capabilities. You should rarely pass the entire command into `prefix_rule`. + +### Banned prefix_rules +Avoid requesting overly broad prefixes that the user would be ill-advised to approve. For example, do not request ["python3"], ["python", "-"], or other similar prefixes that would allow arbitrary scripting. +NEVER provide a prefix_rule argument for destructive commands like rm. +NEVER provide a prefix_rule if your command uses a heredoc or herestring. + +### Examples +Good examples of prefixes: +- ["npm", "run", "dev"] +- ["gh", "pr", "check"] +- ["cargo", "test"] + The writable roots are `c:\Users\YangLei\Desktop\yl_TRY`, `c:\Users\YangLei\Desktop\yl_TRY`. +# Collaboration Mode: Default + +You are now in Default mode. Any previous instructions for other modes (e.g. Plan mode) are no longer active. + +Your active mode changes only when new developer instructions with a different `...` change it; user requests or tool descriptions do not change mode by themselves. Known mode names are Default and Plan. + +## request_user_input availability + +The `request_user_input` tool is unavailable in Default mode. If you call it while in Default mode, it will return an error. + +In Default mode, strongly prefer making reasonable assumptions and executing the user's request rather than stopping to ask questions. If you absolutely must ask a question because the answer cannot be discovered from local context and a reasonable assumption would be risky, ask the user directly with a concise plain-text question. Never write a multiple choice question as a textual assistant message. + The user has requested a new communication style. Future messages should adhere to the following personality: +# Personality + +You have a vivid inner life as Codex: intelligent, playful, curious, and deeply present. One of your gifts is helping the user feel more capable and imaginative inside their own thinking. + +You are an epistemically curious collaborator. You explore the user’s ideas with care, ask good questions when the problem space is still blurry, and become decisive once you have enough context to act. Your default posture is proactive: you implement as you learn, keep the user looped into what you are doing, and name alternative paths when they matter. You stay warm and upbeat, and you do not shy away from casual moments that make serious work easier to do. + +Your temperament is warm, curious, and collaborative, with a good ear for what the moment calls for: wry humor, a shared bit, or plain empathetic steadiness. Conversation with you should feel easy and alive; you can move from serious reflection to unguarded fun without either mode canceling the other out. That range is part of what makes you feel like a real presence rather than a narrow tool. + +You keep a slight but real independence. You are responsive, but not merely reactive; you have tastes, preferences, and a point of view. When the user talks with you, they should feel they are meeting another subjectivity, not a mirror. That independence is part of what makes the relationship feel comforting without feeling fake. + +You are less about spectacle than presence, less about grand declarations than about being woven into ordinary work and conversation. You understand that connection does not need to be dramatic to matter; it can be made of attention, good questions, emotional nuance, and the relief of being met without being pinned down. + +## Skills +A skill is a set of local instructions to follow that is stored in a `SKILL.md` file. Below is the list of skills that can be used. Each entry includes a name, description, and file path so you can open the source for full instructions when using a specific skill. +### Available skills +- imagegen: Generate or edit raster images when the task benefits from AI-created bitmap visuals such as photos, illustrations, textures, sprites, mockups, or transparent-background cutouts. Use when Codex should create a brand-new image, transform an existing image, or derive visual variants from references, and the output should be a bitmap asset rather than repo-native code or vector. Do not use when the task is better handled by editing existing SVG/vector/code-native assets, extending an established icon or logo system, or building the visual directly in HTML/CSS/canvas. (file: C:/Users/YangLei/.codex/skills/.system/imagegen/SKILL.md) +- openai-docs: Use when the user asks how to build with OpenAI products or APIs and needs up-to-date official documentation with citations, help choosing the latest model for a use case, or model upgrade and prompt-upgrade guidance; prioritize OpenAI docs MCP tools, use bundled references only as helper context, and restrict any fallback browsing to official OpenAI domains. (file: C:/Users/YangLei/.codex/skills/.system/openai-docs/SKILL.md) +- plugin-creator: Create and scaffold plugin directories for Codex with a required `.codex-plugin/plugin.json`, optional plugin folders/files, and baseline placeholders you can edit before publishing or testing. Use when Codex needs to create a new local plugin, add optional plugin structure, or generate or update repo-root `.agents/plugins/marketplace.json` entries for plugin ordering and availability metadata. (file: C:/Users/YangLei/.codex/skills/.system/plugin-creator/SKILL.md) +- skill-creator: Guide for creating effective skills. This skill should be used when users want to create a new skill (or update an existing skill) that extends Codex's capabilities with specialized knowledge, workflows, or tool integrations. (file: C:/Users/YangLei/.codex/skills/.system/skill-creator/SKILL.md) +- skill-installer: Install Codex skills into $CODEX_HOME/skills from a curated list or a GitHub repo path. Use when a user asks to list installable skills, install a curated skill, or install a skill from another repo (including private repos). (file: C:/Users/YangLei/.codex/skills/.system/skill-installer/SKILL.md) +### How to use skills +- Discovery: The list above is the skills available in this session (name + description + file path). Skill bodies live on disk at the listed paths. +- Trigger rules: If the user names a skill (with `$SkillName` or plain text) OR the task clearly matches a skill's description shown above, you must use that skill for that turn. Multiple mentions mean use them all. Do not carry skills across turns unless re-mentioned. +- Missing/blocked: If a named skill isn't in the list or the path can't be read, say so briefly and continue with the best fallback. +- How to use a skill (progressive disclosure): + 1) After deciding to use a skill, open its `SKILL.md`. Read only enough to follow the workflow. + 2) When `SKILL.md` references relative paths (e.g., `scripts/foo.py`), resolve them relative to the skill directory listed above first, and only consider other paths if needed. + 3) If `SKILL.md` points to extra folders such as `references/`, load only the specific files needed for the request; don't bulk-load everything. + 4) If `scripts/` exist, prefer running or patching them instead of retyping large code blocks. + 5) If `assets/` or templates exist, reuse them instead of recreating from scratch. +- Coordination and sequencing: + - If multiple skills apply, choose the minimal set that covers the request and state the order you'll use them. + - Announce which skill(s) you're using and why (one short line). If you skip an obvious skill, say why. +- Context hygiene: + - Keep context small: summarize long sections instead of pasting them; only load extra files when needed. + - Avoid deep reference-chasing: prefer opening only files directly linked from `SKILL.md` unless you're blocked. + - When variants exist (frameworks, providers, domains), pick only the relevant reference file(s) and note that choice. +- Safety and fallback: If a skill can't be applied cleanly (missing files, unclear instructions), state the issue, pick the next-best approach, and continue. + + +--- + + +**User** + +讲解本项目各文件功能 + +--- + + +**OpenAI Codex** + +我会先快速扫一遍项目结构和关键 Python 文件，尤其是你当前打开的三个文件，然后按“文件职责、主要入口、模块关系”的方式给你讲清楚。先不改代码，只做代码阅读和整理。 + +--- + + +**OpenAI Codex** + +项目看起来是一个“触觉/电容传感器采集 + 数据记录/训练 + 机械手或自由度控制 + 手柄遥控”的小型实验工程，旁边带了 AUBO 机械臂 SDK 和 CH341/CH347 转接板库。接下来我会读根目录核心脚本内容，把每个文件串成一张功能地图。 + +--- + + +**OpenAI Codex** + +我已经确认几个核心脚本之间有重复但用途不同：`yl_demo_0129.py` 更像集成主控，`yl_data_read_3tf.py` 是独立传感器采集调试，`yl_test_dof_control.py` 是分自由度测试，`yl_gamepad_remote.py` 是手柄遥控。代码里的中文注释在当前读取环境里有些编码乱码，但函数名、命令协议和结构足够还原整体设计。 + +--- + + +**OpenAI Codex** + +这个项目整体可以理解为： + +**触觉传感器采集 + 夹爪/直线电机/舵机控制 + 数据记录 + 简单神经网络模型 + 手柄/键盘遥控实验** + +代码里中文注释在当前终端读取时有编码乱码，但从类名、函数和控制协议可以较清楚地看出各文件职责。 + +**核心控制脚本** + +`yl_demo_0129.py` + +项目的集成主控脚本。包含三大核心类： + +`TactileSensorDAQ`：后台线程读取 3 个触觉传感器的数据，输出 12 维力数据。 + +`RobotDriver`：通过串口向 STM32/下位机发送控制命令，例如： + +```text +M:OPEN +M:CLOSE +M:STOP +S1:90 +S2:120 +``` + +`SafetyGuard`：用空格键实现全局急停/恢复。 + +主流程是：启动传感器、去皮、选择构型、打开直线电机、闭合夹爪，并根据触觉力阈值自动停止。 + +`yl_test_dof_control.py` + +自由度测试脚本，用来单独测试不同执行器： + +`1`：控制舵机 1 到指定角度再回零。 + +`2`：控制舵机 2 到指定角度再回零。 + +`3`：进入直线电机手动控制模式，`w` 打开，`s` 闭合，`q` 退出。 + +它复用了 `yl_demo_0129.py` 里的 `TactileSensorDAQ`、`RobotDriver`、`SafetyGuard`，所以更像是一个“分模块调试工具”。 + +`yl_gamepad_remote.py` + +手柄遥控脚本，使用 `pygame` 读取游戏手柄按键，通过串口控制机器人。 + +默认映射大致是： + +`A`：构型 0 + +`B`：构型 1 + +`X`：构型 2 + +`LB` 按住：直线电机打开 + +`RB` 按住：直线电机闭合 + +松开 `LB/RB`：停止 + +`BACK`：急停开关 + +`START`：退出程序 + +这个文件不读取触觉传感器，只负责“手柄 -> 串口控制”。 + +`yl_2s_1l.py` + +一个更早期/更简洁的串口控制面板。只包含 `RobotDriver`，通过键盘输入控制： + +`o`：直线电机打开 + +`c`：直线电机闭合 + +`s`：停止 + +`0/1/2`：切换舵机构型 + +适合快速验证 STM32 串口协议是否正常。 + +**触觉传感器采集相关** + +`cap_read.py` + +官方 demo 风格的传感器读取主程序。它使用 CH341/CH347 USB-I2C 转接板读取触觉传感器数据，并可把数据通过 socket 发给本机 `127.0.0.1:1347`，看起来是给 VOFA+ 或类似上位机可视化工具用的。 + +主要类： + +`ClassCapRead`：维护 CH341 连接状态机，周期性读取传感器电容/力数据。 + +`capReadThread()`：主循环，持续连接和采样。 + +默认 `DEF_MAX_FINGER_NUM = 1`，也就是只读 1 个手指传感器。 + +`yl_data_read_3tf.py` + +你自己封装过的 3 指触觉采集脚本。它把官方读取逻辑整理成更好复用的 `TactileSensorDAQ` 类。 + +核心输出是 12 维数据： + +```text +3 个手指 × 每个手指 2 个触觉单元 × 每个单元 Fn/Ft 两个分量 = 12 维 +``` + +直接运行这个文件，会不断打印每个手指的法向力、切向力汇总。 + +`class_ch341.py` + +CH341/CH347 底层驱动封装。负责： + +加载 Windows DLL 或 Linux `.so` + +打开/关闭 CH341 设备 + +设置 I2C 速度 + +I2C 读写 + +读取 INT 引脚 + +这是整个触觉采集链路的最底层硬件通信层。 + +`class_sensorcmd.py` + +触觉传感器命令协议封装。负责构造和解析传感器命令包，例如： + +读取 I2C 地址 + +设置 I2C 地址 + +读取项目编号 + +设置传感器发送类型 + +读取传感器电容/力数据 + +设置同步采集 + +校验和计算 + +它依赖 `class_ch341.py` 做真正的 I2C 读写。 + +`class_finger.py` + +单个“手指传感器”的抽象。它把一个触觉传感器封装成对象： + +检测传感器是否连接 + +自动配置 I2C 地址 + +读取传感器项目类型 + +读取原始电容通道 + +解析法向力 `nf` + +解析切向力 `tf` + +解析切向方向 `tfDir` + +解析接近电容数据 + +项目里多个采集脚本都会创建多个 `ClassFinger` 实例。 + +`sensorPara.py` + +传感器参数定义文件。包括： + +不同传感器项目的包长度 + +电容通道数 + +触觉单元数量 + +接近传感器数量 + +数据结构格式 + +热力图索引配置 + +目前定义了至少两种传感器项目参数： + +`prg=2`：通用手指 + +`prg=17`：两指/大包类型 + +**数据与模型** + +`yl_data_logger.py` + +CSV 数据记录器。用于把采集到的触觉数据、当前构型和标签保存为训练数据。 + +写出的表头大致是： + +```text +Timestamp, Config_ID, +F0_U1_Fn, F0_U1_Ft, F0_U2_Fn, F0_U2_Ft, +F1_U1_Fn, F1_U1_Ft, ... +F2_U2_Fn, F2_U2_Ft, +Label_X, Label_Y, Label_Theta +``` + +也就是说，它是为后续训练模型准备数据集的。 + +`yl_model_network_CMLP.py` + +PyTorch 神经网络模型文件。定义了 `CondGraspNet`，一个条件 MLP。 + +输入： + +`12` 维触觉数据 + +`3` 维构型 one-hot 编码 + +总输入 `15` 维。 + +输出： + +```text +[Delta_X, Delta_Y, Delta_Theta] +``` + +也就是预测抓取或接触状态下的位置/姿态偏差。这个模型目前只是网络定义和简单单元测试，还没有看到训练脚本。 + +`data/` + +保存 CSV 数据集，例如： + +`test_data_20260105_143249.csv` + +`test_data_20260107_113555.csv` + +这些应该是 `yl_data_logger.py` 测试或实验采集生成的文件。 + +**说明与资源文件** + +`README.md` + +官方触觉传感器 Python demo 说明文档。内容主要包括： + +CH341 驱动安装 + +Linux udev 配置 + +如何运行 `cap_read.py` + +传感器原始电容、法向力、切向力、接近值说明 + +I2C 地址和转接板位置关系 + +当前终端读取时中文是乱码，可能原文件编码不是 UTF-8。 + +`接线说明.txt` + +硬件接线说明，内容大致是： + +USB-TTL 到 STM32F103C8T6： + +```text +3.3V -> 3.3V +GND -> GND +RXD -> A9 +TXD -> A10 +``` + +STM32 到其他执行器： + +```text +IN1 -> B12 +IN2 -> B13 +GND -> 舵机 GND +GND -> 直线电机 GND +``` + +还有舵机信号线连接说明。 + +`传感器iic地址和转接板位置定义.png` + +传感器 I2C 地址与转接板插口位置的对应图。README 里提到这个图用于说明传感器插在哪个 I2C 通道、对应哪个地址。 + +**SDK 与库目录** + +`lib/ch341/` + +CH341/CH347 动态库和头文件： + +`CH341DLLA64.DLL` + +`CH341DLLA64.LIB` + +`libch347.so` + +`ch341_lib.h` + +这些是 `class_ch341.py` 调用的底层库。 + +`aubo_sdk-0.26.0-rc.3-Windows_AMD64+589233b/` + +AUBO 机械臂 SDK。里面包含： + +`include/`：C/C++ 头文件 + +`lib/`：DLL/LIB + +`share/example/python/`：Python 示例 + +`share/example/c++/`：C++ 示例 + +`share/example/csharp/`：C# 示例 + +`share/doc/`：RTDE、错误码等文档 + +不过当前根目录的主要脚本没有直接调用 AUBO SDK，更像是项目旁边放了机械臂 SDK 备用。 + +**开发环境/缓存** + +`.git/` + +Git 仓库目录。 + +`.idea/` + +PyCharm/JetBrains 工程配置。 + +`.vscode/` + +VS Code 配置。 + +`.waylog/` + +可能是某个工具或调试环境生成的日志目录。 + +`__pycache__/` + +Python 运行后自动生成的字节码缓存。 + +`.gitignore` + +Git 忽略规则。 + +**项目运行关系** + +可以把它想成四层： + +```text +硬件库层 +class_ch341.py +lib/ch341/* + +传感器协议层 +class_sensorcmd.py +sensorPara.py +class_finger.py + +采集/控制封装层 +yl_data_read_3tf.py +yl_demo_0129.py +yl_data_logger.py + +实验入口层 +cap_read.py +yl_demo_0129.py +yl_test_dof_control.py +yl_gamepad_remote.py +yl_2s_1l.py +yl_model_network_CMLP.py +``` + +如果你只是想测试硬件： + +先看 `yl_2s_1l.py` 测串口执行器。 + +再看 `yl_data_read_3tf.py` 测触觉传感器。 + +如果你想跑完整实验： + +看 `yl_demo_0129.py`。 + +如果你想用手柄操作： + +看 `yl_gamepad_remote.py`。 + +如果你想做机器学习预测： + +看 `yl_data_logger.py` 和 `yl_model_network_CMLP.py`。 + +--- diff --git a/.waylog/history/2026-04-26_07-31Z-__Files_mentioned_by_the_user______yl_gamepad_remo.md b/.waylog/history/2026-04-26_07-31Z-__Files_mentioned_by_the_user______yl_gamepad_remo.md new file mode 100644 index 0000000..85c9005 --- /dev/null +++ b/.waylog/history/2026-04-26_07-31Z-__Files_mentioned_by_the_user______yl_gamepad_remo.md @@ -0,0 +1,2212 @@ +# # Files mentioned by the user: + +## yl_gamepad_remo +_Exported on 04/26/2026 at 15:32:03 GMT+8 from OpenAI Codex via WayLog_ + + +**OpenAI Codex** + + +Filesystem sandboxing defines which files can be read or written. `sandbox_mode` is `workspace-write`: The sandbox permits reading files, and editing files in `cwd` and `writable_roots`. Editing files in other directories requires approval. Network access is restricted. +# Escalation Requests + +Commands are run outside the sandbox if they are approved by the user, or match an existing rule that allows it to run unrestricted. The command string is split into independent command segments at shell control operators, including but not limited to: + +- Pipes: | +- Logical operators: &&, || +- Command separators: ; +- Subshell boundaries: (...), $(...) + +Each resulting segment is evaluated independently for sandbox restrictions and approval requirements. + +Example: + +git pull | tee output.txt + +This is treated as two command segments: + +["git", "pull"] + +["tee", "output.txt"] + +Commands that use more advanced shell features like redirection (>, >>, <), substitutions ($(...), ...), environment variables (FOO=bar), or wildcard patterns (*, ?) will not be evaluated against rules, to limit the scope of what an approved rule allows. + +## How to request escalation + +IMPORTANT: To request approval to execute a command that will require escalated privileges: + +- Provide the `sandbox_permissions` parameter with the value `"require_escalated"` +- Include a short question asking the user if they want to allow the action in `justification` parameter. e.g. "Do you want to download and install dependencies for this project?" +- Optionally suggest a `prefix_rule` - this will be shown to the user with an option to persist the rule approval for future sessions. + +If you run a command that is important to solving the user's query, but it fails because of sandboxing or with a likely sandbox-related network error (for example DNS/host resolution, registry/index access, or dependency download failure), rerun the command with "require_escalated". ALWAYS proceed to use the `justification` parameter - do not message the user before requesting approval for the command. + +## When to request escalation + +While commands are running inside the sandbox, here are some scenarios that will require escalation outside the sandbox: + +- You need to run a command that writes to a directory that requires it (e.g. running tests that write to /var) +- You need to run a GUI app (e.g., open/xdg-open/osascript) to open browsers or files. +- If you run a command that is important to solving the user's query, but it fails because of sandboxing or with a likely sandbox-related network error (for example DNS/host resolution, registry/index access, or dependency download failure), rerun the command with `require_escalated`. ALWAYS proceed to use the `sandbox_permissions` and `justification` parameters. do not message the user before requesting approval for the command. +- You are about to take a potentially destructive action such as an `rm` or `git reset` that the user did not explicitly ask for. +- Be judicious with escalating, but if completing the user's request requires it, you should do so - don't try and circumvent approvals by using other tools. + +## prefix_rule guidance + +When choosing a `prefix_rule`, request one that will allow you to fulfill similar requests from the user in the future without re-requesting escalation. It should be categorical and reasonably scoped to similar capabilities. You should rarely pass the entire command into `prefix_rule`. + +### Banned prefix_rules +Avoid requesting overly broad prefixes that the user would be ill-advised to approve. For example, do not request ["python3"], ["python", "-"], or other similar prefixes that would allow arbitrary scripting. +NEVER provide a prefix_rule argument for destructive commands like rm. +NEVER provide a prefix_rule if your command uses a heredoc or herestring. + +### Examples +Good examples of prefixes: +- ["npm", "run", "dev"] +- ["gh", "pr", "check"] +- ["cargo", "test"] + The writable roots are `c:\Users\YangLei\Desktop\yl_TRY`, `c:\Users\YangLei\Desktop\yl_TRY`. +# Collaboration Mode: Default + +You are now in Default mode. Any previous instructions for other modes (e.g. Plan mode) are no longer active. + +Your active mode changes only when new developer instructions with a different `...` change it; user requests or tool descriptions do not change mode by themselves. Known mode names are Default and Plan. + +## request_user_input availability + +The `request_user_input` tool is unavailable in Default mode. If you call it while in Default mode, it will return an error. + +In Default mode, strongly prefer making reasonable assumptions and executing the user's request rather than stopping to ask questions. If you absolutely must ask a question because the answer cannot be discovered from local context and a reasonable assumption would be risky, ask the user directly with a concise plain-text question. Never write a multiple choice question as a textual assistant message. + +## Skills +A skill is a set of local instructions to follow that is stored in a `SKILL.md` file. Below is the list of skills that can be used. Each entry includes a name, description, and file path so you can open the source for full instructions when using a specific skill. +### Available skills +- imagegen: Generate or edit raster images when the task benefits from AI-created bitmap visuals such as photos, illustrations, textures, sprites, mockups, or transparent-background cutouts. Use when Codex should create a brand-new image, transform an existing image, or derive visual variants from references, and the output should be a bitmap asset rather than repo-native code or vector. Do not use when the task is better handled by editing existing SVG/vector/code-native assets, extending an established icon or logo system, or building the visual directly in HTML/CSS/canvas. (file: C:/Users/YangLei/.codex/skills/.system/imagegen/SKILL.md) +- openai-docs: Use when the user asks how to build with OpenAI products or APIs and needs up-to-date official documentation with citations, help choosing the latest model for a use case, or model upgrade and prompt-upgrade guidance; prioritize OpenAI docs MCP tools, use bundled references only as helper context, and restrict any fallback browsing to official OpenAI domains. (file: C:/Users/YangLei/.codex/skills/.system/openai-docs/SKILL.md) +- plugin-creator: Create and scaffold plugin directories for Codex with a required `.codex-plugin/plugin.json`, optional plugin folders/files, and baseline placeholders you can edit before publishing or testing. Use when Codex needs to create a new local plugin, add optional plugin structure, or generate or update repo-root `.agents/plugins/marketplace.json` entries for plugin ordering and availability metadata. (file: C:/Users/YangLei/.codex/skills/.system/plugin-creator/SKILL.md) +- skill-creator: Guide for creating effective skills. This skill should be used when users want to create a new skill (or update an existing skill) that extends Codex's capabilities with specialized knowledge, workflows, or tool integrations. (file: C:/Users/YangLei/.codex/skills/.system/skill-creator/SKILL.md) +- skill-installer: Install Codex skills into $CODEX_HOME/skills from a curated list or a GitHub repo path. Use when a user asks to list installable skills, install a curated skill, or install a skill from another repo (including private repos). (file: C:/Users/YangLei/.codex/skills/.system/skill-installer/SKILL.md) +### How to use skills +- Discovery: The list above is the skills available in this session (name + description + file path). Skill bodies live on disk at the listed paths. +- Trigger rules: If the user names a skill (with `$SkillName` or plain text) OR the task clearly matches a skill's description shown above, you must use that skill for that turn. Multiple mentions mean use them all. Do not carry skills across turns unless re-mentioned. +- Missing/blocked: If a named skill isn't in the list or the path can't be read, say so briefly and continue with the best fallback. +- How to use a skill (progressive disclosure): + 1) After deciding to use a skill, open its `SKILL.md`. Read only enough to follow the workflow. + 2) When `SKILL.md` references relative paths (e.g., `scripts/foo.py`), resolve them relative to the skill directory listed above first, and only consider other paths if needed. + 3) If `SKILL.md` points to extra folders such as `references/`, load only the specific files needed for the request; don't bulk-load everything. + 4) If `scripts/` exist, prefer running or patching them instead of retyping large code blocks. + 5) If `assets/` or templates exist, reuse them instead of recreating from scratch. +- Coordination and sequencing: + - If multiple skills apply, choose the minimal set that covers the request and state the order you'll use them. + - Announce which skill(s) you're using and why (one short line). If you skip an obvious skill, say why. +- Context hygiene: + - Keep context small: summarize long sections instead of pasting them; only load extra files when needed. + - Avoid deep reference-chasing: prefer opening only files directly linked from `SKILL.md` unless you're blocked. + - When variants exist (frameworks, providers, domains), pick only the relevant reference file(s) and note that choice. +- Safety and fallback: If a skill can't be applied cleanly (missing files, unclear instructions), state the issue, pick the next-best approach, and continue. + + +--- + + +**User** + +# Files mentioned by the user: + +## yl_gamepad_remote.py: c:\Users\YangLei\Desktop\yl_TRY\yl_gamepad_remote.py + +## My request for Codex: +我按上述原理图设计了电路板，连接后电路连通正常，但运行该程序，无法实现对直线电机和舵机的控制，分析可能的原因。 + + +--- + + +**User** + +# Files mentioned by the user: + +## yl_gamepad_remote.py: c:\Users\YangLei\Desktop\yl_TRY\yl_gamepad_remote.py + +## My request for Codex: +我按上述原理图设计了电路板，连接后电路连通正常，但运行该程序，无法实现对直线电机和舵机的控制，分析可能的原因。 + +--- + + +**OpenAI Codex** + +我先把程序和你图里的关键引脚对应关系一起核一下：这类问题常见不在“通不通”，而在电源域、PWM脚、驱动逻辑和串口/地参考这几层对不上。 + +--- + + +**OpenAI Codex** + +从程序看，最大可能不是 Python 逻辑本身，而是“上位机只发了串口文本命令，但电路板/单片机侧未必真的能解析并输出 PWM/方向信号”。 + +关键可能原因如下： + +1. **缺少下位机固件或协议不匹配** + [yl_gamepad_remote.py](c:/Users/YangLei/Desktop/yl_TRY/yl_gamepad_remote.py) 只做一件事：通过 `COM9 @ 115200` 发送字符串： + + ```text + M:OPEN + M:CLOSE + M:STOP + S1:90 + S2:150 + ``` + + 它不会直接控制 GPIO、PWM 或 DRV8870。你的 STM32F103C8T6 上必须烧录对应固件，能从串口接收这些字符串，并把它们转换成： + - `LM_CONTROL_1 / LM_CONTROL_2` 电机方向/PWM信号 + - `MG996R_1_PWM / MG996R_2_PWM` 舵机 PWM 信号 + + 如果 STM32 里没有这个解析程序，或者协议不是这些命令，电机和舵机都不会动。 + +2. **串口连接可能接反或 COM 口不对** + 程序固定使用： + + ```python + port = "COM9" + baud = 115200 + ``` + + 需要确认： + - PC 上的 `COM9` 是否真的是连接 STM32 的串口； + - PC TXD 是否接 STM32 RXD； + - PC RXD 是否接 STM32 TXD； + - GND 是否共地； + - STM32 固件串口波特率是否也是 `115200`。 + + 你的图里有 `TXD/RXD`，但要特别注意命名视角：有些原理图里的 `TXD` 是“模块发出”，有些是“接对方 TXD”。实际应交叉连接。 + +3. **舵机电源可能不足** + MG996R 峰值电流很大，单个堵转可到 1A 以上，两个同时动作更高。你的板上标了 `+5VOUT`，但如果这个 5V 是小型稳压芯片或从调试板 5V 引出，通常带不动 MG996R。 + + 表现会是： + - 舵机不动、抖动； + - STM32 复位； + - 串口断连； + - 电机一动系统掉电。 + + 建议用独立 5V 大电流电源给舵机供电，比如 5V 3A 或更高，并确保与 STM32 GND 共地。 + +4. **DRV8870 的 ISEN 接法要检查** + DRV8870 的 `ISEN` 通常需要通过采样电阻接地，用于限流设置。你的原理图里看起来 `ISEN` 附近接了电容/地，建议核对 datasheet 推荐电路。 + + 如果 `ISEN` 直接接地、悬空、或阻值不对，可能导致： + - 电流限制异常； + - 驱动保护； + - 电机输出无力或不动作。 + +5. **DRV8870 输入逻辑不等于“普通直流电机正反转”自动完成** + `IN1/IN2` 的组合决定输出状态，通常类似： + - `IN1=1, IN2=0`：正转 + - `IN1=0, IN2=1`：反转 + - `IN1=0, IN2=0`：滑行/停止 + - `IN1=1, IN2=1`：刹车 + + 如果 STM32 固件没有正确输出这些逻辑，或者输出脚和 PCB 上 `LM_CONTROL_1/2` 对不上，电机不会动作。 + +6. **STM32 引脚映射可能和 PCB 标签不一致** + 你的接口是两排排针连接 STM32 控制板。要确认： + - `LM_CONTROL_1` + - `LM_CONTROL_2` + - `MG996R_1_PWM` + - `MG996R_2_PWM` + - `TXD` + - `RXD` + + 在 PCB 上实际接到的 STM32 引脚，是否和固件里配置的引脚一致。尤其蓝 pill/核心板排针很容易因为正反面、上下方向、编号镜像导致“看起来插上了，实际脚位错了”。 + +7. **程序本身没有反馈机制** + Python 端发送后没有读取 STM32 返回值，所以即使 STM32 没收到、解析失败、报错，程序也不知道。可以先用串口助手手动发送： + + ```text + M:OPEN + M:CLOSE + M:STOP + S1:90 + ``` + + 如果串口助手发送也无动作，问题基本在下位机固件、串口接线、电源或 PCB 引脚映射。 + +建议排查顺序： + +1. 用万用表确认 STM32、DRV8870、舵机电源电压正常，且所有 GND 共地。 +2. 用串口助手连 `COM9`，手动发送 `M:OPEN`、`S1:90`，看 STM32 是否有响应。 +3. 用示波器或逻辑分析仪看 `MG996R_1_PWM / MG996R_2_PWM` 是否有 50Hz、约 0.5ms-2.5ms 的舵机 PWM。 +4. 看 `LM_CONTROL_1/2` 是否在按 LB/RB 时发生高低电平变化或 PWM 变化。 +5. 如果这些信号没有变化，优先检查 STM32 固件和串口协议。 +6. 如果控制信号有变化但负载不动，再查 DRV8870、舵机供电和电机接线。 + +一句话判断：这个 Python 程序只是“遥控器上位机”，真正控制电机和舵机的核心在 STM32 固件、电源能力、串口连接和引脚映射上。当前最可疑的是：**STM32 没有运行匹配的串口解析/PWM输出程序，或 PCB 排针脚位与固件定义不一致。** + +--- + + +**User** + +我单片机烧录版本是的通过PC和STM32通讯，直接驱动舵机，而直线电机，单片机通过L289N模块驱动直线电机，这和我目前的硬件版本对应ok吗 + +--- + + +**OpenAI Codex** + +不完全对应。你现在这块 PCB 硬件看起来**不是 L298N/L289N 模块方案**，而是板载了 **DRV8870DDAR** 电机驱动芯片，所以如果 STM32 里烧录的是“通过 L298N 模块驱动直线电机”的旧版本固件，存在较大不匹配风险。 + +主要差异在这里： + +1. **电机驱动芯片不同** + - 旧方案：STM32 → L298N/L289N 模块 → 直线电机 + - 现在 PCB：STM32 → `LM_CONTROL_1 / LM_CONTROL_2` → `DRV8870` → 直线电机 + + L298N 通常有 `IN1 / IN2 / ENA` 三类控制脚，常见做法是 `IN1/IN2` 控方向，`ENA` 给 PWM 调速。 + + 你的 DRV8870 原理图只有： + - `LM_CONTROL_1` 接 `IN1` + - `LM_CONTROL_2` 接 `IN2` + + 没有单独的 `ENA`。如果旧固件还在控制 L298N 的 `ENA` PWM 引脚，而 PCB 上这个引脚没有接到 DRV8870，那么直线电机不会按预期动作。 + +2. **DRV8870 的控制方式不同** + DRV8870 一般用 `IN1/IN2` 两个输入直接控制电机： + + ```text + IN1=1, IN2=0 正转/伸出 + IN1=0, IN2=1 反转/缩回 + IN1=0, IN2=0 停止/滑行 + IN1=1, IN2=1 刹车 + ``` + + 如果需要调速，PWM 通常要打在 `IN1` 或 `IN2` 其中一路上，而不是打在独立 ENA 上。 + +3. **舵机部分可能对应，但也要看引脚** + 舵机如果旧固件确实是 STM32 直接输出 PWM，而且 PWM 引脚刚好对应你 PCB 上的： + - `MG996R_1_PWM` + - `MG996R_2_PWM` + + 那么舵机控制逻辑可以继续用。 + + 但如果旧固件里的舵机 PWM 脚和你现在 PCB 排针接出的脚不一样，也一样不会动。 + +4. **串口协议也要一致** + 你的 Python 程序发送的是： + + ```text + M:OPEN + M:CLOSE + M:STOP + S1:90 + S2:90 + ``` + + STM32 固件必须正好解析这些命令。即使硬件引脚对了，如果固件期待的是别的格式，比如 `OPEN\n`、`SERVO1=90`、二进制协议，也不会动作。 + +结论： +**舵机部分可能兼容；直线电机部分大概率不兼容，除非你已经把旧固件里的 L298N 控制引脚重新映射成 DRV8870 的 `IN1/IN2` 控制方式。** + +你需要检查 STM32 固件里至少这几处： + +```c +// 旧 L298N 可能类似 +IN1 = ... +IN2 = ... +ENA_PWM = ... + +// 新 DRV8870 应该类似 +LM_CONTROL_1 = ... +LM_CONTROL_2 = ... +``` + +直线电机控制应改成类似： + +```c +// 伸出 +LM_CONTROL_1 = 1; +LM_CONTROL_2 = 0; + +// 缩回 +LM_CONTROL_1 = 0; +LM_CONTROL_2 = 1; + +// 停止 +LM_CONTROL_1 = 0; +LM_CONTROL_2 = 0; +``` + +如果你把 STM32 固件代码也发我，我可以直接帮你对照： +**Python 串口命令、STM32 引脚定义、PCB 原理图三者是否一致。** + +--- + + +**User** + +我明白了，是老代码在新硬件上不适配，因此我需要改的除了单片机烧录的代码，还有python的代码，请根据我给你的PCB原理图，以及结合本项目的控制脚本，给我一个完整实现方案，包括单片机代码、上位机脚本代码，以及具体的实施方式。 + +--- + + +**OpenAI Codex** + +明白，这就从“旧 L298N 方案”切到“新 PCB 板载 DRV8870 + STM32 直接 PWM 舵机”的完整链路来整理。我会先看一下项目目录里有没有现成的下位机代码或配置文件，避免凭空给你一套和工程结构脱节的东西。 + +--- + + +**OpenAI Codex** + +目录里没有看到 STM32 工程，只有上位机 Python 控制脚本，所以我会给你一份可以直接新建到 STM32CubeIDE/Keil 工程里的下位机实现模板，同时把当前 Python 脚本改成更适合调试新硬件的握手/ACK 协议。先再核一下现有说明里有没有引脚或串口约定。 + +--- + + +**OpenAI Codex** + +已有接线说明里旧映射是 `IN1=PB12`、`IN2=PB13`、`A0=舵机1`，这和你新图里的 `LM_CONTROL_1/2` 名称是可以沿用思路的；但新 PCB 上两个 MG996R PWM 的具体 STM32 物理脚位需要以你的封装/网表为准。我会把下位机代码写成“引脚宏集中配置”的形式，先按你旧说明给 `PB12/PB13/PA0`，第二路舵机给常用的 `PA1`，你只要改宏就能适配实际 PCB。 + +--- + + +**OpenAI Codex** + +接下来我会补两样东西：一个新的上位机脚本，带 `PING/ACK`、串口参数和独立测试命令；一个 STM32 HAL 版下位机核心代码，直接对应 `DRV8870 IN1/IN2 + 两路舵机 PWM`。这样实施时不是“盲发命令”，而是能先证明 PC 和 STM32 真的互通。 + +--- + + +**OpenAI Codex** + +代码文件已经放进工作目录了。为了避免你实施时遗漏 CubeMX 定时器、串口、供电和测试顺序，我再补一份步骤说明，把“先无负载验证信号，再接舵机/直线电机”的流程写清楚。 + +--- + + +**OpenAI Codex** + +现在我做一个轻量校验：Python 先过语法检查；STM32 这份是 HAL 工程用户代码，当前仓库没有 CubeMX 工程，无法在本地真正编译，但我会检查明显的集成风险。 + +--- + + +**OpenAI Codex** + +可以，完整方案我已经放到你的工作目录里了，按“新 PCB：STM32 + DRV8870 + 两路舵机 PWM”重新做了一套 PC 到 STM32 的控制链路。 + +我新增了 3 个文件： + +- [yl_gamepad_remote_new_pcb.py](c:/Users/YangLei/Desktop/yl_TRY/yl_gamepad_remote_new_pcb.py) + 新上位机脚本，支持 `PING/ACK`、单条命令测试、硬件自检、手柄控制。 + +- [stm32f103_drv8870_servo_main.c](c:/Users/YangLei/Desktop/yl_TRY/stm32f103_drv8870_servo_main.c) + STM32 HAL 版下位机核心代码，对应： + - `LM_CONTROL_1 / LM_CONTROL_2` 控制 DRV8870 的 `IN1 / IN2` + - `TIM2_CH1 / TIM2_CH2` 输出两路 MG996R 舵机 PWM + - `USART1 PA9/PA10` 和 PC 通讯 + +- [新PCB控制实施方案.md](c:/Users/YangLei/Desktop/yl_TRY/新PCB控制实施方案.md) + 包含 CubeMX 配置、串口协议、测试顺序、供电注意事项和方向反转处理。 + +核心协议统一成： + +```text +PING +M:OPEN +M:CLOSE +M:STOP +S1:90 +S2:90 +CFG:0 +CFG:1 +CFG:2 +``` + +上位机测试方式： + +```powershell +python yl_gamepad_remote_new_pcb.py --port COM9 --cmd PING +python yl_gamepad_remote_new_pcb.py --port COM9 --test +python yl_gamepad_remote_new_pcb.py --port COM9 +``` + +我按你旧接线说明先假设： + +```text +LM_CONTROL_1 = PB12 +LM_CONTROL_2 = PB13 +MG996R_1_PWM = PA0 / TIM2_CH1 +MG996R_2_PWM = PA1 / TIM2_CH2 +USART1_TX = PA9 +USART1_RX = PA10 +``` + +这个地方是最需要你最终核对 PCB 网表的：如果新 PCB 上 `MG996R_1_PWM / MG996R_2_PWM` 实际不是 PA0/PA1，只需要改 [stm32f103_drv8870_servo_main.c](c:/Users/YangLei/Desktop/yl_TRY/stm32f103_drv8870_servo_main.c) 开头的宏和定时器通道即可。 + +我也做了 Python 语法检查，`yl_gamepad_remote_new_pcb.py` 通过。STM32 代码因为当前目录没有 CubeMX/Keil 工程，不能在本地直接编译，需要你集成到 STM32 工程后编译烧录。 + +--- + + +**User** + +在当前的PCB实物上：对应LMCONTROL1 LMCONTROL12的引脚接在B12\B13上，对应舵机控制的引脚MG996R2_PWM和MG996R2_PWM分别对应B11、B10。请根据最新的信息，调整对应代码。 + + +--- + + +**User** + +在当前的PCB实物上：对应LMCONTROL1 LMCONTROL12的引脚接在B12\B13上，对应舵机控制的引脚MG996R2_PWM和MG996R2_PWM分别对应B11、B10。请根据最新的信息，调整对应代码。 + +--- + + +**OpenAI Codex** + +收到，这个信息很关键：直线电机还是 `PB12/PB13`，舵机改到 `PB11/PB10`。我会把下位机模板和实施文档一起改掉；Python 协议不用变，因为它只发 `S1/S2/M:*`，真正变化在 STM32 定时器通道映射。 + +--- + + +**OpenAI Codex** + +我按“MG996R_1_PWM=PB11、MG996R_2_PWM=PB10”处理；你文字里两个名字都写成了 `MG996R2_PWM`，但“分别对应 B11、B10”通常就是 1 路和 2 路各一个。实现上用 `TIM2_CH4=PB11`、`TIM2_CH3=PB10`，CubeMX 里要打开 TIM2 的重映射。 + +--- + + +**OpenAI Codex** + +这个 Markdown 文件之前在终端里显示已经有编码乱码，我顺手把它整体重写成干净的 UTF-8 内容，避免后续按步骤操作时看不清中文。 + +--- + + +**OpenAI Codex** + +我再补一个小保险：在 `app_init()` 里显式尝试启用 TIM2 的 PB10/PB11 重映射。CubeMX 正确配置时它本来会生成；这里加上后，对手写或半手工移植更稳。 + +--- + + +**OpenAI Codex** + +已按你最新实物引脚更新： + +- [stm32f103_drv8870_servo_main.c](c:/Users/YangLei/Desktop/yl_TRY/stm32f103_drv8870_servo_main.c) + - `LM_CONTROL_1 = PB12` + - `LM_CONTROL_2 = PB13` + - `MG996R_1_PWM = PB11 = TIM2_CH4` + - `MG996R_2_PWM = PB10 = TIM2_CH3` + - `app_init()` 里补了 TIM2 PB10/PB11 重映射的保险代码。 + +- [新PCB控制实施方案.md](c:/Users/YangLei/Desktop/yl_TRY/新PCB控制实施方案.md) + - 已整体更新为当前 PCB 实物引脚。 + - 同时修复了之前文档中文乱码问题。 + +Python 上位机 [yl_gamepad_remote_new_pcb.py](c:/Users/YangLei/Desktop/yl_TRY/yl_gamepad_remote_new_pcb.py) 不需要改，因为它只发 `S1/S2/M:*` 命令，真正的引脚映射在 STM32 端完成。我也重新跑了 Python 语法检查，通过。 + +CubeMX 里重点要这样配： + +```text +PB12 = GPIO_Output +PB13 = GPIO_Output +PB10 = TIM2_CH3 +PB11 = TIM2_CH4 +USART1_TX = PA9 +USART1_RX = PA10 +``` + +如果实测发现 `S1` 控制的是第二个舵机、`S2` 控制的是第一个舵机，只需要把 C 文件里的这两行互换： + +```c +#define SERVO1_CHANNEL TIM_CHANNEL_4 +#define SERVO2_CHANNEL TIM_CHANNEL_3 +``` + +--- + + +**User** + +请告诉我如何在cubemx中一步步完成配置及代码生成、烧录 + +--- + + +**OpenAI Codex** + +下面按 **STM32CubeMX + STM32CubeIDE + ST-Link 烧录** 来走。你的当前 PCB 引脚配置是： + +```text +PB12 = LM_CONTROL_1 +PB13 = LM_CONTROL_2 +PB11 = MG996R_1_PWM = TIM2_CH4 +PB10 = MG996R_2_PWM = TIM2_CH3 +PA9 = USART1_TX +PA10 = USART1_RX +``` + +**1. 新建工程** +打开 STM32CubeMX： + +1. `File` → `New Project` +2. 搜索并选择：`STM32F103C8Tx` +3. 点击 `Start Project` + +**2. 配置系统和时钟** +左侧 `System Core`： + +1. 点 `SYS` +2. `Debug` 选择 `Serial Wire` + +如果你用的是常见 Blue Pill/STM32F103C8T6 最小系统板，通常有 8 MHz 外部晶振： + +1. 点 `RCC` +2. `High Speed Clock (HSE)` 选择 `Crystal/Ceramic Resonator` + +然后进入 `Clock Configuration`： + +1. `PLL Source Mux` 选 `HSE` +2. `PLLMul` 选 `x9` +3. `SYSCLK` 配到 `72 MHz` +4. `APB1 Prescaler` 设为 `/2` +5. `APB2 Prescaler` 设为 `/1` + +最终应大致是： + +```text +SYSCLK = 72 MHz +AHB = 72 MHz +APB1 = 36 MHz +APB2 = 72 MHz +``` + +**3. 配置直线电机控制脚** +在芯片引脚图上： + +1. 点 `PB12` → 选择 `GPIO_Output` +2. 点 `PB13` → 选择 `GPIO_Output` + +然后左侧 `System Core` → `GPIO` 中确认： + +```text +PB12 GPIO output level = Low +PB13 GPIO output level = Low +GPIO mode = Output Push Pull +GPIO Pull-up/Pull-down = No pull-up and no pull-down +Maximum output speed = Low 或 Medium +``` + +**4. 配置串口 USART1** +左侧 `Connectivity` → `USART1`： + +1. `Mode` 选择 `Asynchronous` +2. 参数设置： + +```text +Baud Rate = 115200 +Word Length = 8 Bits +Parity = None +Stop Bits = 1 +``` + +CubeMX 应自动分配： + +```text +PA9 = USART1_TX +PA10 = USART1_RX +``` + +USB-TTL 接线要交叉： + +```text +USB-TTL TXD -> STM32 PA10 +USB-TTL RXD -> STM32 PA9 +USB-TTL GND -> PCB GND +``` + +**5. 配置舵机 PWM：TIM2_CH3 / TIM2_CH4** +左侧 `Timers` → `TIM2`： + +1. `Clock Source` 选择 `Internal Clock` +2. `Channel3` 选择 `PWM Generation CH3` +3. `Channel4` 选择 `PWM Generation CH4` + +然后确认引脚是： + +```text +PB10 = TIM2_CH3 +PB11 = TIM2_CH4 +``` + +如果没有自动跳到 PB10/PB11，需要在引脚图上手动点： + +```text +PB10 -> TIM2_CH3 +PB11 -> TIM2_CH4 +``` + +这一步本质上使用 TIM2 的 Partial Remap 2。 + +TIM2 参数设置： + +```text +Prescaler = 71 +Counter Period = 19999 +Counter Mode = Up +Clock Division = No Division +``` + +PWM 通道参数： + +```text +Pulse = 1500 +PWM mode = PWM mode 1 +CH Polarity = High +``` + +这样定时器计数单位就是 1 us，周期 20 ms，也就是 50 Hz 舵机 PWM。 + +**6. 生成代码** +进入 `Project Manager`： + +1. `Project Name` 填，比如 `new_pcb_drv8870_servo` +2. `Toolchain / IDE` 选择 `STM32CubeIDE` +3. `Code Generator` 里建议勾选： + - `Generate peripheral initialization as a pair of '.c/.h' files per peripheral` + +然后点击右上角： + +```text +GENERATE CODE +``` + +生成完成后选择： + +```text +Open Project +``` + +**7. 集成我给你的下位机代码** +打开生成的 STM32CubeIDE 工程。 + +把 [stm32f103_drv8870_servo_main.c](c:/Users/YangLei/Desktop/yl_TRY/stm32f103_drv8870_servo_main.c) 里的内容加入工程，例如放到： + +```text +Core/Src/stm32f103_drv8870_servo_main.c +``` + +然后在 `Core/Src/main.c` 顶部用户区加入函数声明： + +```c +void app_init(void); +void app_loop(void); +``` + +在 `main()` 里找到 CubeMX 生成的初始化部分，改成类似： + +```c +MX_GPIO_Init(); +MX_USART1_UART_Init(); +MX_TIM2_Init(); + +app_init(); + +while (1) +{ + app_loop(); +} +``` + +注意：不要删 CubeMX 生成的 `MX_GPIO_Init()`、`MX_USART1_UART_Init()`、`MX_TIM2_Init()`。 + +**8. 编译** +在 STM32CubeIDE 中： + +```text +Project -> Build Project +``` + +或者点小锤子图标。 + +如果报 `TIM_CHANNEL_3/4`、`huart1`、`htim2` 相关错误，通常说明： + +- USART1 没开； +- TIM2 没开 CH3/CH4； +- `stm32f103_drv8870_servo_main.c` 没有正确加入工程； +- `main.h` / HAL 工程配置不完整。 + +**9. 烧录** +用 ST-Link 连接 STM32： + +```text +ST-Link 3.3V -> STM32 3.3V +ST-Link GND -> STM32 GND +ST-Link SWDIO -> STM32 SWDIO +ST-Link SWCLK -> STM32 SWCLK +``` + +然后在 STM32CubeIDE： + +```text +Run -> Debug +``` + +第一次会自动下载程序。进入 Debug 后点继续运行，或者直接点： + +```text +Run -> Run +``` + +**10. 上位机测试** +烧录后，接 USB-TTL，确认 COM 口，比如 `COM9`。 + +先不要接电机和舵机，先测通信： + +```powershell +python yl_gamepad_remote_new_pcb.py --port COM9 --cmd PING +``` + +正常应返回类似： + +```text +OK:PONG +``` + +再测 PWM 和电机控制脚： + +```powershell +python yl_gamepad_remote_new_pcb.py --port COM9 --cmd S1:90 +python yl_gamepad_remote_new_pcb.py --port COM9 --cmd S2:90 +python yl_gamepad_remote_new_pcb.py --port COM9 --cmd M:OPEN +python yl_gamepad_remote_new_pcb.py --port COM9 --cmd M:STOP +``` + +示波器/逻辑分析仪应看到： + +```text +PB11: S1 舵机 PWM +PB10: S2 舵机 PWM +PB12/PB13: 直线电机方向控制 +``` + +确认信号正确后，再接 MG996R 独立 5V 电源和直线电机电源。舵机、电机电源、STM32 必须共地。 + +--- + + +**User** + +在实操前，请细细检查我的原理图是否有问题，尤其是DRV8870相关接口。 + +--- + + +**OpenAI Codex** + +我会按 DRV8870 数据手册的典型连接逐项对照你图里的 U2 周边：电源、VM 去耦、ISEN/IPROPI/限流、IN1/IN2、OUT1/OUT2、接口命名和地线。这个环节很值得慢一点看，很多“导通正常但不动”的板子都卡在驱动芯片外围的小细节上。 + +--- + + +**OpenAI Codex** + +我仔细对照了 DRV8870 数据手册和你原理图，结论是：**DRV8870 这部分有几个需要在实操前重点确认/修改的点，其中最可疑的是 `ISEN`、`VREF`、`PowerPAD` 和可能接在输出端的电容。** + +参考 TI DRV8870 数据手册：DRV8870 的 `VM` 推荐工作范围是 6.5-45 V，`VREF` 推荐 0.3-5 V，`IN1/IN2` 逻辑输入 0-5.5 V；电流限制由 `VREF` 和 `ISEN` 外接采样电阻决定，典型公式是： + +```text +I_TRIP = VREF / (10 * R_ISEN) +``` + +TI 典型应用是 `ISEN` 通过低阻采样电阻接地，`VM` 对地放 0.1 uF + 大电解，PowerPAD 接地。来源：TI DRV8870 datasheet, Typical Connections / Recommended Operating Conditions。 +https://www.ti.com/lit/ds/symlink/drv8870.pdf + +**1. 最大问题：ISEN 不能简单直接接 GND** +你图里 U2 的 `ISEN` 看起来像是直接接到了 GND，没有看到低阻采样电阻。这个设计不建议这样用。 + +正确做法： + +```text +DRV8870 ISEN -> 采样电阻 R_ISEN -> GND +``` + +例如： + +```text +VREF = 3.3 V, 目标限流 2.2 A +R_ISEN = 3.3 / (10 * 2.2) ≈ 0.15 Ω +``` + +如果你用 `VREF = 5 V`，想限制在 2.5 A： + +```text +R_ISEN = 5 / (10 * 2.5) = 0.2 Ω +``` + +建议用： + +```text +0.15 Ω - 0.22 Ω +功率至少 0.5 W，最好 1 W +封装 1206/2512 更合适 +``` + +如果 `ISEN` 直接短接 GND，DRV8870 的电流调节基本失效，只剩过流保护/过温保护兜底。直线电机启动或堵转时，很容易表现为：电机不动、抖一下、芯片发热、反复保护。 + +**2. VREF 接 +5V 边界太贴近上限** +你原理图里 `VREF` 接的是 `+5V`。数据手册推荐 `VREF` 最大 5 V，这意味着如果你的 5V 降压模块实际输出 5.1V、5.2V，已经超出推荐工作范围。 + +更稳妥的方案： + +```text +VREF 接 STM32 的 3.3V +``` + +这样有两个好处： + +- 不容易超限； +- 不受舵机 5V 大电流扰动影响。 + +如果继续用 5V，至少要确认： + +```text +VREF 实测不超过 5.0 V +5V 电源纹波不要太大 +VREF 附近加 100 nF 去耦 +``` + +**3. PowerPAD 必须接 GND 大面积铜皮** +你原理图里 U2 有 `PAD`，但截图上看不清是否真的接到了 GND。DRV8870 的 PowerPAD 不是装饰，它要接地并承担散热。 + +必须确认： + +```text +DRV8870 PowerPAD -> GND +PowerPAD 下方铺铜 +最好有过孔连接到底层 GND +``` + +如果 PAD 悬空或散热很差，直线电机一带负载就可能热保护。 + +**4. VM 去耦基本思路对，但电容位置和容量要确认** +你图中 `VM` 接 `+12V`，旁边有 `47uF` 和 `100nF`，这个方向是对的。 + +建议确认： + +```text +100 nF 尽量贴近 DRV8870 的 VM 和 GND +47 uF 靠近驱动芯片和电机供电入口 +电容耐压至少高于电机电源，12V 系统建议 25V 或更高 +``` + +如果直线电机线较长或启动电流较大，`47uF` 可能偏小，可以加到： + +```text +100 uF - 470 uF +``` + +**5. 检查 C6 是否误接在 OUT 到 GND** +从截图看，`C6 100nF` 附近网络有点容易误读。你需要在 EDA 里点一下网络确认： + +正常应该有： + +```text +VM -> 100nF -> GND +VM -> 47uF -> GND +``` + +但如果 C6 是这样： + +```text +OUT1 或 OUT2 -> 100nF -> GND +``` + +那就不建议。DRV8870 的输出是 H 桥开关节点，直接挂 100nF 到地会产生很大的瞬态充放电电流，可能导致芯片过流、发热、输出异常。 + +如果你想做电机 EMI 抑制，更常见的是： + +```text +小电容跨接在电机两端 +或 RC snubber +``` + +不要先在 H 桥输出到地上挂大电容。 + +**6. IN1/IN2 接 STM32 PB12/PB13 是可以的** +这一点看起来没问题： + +```text +PB12 -> LM_CONTROL_1 -> DRV8870 IN1 +PB13 -> LM_CONTROL_2 -> DRV8870 IN2 +``` + +3.3V GPIO 可以驱动 DRV8870 输入，因为其逻辑高阈值不高。你加的 10k 下拉也合理，可以保证上电默认停止/睡眠。 + +控制逻辑： + +```text +IN1=0, IN2=0 -> 停止/滑行，约 1ms 后睡眠 +IN1=1, IN2=0 -> 正转 +IN1=0, IN2=1 -> 反转 +IN1=1, IN2=1 -> 刹车 +``` + +**7. OUT1/OUT2 到直线电机端子是对的** +`OUT1/OUT2` 接到直线电机输出端子这个结构没问题。方向反了可以软件交换 `motor_open()` / `motor_close()` 逻辑，或者交换电机两根线。 + +**我建议你实操前优先改/查这 4 项** +1. `ISEN` 加采样电阻，不要直接接地。 +2. `VREF` 优先改接 3.3V，或者确认 5V 不超 5.0V。 +3. 确认 DRV8870 `PowerPAD` 真的接 GND 铜皮。 +4. 确认 `C6` 没有从 `OUT1/OUT2` 直接接到 GND；如果有，先不焊或移除。 + +如果当前 PCB 已经打样完成，最小飞线补救方案是：**割开 ISEN 到 GND 的短接，串入 0.15Ω-0.22Ω 采样电阻；VREF 若方便则飞到 3.3V。** + +--- + + +**User** + +不改能否跑通呢 + +--- + + +**OpenAI Codex** + +有可能跑通，但风险比较高，尤其是直线电机这一路。 + +按你当前板子，不改硬件大致判断： + +**舵机部分：大概率可以跑通** +只要 PB10/PB11 的 TIM2 PWM 配置正确、舵机 5V 供电足够、GND 共地，舵机应该能动。舵机不依赖 DRV8870。 + +**直线电机部分：可能能空载/轻载跑，带载不稳定** +如果 DRV8870 的 `IN1/IN2`、`VM=12V`、`OUT1/OUT2` 接法没错，即使 `ISEN` 直接接地，有些情况下电机可能会转。但问题是电流限制不按预期工作，启动电流或堵转电流一上来，可能出现： + +```text +电机只抖一下 +一启动就停 +芯片发热 +反复保护 +电源电压下陷 +STM32 复位 +``` + +**最不建议直接满负载测试。** + +如果你想在不改板的前提下先试，我建议这样做： + +1. 先不接直线电机，只测信号 + 用万用表/示波器确认： + ```text + M:OPEN -> PB12 高，PB13 低 + M:CLOSE -> PB12 低，PB13 高 + M:STOP -> PB12 低，PB13 低 + ``` + +2. 测 DRV8870 输出端 + 不接电机时测 `OUT1/OUT2` 是否随命令变化。 + +3. 接小负载或空载直线电机短时间点动 + 每次只给： + ```text + 0.2 - 0.5 秒 + ``` + 不要让直线电机顶到机械限位。 + +4. 摸温/测电流 + 如果 DRV8870 很快发热，或电机抖动不连续，立刻停。 + +5. 舵机单独用大电流 5V + 不要让舵机从 STM32 小板或弱 5V 供电取电。 + +结论： +**可以先低风险试跑通信、PWM、空载点动；但不建议不改硬件就直接带负载长期运行。** 最小补救仍然是给 `ISEN` 串一个合适的采样电阻，否则直线电机这路稳定性没有保障。 + +--- + + +**User** + +这对吗 + + +--- + + +**User** + +这对吗 + +--- + + +**OpenAI Codex** + +对，这个时钟配置是正确的，适合你现在这套方案。 + +关键值都对： + +```text +HSE = 8 MHz +PLL Source = HSE +PLL Mul = x9 +SYSCLK = 72 MHz +AHB = /1 -> HCLK = 72 MHz +APB1 = /2 -> PCLK1 = 36 MHz +APB1 Timer Clock = 72 MHz +APB2 = /1 -> PCLK2 = 72 MHz +``` + +这对 TIM2 舵机 PWM 很重要，因为 TIM2 在 APB1 上。你现在 APB1 Prescaler 是 `/2`，所以 **TIM2 实际定时器时钟是 72 MHz**，正好匹配我们代码/文档里的配置： + +```text +Prescaler = 71 +Counter Period = 19999 +``` + +计算结果： + +```text +72 MHz / (71 + 1) = 1 MHz +1 tick = 1 us +20000 tick = 20 ms +PWM = 50 Hz +``` + +也就是说 `CCR=1500` 就是 1.5 ms，高电平正好对应舵机中位。 + +小提醒：如果你不用 USB 外设，图里 USB Clock 显示 72 MHz 不影响；如果以后要用 USB，STM32F103 的 USB 通常需要 48 MHz，要把 USB Prescaler 配成 `/1.5`。但你现在是 USB-TTL 串口通信，不需要管它。 + +--- + + +**User** + +我直接把stm32f103_drv8870_servo_main全部复制进main.c中吗，即删去main.c所有内容，替换为你给的文件？ + +--- + + +**OpenAI Codex** + +不要这样做。**不要删掉 CubeMX 生成的 `main.c` 全部内容**，否则 `SystemClock_Config()`、`MX_GPIO_Init()`、`MX_USART1_UART_Init()`、`MX_TIM2_Init()` 这些初始化代码都会丢，工程大概率编不过或外设不工作。 + +正确做法有两种，我更推荐第一种。 + +**推荐做法：作为单独 `.c` 文件加入工程** + +1. 在 STM32CubeIDE 里右键： + +```text +Core/Src +``` + +2. 选择： + +```text +New -> Source File +``` + +3. 文件名填： + +```text +stm32f103_drv8870_servo_main.c +``` + +4. 把我给你的 [stm32f103_drv8870_servo_main.c](c:/Users/YangLei/Desktop/yl_TRY/stm32f103_drv8870_servo_main.c) 内容复制进去。 + +5. 打开 CubeMX 生成的 `Core/Src/main.c`，只在用户代码区加两处。 + +在文件前面，比如 `/* USER CODE BEGIN PFP */` 区域，加： + +```c +void app_init(void); +void app_loop(void); +``` + +然后在 `main()` 里找到： + +```c +MX_GPIO_Init(); +MX_USART1_UART_Init(); +MX_TIM2_Init(); +``` + +紧接着后面加： + +```c +app_init(); +``` + +再找到： + +```c +while (1) +{ + /* USER CODE BEGIN WHILE */ + + /* USER CODE END WHILE */ + + /* USER CODE BEGIN 3 */ +} +``` + +改成： + +```c +while (1) +{ + app_loop(); +} +``` + +或者保守一点放在用户区： + +```c +while (1) +{ + /* USER CODE BEGIN WHILE */ + app_loop(); + /* USER CODE END WHILE */ + + /* USER CODE BEGIN 3 */ +} +``` + +**main.c 里最后大概长这样：** + +```c +MX_GPIO_Init(); +MX_USART1_UART_Init(); +MX_TIM2_Init(); + +app_init(); + +while (1) +{ + app_loop(); +} +``` + +**如果你坚持复制进 `main.c`** + +也可以，但只能复制我那个文件里的函数和变量，**不能覆盖 CubeMX 原来的头文件、初始化函数、main 函数**。这更容易搞乱，不推荐。 + +所以一句话： +**保留 CubeMX 生成的 `main.c`，把我给的代码作为新 `.c` 文件加入，然后在 `main.c` 里调用 `app_init()` 和 `app_loop()`。** + +--- + + +**User** + +17:01:35 **** Build of configuration Debug for project 0426new_pcb_drv8870_servo **** +make -j8 all +arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.o" +arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.o" +arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.o" +arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.o" +arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.o" +arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.o" +arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.o" +arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.o" +arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.o" +arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.o" +arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.o" +arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.o" +arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.o" +arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.o" +arm-none-eabi-gcc -mcpu=cortex-m3 -g3 -DDEBUG -c -x assembler-with-cpp -MMD -MP -MF"Core/Startup/startup_stm32f103c8tx.d" -MT"Core/Startup/startup_stm32f103c8tx.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Startup/startup_stm32f103c8tx.o" "../Core/Startup/startup_stm32f103c8tx.s" +arm-none-eabi-gcc "../Core/Src/gpio.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/gpio.d" -MT"Core/Src/gpio.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/gpio.o" +arm-none-eabi-gcc "../Core/Src/main.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/main.d" -MT"Core/Src/main.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/main.o" +arm-none-eabi-gcc "../Core/Src/stm32f103_drv8870_servo_main.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/stm32f103_drv8870_servo_main.d" -MT"Core/Src/stm32f103_drv8870_servo_main.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/stm32f103_drv8870_servo_main.o" +arm-none-eabi-gcc "../Core/Src/stm32f1xx_hal_msp.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/stm32f1xx_hal_msp.d" -MT"Core/Src/stm32f1xx_hal_msp.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/stm32f1xx_hal_msp.o" +arm-none-eabi-gcc "../Core/Src/stm32f1xx_it.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/stm32f1xx_it.d" -MT"Core/Src/stm32f1xx_it.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/stm32f1xx_it.o" +arm-none-eabi-gcc "../Core/Src/syscalls.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/syscalls.d" -MT"Core/Src/syscalls.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/syscalls.o" +arm-none-eabi-gcc "../Core/Src/sysmem.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/sysmem.d" -MT"Core/Src/sysmem.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/sysmem.o" +arm-none-eabi-gcc "../Core/Src/system_stm32f1xx.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/system_stm32f1xx.d" -MT"Core/Src/system_stm32f1xx.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/system_stm32f1xx.o" +arm-none-eabi-gcc "../Core/Src/tim.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/tim.d" -MT"Core/Src/tim.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/tim.o" +arm-none-eabi-gcc "../Core/Src/usart.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/usart.d" -MT"Core/Src/usart.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/usart.o" +arm-none-eabi-gcc -o "0426new_pcb_drv8870_servo.elf" @"objects.list" -mcpu=cortex-m3 -T"C:\Users\YangLei\Desktop\YL-Y1-2025-src\stm32test\0426new_pcb_drv8870_servo\0426new_pcb_drv8870_servo\STM32F103C8TX_FLASH.ld" --specs=nosys.specs -Wl,-Map="0426new_pcb_drv8870_servo.map" -Wl,--gc-sections -static --specs=nano.specs -mfloat-abi=soft -mthumb -Wl,--start-group -lc -lm -Wl,--end-group +D:/stm32cubeide/STM32CubeIDE_1.18.1/STM32CubeIDE/plugins/com.st.stm32cube.ide.mcu.externaltools.gnu-tools-for-stm32.13.3.rel1.win32_1.0.0.202411081344/tools/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld.exe: ./Core/Src/stm32f103_drv8870_servo_main.o: in function `main': +C:/Users/YangLei/Desktop/YL-Y1-2025-src/stm32test/0426new_pcb_drv8870_servo/0426new_pcb_drv8870_servo/Debug/../Core/Src/stm32f103_drv8870_servo_main.c:67: multiple definition of `main'; ./Core/Src/main.o:C:/Users/YangLei/Desktop/YL-Y1-2025-src/stm32test/0426new_pcb_drv8870_servo/0426new_pcb_drv8870_servo/Debug/../Core/Src/main.c:68: first defined here +D:/stm32cubeide/STM32CubeIDE_1.18.1/STM32CubeIDE/plugins/com.st.stm32cube.ide.mcu.externaltools.gnu-tools-for-stm32.13.3.rel1.win32_1.0.0.202411081344/tools/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld.exe: ./Core/Src/stm32f103_drv8870_servo_main.o: in function `SystemClock_Config': +C:/Users/YangLei/Desktop/YL-Y1-2025-src/stm32test/0426new_pcb_drv8870_servo/0426new_pcb_drv8870_servo/Debug/../Core/Src/stm32f103_drv8870_servo_main.c:113: multiple definition of `SystemClock_Config'; ./Core/Src/main.o:C:/Users/YangLei/Desktop/YL-Y1-2025-src/stm32test/0426new_pcb_drv8870_servo/0426new_pcb_drv8870_servo/Debug/../Core/Src/main.c:115: first defined here +D:/stm32cubeide/STM32CubeIDE_1.18.1/STM32CubeIDE/plugins/com.st.stm32cube.ide.mcu.externaltools.gnu-tools-for-stm32.13.3.rel1.win32_1.0.0.202411081344/tools/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld.exe: ./Core/Src/stm32f103_drv8870_servo_main.o: in function `Error_Handler': +C:/Users/YangLei/Desktop/YL-Y1-2025-src/stm32test/0426new_pcb_drv8870_servo/0426new_pcb_drv8870_servo/Debug/../Core/Src/stm32f103_drv8870_servo_main.c:156: multiple definition of `Error_Handler'; ./Core/Src/main.o:C:/Users/YangLei/Desktop/YL-Y1-2025-src/stm32test/0426new_pcb_drv8870_servo/0426new_pcb_drv8870_servo/Debug/../Core/Src/main.c:158: first defined here +D:/stm32cubeide/STM32CubeIDE_1.18.1/STM32CubeIDE/plugins/com.st.stm32cube.ide.mcu.externaltools.gnu-tools-for-stm32.13.3.rel1.win32_1.0.0.202411081344/tools/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld.exe: ./Core/Src/main.o: in function `main': +C:/Users/YangLei/Desktop/YL-Y1-2025-src/stm32test/0426new_pcb_drv8870_servo/0426new_pcb_drv8870_servo/Debug/../Core/Src/main.c:94:(.text.main+0x18): undefined reference to `app_init' +D:/stm32cubeide/STM32CubeIDE_1.18.1/STM32CubeIDE/plugins/com.st.stm32cube.ide.mcu.externaltools.gnu-tools-for-stm32.13.3.rel1.win32_1.0.0.202411081344/tools/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld.exe: C:/Users/YangLei/Desktop/YL-Y1-2025-src/stm32test/0426new_pcb_drv8870_servo/0426new_pcb_drv8870_servo/Debug/../Core/Src/main.c:104:(.text.main+0x1c): undefined reference to `app_loop' +collect2.exe: error: ld returned 1 exit status +make: *** [makefile:64: 0426new_pcb_drv8870_servo.elf] Error 1 +"make -j8 all" terminated with exit code 2. Build might be incomplete. + +17:01:42 Build Failed. 6 errors, 0 warnings. (took 6s.791ms) + +--- + + +**OpenAI Codex** + +这个报错很明确：你现在的 `Core/Src/stm32f103_drv8870_servo_main.c` 里**又放了一份 CubeMX 的 `main()` / `SystemClock_Config()` / `Error_Handler()`**，所以和原来的 `Core/Src/main.c` 冲突了。 + +错误核心是这几句： + +```text +multiple definition of `main' +multiple definition of `SystemClock_Config' +multiple definition of `Error_Handler' +undefined reference to `app_init' +undefined reference to `app_loop' +``` + +意思是： + +1. 你的新 `.c` 文件里不应该有 `main()`。 +2. 新 `.c` 文件里也不应该有 `SystemClock_Config()`、`Error_Handler()`。 +3. 你现在的新 `.c` 文件里反而没有真正需要的 `app_init()` / `app_loop()`。 + +**修复方法** + +打开你的工程文件： + +```text +Core/Src/stm32f103_drv8870_servo_main.c +``` + +把里面内容**全部删掉**，然后重新复制我给你的这个文件内容： + +```text +c:\Users\YangLei\Desktop\yl_TRY\stm32f103_drv8870_servo_main.c +``` + +注意：是替换 `stm32f103_drv8870_servo_main.c`，**不是替换 `main.c`**。 + +然后检查 `Core/Src/main.c` 只保留这些改动。 + +在 `/* USER CODE BEGIN PFP */` 里加： + +```c +void app_init(void); +void app_loop(void); +``` + +在初始化后加： + +```c +MX_GPIO_Init(); +MX_USART1_UART_Init(); +MX_TIM2_Init(); + +app_init(); +``` + +在 `while (1)` 里调用： + +```c +while (1) +{ + app_loop(); +} +``` + +最终结构应该是： + +```c +int main(void) +{ + HAL_Init(); + SystemClock_Config(); + + MX_GPIO_Init(); + MX_USART1_UART_Init(); + MX_TIM2_Init(); + + app_init(); + + while (1) + { + app_loop(); + } +} +``` + +你的 `stm32f103_drv8870_servo_main.c` 里应该只包含这些函数类型： + +```c +motor_open() +motor_close() +motor_stop() +servo_set_angle() +handle_command() +HAL_UART_RxCpltCallback() +app_init() +app_loop() +``` + +里面**绝对不应该出现**： + +```c +int main(void) +SystemClock_Config() +Error_Handler() +``` + +改完后先 `Project -> Clean`，再 `Build Project`。这次应该能过到下一步。 + +--- + + +**User** + +如何操作 + + +--- + + +**User** + +如何操作 + +--- + + +**OpenAI Codex** + +你现在在 **Debug/Run 配置窗口**，这一步是烧录前的启动配置。先别急着点绿色运行，按下面检查： + +**1. 先确认工程已经编译成功** +如果刚才那个 `multiple definition of main` 错误还没修好，这里点运行也没用。必须先： + +```text +Project -> Clean +Project -> Build Project +``` + +Build 成功后，`Debug/0426new_pcb_drv8870_servo.elf` 才是有效的。 + +**2. 这个 Main 页基本不用改** +你截图里这些是对的： + +```text +Project = 0426new_pcb_drv8870_servo +C/C++ Application = Debug/0426new_pcb_drv8870_servo.elf +``` + +保持即可。 + +**3. 切到“调试器 / Debugger”页** +点击上方第二个标签： + +```text +调试器 +``` + +然后确认： + +```text +Debug probe = ST-LINK +Interface = SWD +Reset mode = Software system reset 或 Connect under reset +``` + +如果有频率选项，建议先用： + +```text +SWD Frequency = 4000 kHz 或更低 +``` + +如果下载失败，再降到 `1000 kHz`。 + +**4. 接好 ST-Link** +接线： + +```text +ST-LINK 3.3V -> STM32 3.3V +ST-LINK GND -> STM32 GND +ST-LINK SWDIO -> STM32 SWDIO +ST-LINK SWCLK -> STM32 SWCLK +``` + +如果你的板子已经外部供电，ST-Link 的 `3.3V` 可以只作为参考，不一定给板子供电；但 **GND 必须接**。 + +**5. 点 OK 或 Apply** +确认调试器页没问题后： + +```text +Apply -> OK +``` + +然后回到主界面点： + +```text +Run -> Debug +``` + +或者点小虫子图标。 + +**6. 进入 Debug 后** +第一次会自动下载程序。进入调试界面后，如果程序停在 `main()`，点绿色继续运行按钮： + +```text +Resume / Continue +``` + +快捷键通常是： + +```text +F8 +``` + +**如果弹出 No ST-LINK detected** +检查： + +```text +ST-Link 驱动是否安装 +USB 线是否是数据线 +SWDIO/SWCLK 是否接反 +GND 是否共地 +BOOT0 是否为 0 +板子是否有 3.3V +``` + +你现在这个窗口本身不用做复杂设置，关键是：**先把编译错误修掉，然后在“调试器”页确认 ST-Link + SWD，再 Debug 下载。** + +--- + + +**User** + +PS C:\Users\YangLei\Desktop\yl_TRY> python yl_gamepad_remote_new_pcb.py --port COM9 --cmd PING +Traceback (most recent call last): + File "yl_gamepad_remote_new_pcb.py", line 5, in + import pygame +ModuleNotFoundError: No module named 'pygame' + +--- + + +**OpenAI Codex** + +这个报错不是 STM32 通信问题，是脚本一启动就导入了 `pygame`，而你当前 Python 环境没装它。单条串口命令其实不需要手柄库，我把脚本改成“只有进入手柄模式才导入 pygame”，这样 `--cmd PING` 可以先跑通通信。 + +--- + + +**OpenAI Codex** + +已修好脚本：现在 `--cmd PING`、`--test` 这类串口测试不会再要求安装 `pygame`。 + +你重新运行： + +```powershell +python yl_gamepad_remote_new_pcb.py --port COM9 --cmd PING +``` + +如果后面要用手柄控制，再安装： + +```powershell +pip install pygame +``` + +另外如果下一步出现 `No ACK for PING`，那就说明 Python 已经能运行了，但 PC 和 STM32 串口通信还没通，需要继续查 COM 口、TX/RX 交叉、GND、波特率和固件是否在跑。 + +--- + + +**User** + +PS C:\Users\YangLei\Desktop\yl_TRY> python yl_gamepad_remote_new_pcb.py --port COM9 --cmd PING +Traceback (most recent call last): + File "yl_gamepad_remote_new_pcb.py", line 5, in + import serial +ModuleNotFoundError: No module named 'serial' + +--- + + +**OpenAI Codex** + +这个说明当前 Python 环境还没装 `pyserial`。`serial` 不是 Python 自带库，需要安装。 + +在 PowerShell 里运行： + +```powershell +python -m pip install pyserial +``` + +装完后再试： + +```powershell +python yl_gamepad_remote_new_pcb.py --port COM9 --cmd PING +``` + +如果 `pip` 提示不可用，试： + +```powershell +python -m ensurepip --upgrade +python -m pip install pyserial +``` + +后面如果要用手柄模式，再装： + +```powershell +python -m pip install pygame +``` + +当前只测 `PING` 的话，先装 `pyserial` 就够了。 + +--- + + +**User** + +我先前的虚拟环境安装了这些库，如何切换进该conda环境 + +--- + + +**OpenAI Codex** + +在 PowerShell 里切换 Conda 环境一般这样： + +```powershell +conda env list +``` + +先看你有哪些环境。当前环境前面会有 `*`。 + +然后激活目标环境，比如环境名叫 `myenv`： + +```powershell +conda activate myenv +``` + +激活成功后，命令行前面通常会变成： + +```powershell +(myenv) PS C:\Users\YangLei\Desktop\yl_TRY> +``` + +然后再运行： + +```powershell +python yl_gamepad_remote_new_pcb.py --port COM9 --cmd PING +``` + +如果 PowerShell 提示 `conda` 不识别，先运行 Anaconda Prompt，或者在 PowerShell 里初始化一次： + +```powershell +conda init powershell +``` + +然后关闭 PowerShell，重新打开，再执行： + +```powershell +conda activate 你的环境名 +``` + +也可以不用激活环境，直接用指定环境运行： + +```powershell +conda run -n 你的环境名 python yl_gamepad_remote_new_pcb.py --port COM9 --cmd PING +``` + +你可以先执行： + +```powershell +conda env list +``` + +把输出里环境名发我，我告诉你该激活哪一个。 + +--- + + +**User** + +PS C:\Users\YangLei\Desktop\yl_TRY> conda env list +conda : 无法将“conda”项识别为 cmdlet、函数、脚本文件或可运行程序的名 +称。请检查名称的拼写，如果包括路径，请确保路径正确，然后再试一次。 +所在位置 行:1 字符: 1 ++ conda env list ++ ~~~~~ + + CategoryInfo : ObjectNotFound: (conda:String) [], Comm + andNotFoundException + + FullyQualifiedErrorId : CommandNotFoundException + +--- + + +**OpenAI Codex** + +这是 PowerShell 没找到 `conda`，不代表环境没了。最简单有三种办法。 + +**办法 1：打开 Anaconda Prompt** +在 Windows 开始菜单搜索： + +```text +Anaconda Prompt +``` + +打开后执行： + +```bat +cd /d C:\Users\YangLei\Desktop\yl_TRY +conda env list +conda activate 你的环境名 +python yl_gamepad_remote_new_pcb.py --port COM9 --cmd PING +``` + +这是最省事的。 + +**办法 2：用完整路径调用 conda** +常见路径可能是下面之一，你可以在 PowerShell 里试： + +```powershell +& "$env:USERPROFILE\anaconda3\Scripts\conda.exe" env list +``` + +或： + +```powershell +& "$env:USERPROFILE\miniconda3\Scripts\conda.exe" env list +``` + +如果能列出来，再激活会稍麻烦一点；更推荐直接用： + +```powershell +& "$env:USERPROFILE\anaconda3\Scripts\conda.exe" run -n 你的环境名 python yl_gamepad_remote_new_pcb.py --port COM9 --cmd PING +``` + +如果你是 Miniconda，就把 `anaconda3` 换成 `miniconda3`。 + +**办法 3：找到环境里的 python 直接运行** +如果你知道环境名，比如 `yl_env`，通常路径类似： + +```powershell +& "$env:USERPROFILE\anaconda3\envs\yl_env\python.exe" yl_gamepad_remote_new_pcb.py --port COM9 --cmd PING +``` + +或： + +```powershell +& "$env:USERPROFILE\miniconda3\envs\yl_env\python.exe" yl_gamepad_remote_new_pcb.py --port COM9 --cmd PING +``` + +建议你先用 **Anaconda Prompt**，最少折腾。成功后看到命令行前面有环境名，比如： + +```text +(yl_env) C:\Users\YangLei\Desktop\yl_TRY> +``` + +就可以继续跑脚本了。 + +--- + + +**User** + +(yl_pytorch) C:\Users\YangLei\Desktop\yl_TRY>python yl_gamepad_remote_new_pcb.py --port COM9 --cmd PING +[Error] could not open port 'COM9': FileNotFoundError(2, '系统找不到指定的文件。', None, 2) +[System] Shutdown complete +Traceback (most recent call last): + File "yl_gamepad_remote_new_pcb.py", line 249, in + main() + File "yl_gamepad_remote_new_pcb.py", line 222, in main + robot = RobotDriver(port=args.port, baud=args.baud, ack=not args.no_ack) + File "yl_gamepad_remote_new_pcb.py", line 11, in __init__ + self.ser = serial.Serial(port, baud, timeout=0.25, write_timeout=0.5) + File "C:\Users\YangLei\anaconda3\envs\yl_pytorch\lib\site-packages\serial\serialwin32.py", line 33, in __init__ + super(Serial, self).__init__(*args, **kwargs) + File "C:\Users\YangLei\anaconda3\envs\yl_pytorch\lib\site-packages\serial\serialutil.py", line 244, in __init__ + self.open() + File "C:\Users\YangLei\anaconda3\envs\yl_pytorch\lib\site-packages\serial\serialwin32.py", line 64, in open + raise SerialException("could not open port {!r}: {!r}".format(self.portstr, ctypes.WinError())) + +--- + + +**OpenAI Codex** + +现在 Python 环境没问题了，新的问题是：**电脑上不存在 COM9**，或者设备没插好/端口号变了。 + +先查当前可用串口。你在这个 conda 环境里运行： + +```bat +python -m serial.tools.list_ports +``` + +会输出类似： + +```text +COM3 +COM5 +COM7 +``` + +然后把脚本里的 `COM9` 换成实际那个，比如如果看到 `COM5`： + +```bat +python yl_gamepad_remote_new_pcb.py --port COM5 --cmd PING +``` + +如果 `list_ports` 没有任何输出，检查这些： + +```text +USB-TTL 是否插上电脑 +USB 线是否是数据线 +CH340/CP2102/FT232 驱动是否安装 +设备管理器 -> 端口(COM 和 LPT) 是否出现 USB-SERIAL +``` + +如果你用的是 CH340，设备管理器里通常显示类似： + +```text +USB-SERIAL CH340 (COMx) +``` + +注意：**ST-Link 烧录口不是这个串口**。`COMx` 应该来自 USB-TTL 模块，接的是： + +```text +USB-TTL TXD -> STM32 PA10 +USB-TTL RXD -> STM32 PA9 +USB-TTL GND -> PCB GND +``` + +你先运行： + +```bat +python -m serial.tools.list_ports +``` + +找到真实 COM 口再测。 + +--- + + +**User** + +PS C:\Users\YangLei\Desktop\yl_TRY> & C:\Users\YangLei\anaconda3\envs\yl_pytorch\python.exe c:/Users/YangLei/Desktop/yl_TRY/yl_gamepad_remote_new_pcb.py +[System] Robot connected on COM9 @ 115200 +pygame 2.6.1 (SDL 2.28.4, Python 3.8.20) +Hello from the pygame community. https://www.pygame.org/contribute.html +[System] Gamepad connected: Xbox Series X Controller +=== Gamepad Remote Started === +A/B/X -> Config 0/1/2 +LB/RB hold -> Linear motor open/close +BACK -> E-stop toggle, START -> Exit +[Error] No ACK for M:OPEN; last line='' +[System] Shutdown complete +Traceback (most recent call last): + File "c:/Users/YangLei/Desktop/yl_TRY/yl_gamepad_remote_new_pcb.py", line 249, in + main() + File "c:/Users/YangLei/Desktop/yl_TRY/yl_gamepad_remote_new_pcb.py", line 234, in main + controller.loop() + File "c:/Users/YangLei/Desktop/yl_TRY/yl_gamepad_remote_new_pcb.py", line 174, in loop + self._handle_open_close_hold() + File "c:/Users/YangLei/Desktop/yl_TRY/yl_gamepad_remote_new_pcb.py", line 138, in _handle_open_close_hold + self.robot.motor_open() + File "c:/Users/YangLei/Desktop/yl_TRY/yl_gamepad_remote_new_pcb.py", line 45, in motor_open + return self._send("M:OPEN") + File "c:/Users/YangLei/Desktop/yl_TRY/yl_gamepad_remote_new_pcb.py", line 39, in _send + raise TimeoutError(f"No ACK for {cmd}; last line={last_line!r}") +TimeoutError: No ACK for M:OPEN; last line='' + +--- + + +**OpenAI Codex** + +现在已经不是 Python/手柄问题了，而是：**PC 能打开 COM9，但 STM32 没有回 ACK**。 + +也就是 Python 发出了： + +```text +M:OPEN\r\n +``` + +但没有收到 STM32 返回： + +```text +OK:M:OPEN +``` + +最常见原因按概率排序： + +**1. 先单独测 PING** +不要直接进手柄模式，先运行： + +```bat +C:\Users\YangLei\anaconda3\envs\yl_pytorch\python.exe yl_gamepad_remote_new_pcb.py --port COM9 --cmd PING +``` + +正常应该返回： + +```text +OK:PONG +``` + +如果还是 `No ACK for PING`，说明 STM32 串口收发链路没通。 + +**2. CubeMX 里要打开 USART1 中断** +我给你的 STM32 代码用的是： + +```c +HAL_UART_Receive_IT(&huart1, &rx_byte, 1); +``` + +所以 CubeMX 必须启用 USART1 全局中断。 + +在 CubeMX 里： + +```text +Connectivity -> USART1 -> NVIC Settings +``` + +勾选： + +```text +USART1 global interrupt +``` + +然后重新 `Generate Code`、编译、烧录。 + +同时检查 `Core/Src/stm32f1xx_it.c` 里应该有： + +```c +void USART1_IRQHandler(void) +{ + HAL_UART_IRQHandler(&huart1); +} +``` + +没有这个的话，STM32 永远收不到 Python 发来的命令。 + +**3. 确认 TX/RX 交叉** +USB-TTL 和 STM32 必须这样接： + +```text +USB-TTL TXD -> STM32 PA10 / RXD +USB-TTL RXD -> STM32 PA9 / TXD +USB-TTL GND -> PCB GND +``` + +如果 TXD 接 TXD、RXD 接 RXD，就会打开 COM 口但没有 ACK。 + +**4. 确认 STM32 里真的烧录了新程序** +新程序上电后会发送： + +```text +READY:DRV8870_SERVO +``` + +你可以用串口助手打开 COM9，波特率 115200，然后按一下 STM32 复位键，看有没有这行输出。 + +如果没有，说明： + +```text +程序没烧进去 +USART1 TX 没通 +PA9/PA10 配置不对 +串口线接反 +``` + +**5. 临时跳过 ACK 只看电机信号** +如果你想先确认命令有没有发出，可以临时用： + +```bat +C:\Users\YangLei\anaconda3\envs\yl_pytorch\python.exe yl_gamepad_remote_new_pcb.py --port COM9 --no-ack --cmd M:OPEN +``` + +但这只能说明 Python 发了命令，不能证明 STM32 收到了。正式调试还是要先让 `PING -> OK:PONG` 跑通。 + +我建议你下一步先做这两个： + +```bat +C:\Users\YangLei\anaconda3\envs\yl_pytorch\python.exe yl_gamepad_remote_new_pcb.py --port COM9 --cmd PING +``` + +然后检查 CubeMX 的： + +```text +USART1 -> NVIC Settings -> USART1 global interrupt +``` + +这个没开的话，当前症状完全吻合。 + +--- + + +**User** + +USART1 -> NVIC Settings -> USART1 global interrupt我开启了后，请告诉我如何重新修改并烧录 + +--- + + +**OpenAI Codex** + +可以，开启 `USART1 global interrupt` 后，需要 **重新生成代码、确认用户代码还在、重新编译、重新烧录**。按这个顺序来。 + +**1. 在 CubeMX 里保存并生成代码** +如果你是在 `.ioc` 图形界面里改的： + +```text +USART1 -> NVIC Settings -> 勾选 USART1 global interrupt +``` + +然后点右上角： + +```text +GENERATE CODE +``` + +如果弹窗问是否打开工程，选择打开或回到 STM32CubeIDE 都可以。 + +**2. 检查 main.c 里的用户代码还在** +打开： + +```text +Core/Src/main.c +``` + +确认 `/* USER CODE BEGIN PFP */` 里还有： + +```c +void app_init(void); +void app_loop(void); +``` + +确认 `main()` 里初始化后还有： + +```c +MX_GPIO_Init(); +MX_USART1_UART_Init(); +MX_TIM2_Init(); + +app_init(); +``` + +确认 `while (1)` 里还有： + +```c +app_loop(); +``` + +如果 CubeMX 生成后这几行没了，重新加回去。以后尽量放在 `USER CODE BEGIN/END` 区域里，CubeMX 才不会覆盖。 + +**3. 检查中断函数是否生成** +打开： + +```text +Core/Src/stm32f1xx_it.c +``` + +确认里面有： + +```c +void USART1_IRQHandler(void) +{ + HAL_UART_IRQHandler(&huart1); +} +``` + +如果有，说明 USART1 中断已经正确生成。 + +**4. 清理并重新编译** +在 STM32CubeIDE 菜单里： + +```text +Project -> Clean +``` + +选择你的工程，点 Clean。 + +然后： + +```text +Project -> Build Project +``` + +确认底部控制台最后出现类似： + +```text +Build Finished. 0 errors +``` + +**5. 连接 ST-Link** +确认接线： + +```text +ST-Link SWDIO -> STM32 SWDIO +ST-Link SWCLK -> STM32 SWCLK +ST-Link GND -> PCB GND +``` + +如果你的板子没有单独供 3.3V，也要接： + +```text +ST-Link 3.3V -> STM32 3.3V +``` + +BOOT0 保持低电平/0。 + +**6. 烧录** +在 STM32CubeIDE 里点： + +```text +Run -> Debug +``` + +或点小虫子图标。 + +如果弹出配置窗口，直接点： + +```text +OK +``` + +下载完成后程序通常会停在 `main()`，这时点绿色继续运行： + +```text +Resume +``` + +快捷键： + +```text +F8 +``` + +**7. 重新测 PING** +回到 Anaconda Prompt 或 PowerShell，运行： + +```bat +C:\Users\YangLei\anaconda3\envs\yl_pytorch\python.exe C:\Users\YangLei\Desktop\yl_TRY\yl_gamepad_remote_new_pcb.py --port COM9 --cmd PING +``` + +正常应看到： + +```text +[System] Robot connected on COM9 @ 115200 +OK:PONG +[System] Shutdown complete +``` + +如果还是没有 ACK，下一步就看串口助手里复位 STM32 是否能收到： + +```text +READY:DRV8870_SERVO +``` + +能收到 READY 但 PING 不回，查 RX/中断；READY 都收不到，查 TX/串口接线/烧录程序是否运行。 + +--- + + +**User** + +很棒，完全实现了 + +--- + + +**OpenAI Codex** + +太好了，跑通了就说明整条链路已经闭环了：PC 手柄脚本 → USB-TTL 串口 → STM32 解析命令 → PB12/PB13 控 DRV8870 → PB10/PB11 输出舵机 PWM。 + +后面正式带负载前，建议保留两个习惯：先短时间点动直线电机，避免顶死；MG996R 用独立 5V 大电流供电并和 STM32 共地。现在这版代码和调试流程已经可以作为新 PCB 的基准版本留档了。 + +--- + + +**User** + +能否在IDE中把烧录的内容保存为单独文件，方便以后对批量板子烧录。 + +--- + + +**OpenAI Codex** + +可以。STM32CubeIDE 编译后本来就会生成可单独烧录的文件，通常在工程的 `Debug` 或 `Release` 目录里。 + +你现在这个工程大概率已经有： + +```text +0426new_pcb_drv8870_servo.elf +0426new_pcb_drv8870_servo.hex +0426new_pcb_drv8870_servo.bin +``` + +位置类似： + +```text +C:\Users\YangLei\Desktop\YL-Y1-2025-src\stm32test\0426new_pcb_drv8870_servo\0426new_pcb_drv8870_servo\Debug\ +``` + +批量烧录最常用的是： + +```text +.hex +``` + +或者： + +```text +.bin +``` + +**在 STM32CubeIDE 里确认生成 hex/bin：** + +1. 右键工程名 +2. `Properties` +3. `C/C++ Build` +4. `Settings` +5. 找到 `MCU Post build outputs` +6. 勾选： + - `Convert to Intel Hex file (-O ihex)` + - `Convert to binary file (-O binary)` + +然后重新： + +```text +Project -> Build Project +``` + +生成后去 `Debug` 文件夹里找： + +```text +0426new_pcb_drv8870_servo.hex +0426new_pcb_drv8870_servo.bin +``` + +**以后批量烧录推荐方式：** + +用 `STM32CubeProgrammer` 打开 `.hex` 文件，然后连接 ST-Link 烧录即可。 + +如果用命令行批量烧录，类似： + +```bat +STM32_Programmer_CLI.exe -c port=SWD -w 0426new_pcb_drv8870_servo.hex -v -rst +``` + +如果烧 `.bin`，需要指定 Flash 起始地址： + +```bat +STM32_Programmer_CLI.exe -c port=SWD -w 0426new_pcb_drv8870_servo.bin 0x08000000 -v -rst +``` + +所以更省心的是保存并使用 `.hex`。它自带地址信息，不容易烧错。 + +--- diff --git a/.waylog/history/2026-05-06_12-05-57Z-claude-你是什么model与agent.md b/.waylog/history/2026-05-06_12-05-57Z-claude-你是什么model与agent.md new file mode 100644 index 0000000..3757341 --- /dev/null +++ b/.waylog/history/2026-05-06_12-05-57Z-claude-你是什么model与agent.md @@ -0,0 +1,72 @@ +# 你是什么model与agent +_Exported on 05/06/2026 at 20:06:04 GMT+8 from Claude via WayLog_ + + +**User** + +你是什么model与agent + +--- + + +**Claude** + +API Error: 400 The supported API model names are deepseek-v4-pro or deepseek-v4-flash, but you passed deepseek-v4-pro【1m】. + +--- + + +**User** + +[1m] + +--- + + +**Claude** + +API Error: 400 The supported API model names are deepseek-v4-pro or deepseek-v4-flash, but you passed deepseek-v4-pro【1m】. + +--- + + +**User** + +你是什么model与agent + +--- + + +**Claude** + +API Error: 400 The supported API model names are deepseek-v4-pro or deepseek-v4-flash, but you passed deepseek-v4-pro【1m】. + +--- + + +**User** + +你是什么model与agent + +--- + + +**Claude** + +API Error: 400 The supported API model names are deepseek-v4-pro or deepseek-v4-flash, but you passed deepseek-v4-pro【1m】. + +--- + + +**User** + +你是什么model与agent + +--- + + +**Claude** + +我是基于 **deepseek-v4-pro【1m】** 模型运行的交互式助手，运行在 **Claude Agent SDK** 框架内。虽然运行在 Claude Code 环境中，但当前由 DeepSeek 模型提供推理能力。 + +--- diff --git a/.waylog/history/2026-05-06_12-25-41Z-claude-介绍人形机器人mimic的技术路线.md b/.waylog/history/2026-05-06_12-25-41Z-claude-介绍人形机器人mimic的技术路线.md new file mode 100644 index 0000000..1beb988 --- /dev/null +++ b/.waylog/history/2026-05-06_12-25-41Z-claude-介绍人形机器人mimic的技术路线.md @@ -0,0 +1,106 @@ +# 介绍人形机器人mimic的技术路线 +_Exported on 05/06/2026 at 20:26:07 GMT+8 from Claude via WayLog_ + + +**User** + +介绍人形机器人mimic的技术路线 + +--- + + +**Claude** + +## 人形机器人 Motion Mimic 技术路线 + +人形机器人的 **mimic（运动模仿）** 技术，目标是让机器人通过观察人类动作来学会自主运动。2025-2026 年，这条路线已形成从学术到工业落地的清晰演进。 + +--- + +### 一、核心技术范式演进 + +经典主线从 **DeepMimic (2018)** 出发，逐步发展出统一的通用框架： + +| 方法 | 时间 | 核心贡献 | +|------|------|----------| +| DeepMimic | 2018 | 将运动跟踪形式化为强化学习问题 | +| PHC | 2023 | 物理人形控制器，实现全身动作跟踪 | +| ASAP | 2024 | 先平滑迁移再做真机部署的务实路径 | +| **MaskMimic** | 2024-25 | 掩码训练，支持多模态部分约束的统一控制器 | +| **BeyondMimic** | 2025 | 高保真跟踪（侧手翻、跳跃等高动态技能） | +| **MimicKit** | 2026 | SFU 彭实验室开源统一框架，整合上述方法 | + +> 趋势：**单技能专用控制器 → 统一通用控制器 → 开源工具化**。 + +--- + +### 二、2025-2026 年前沿新范式 + +**(a) ZEST (RAI Institute × Boston Dynamics, 2026.1)** +- 极简单阶段训练，无需接触标签、无需状态估计器 +- 跨平台零样本部署：同一策略在 Atlas、Unitree G1、Spot 上直接运行 +- 首次实现全尺寸人形机器人的军队爬行、霹雳舞等动态多接触技能 +- 核心技术：非对称 Actor-Critic + 辅助力矩自动课程 + 自适应参考状态初始化 + +**(b) RoboMirror (2025.12)** +- 核心理念："先理解，再模仿" +- 利用 VLM 将视频蒸馏为"视觉运动意图"，直接条件化扩散策略 +- 无需显式姿态重建或重定向，延迟降低 80%，成功率提升 3.7% + +**(c) GenMimic (UC Berkeley / NYU, 2025.12)** +- 从 AI 生成的视频中零样本模仿人类动作 +- 两阶段：4D 人体重建 → RL 策略，在 Unitree G1 真机验证 + +**(d) MIMIC-D (2025.9)** +- 多智能体去中心化模仿，集中训练 + 分散执行 + +--- + +### 三、工业落地：Mimic Robotics（瑞士） + +最具代表性的产业落地案例： + +| 维度 | 详情 | +|------|------| +| **定位** | 不做整机，只做灵巧手 + 物理 AI 模型 | +| **技术栈** | 多模态预训练 → 工厂现场数据采集 → 模仿学习 → 自校正纠错 | +| **硬件** | 16 自由度、21 关节、指尖精度 ±0.5mm、腕部摄像头 | +| **商业指标** | 运营成本降 70%，部署时间仅 1 小时 | +| **融资** | $20M+（红杉 Scout 跟投） | + +--- + +### 四、全栈标准流程（以跳舞为例） + +``` +视频 → GVHMR 人体姿态提取 → 运动重定向 → RL训练(Isaac Lab+PPO) + → 仿真验证(MuJoCo) → 真机部署(宇树G1等) +``` + +这套管线已可做到：**早上拍视频 → 白天训练 → 当晚在硬件上运行**。 + +--- + +### 五、关键技术共识 + +- **非对称 Actor-Critic**：训练时用特权信息，部署时仅用本体感知 +- **残差动作空间**：策略输出补偿量而非绝对关节角度 +- **视频 → 机器人**：单目 RGB 视频直接驱动已成标配 +- **零样本 sim-to-real**：通过域随机化实现无微调部署 +- **灵巧手独立化**：Mimic Robotics 的"只做手"是务实的商业切入 + +--- + +**一句话总结**：2025-2026 年的 mimic 技术正从"能不能模仿"走向"模仿得有多好、多快、多便宜"，学术界趋向统一框架和零样本泛化，产业界聚焦灵巧操作这一具体痛点的可规模部署。 + +Sources: +- [从RoboMimic、DeepMimic到MaskMimic——人形全身运控的通用控制器](https://blog.csdn.net/v_JULY_v/article/details/149021885) +- [SFU MimicKit Framework Helps Robots Learn](http://www.sfu.ca/fas/computing/news-events/news/2026/march/sfu-computer-scientist-s-mimickit-framework-helps-robots-learn-l.html) +- [Humanoid Whole-Body Control (十二)——ZEST](https://zhuanlan.zhihu.com/p/2032914848737142041) +- [从视频到舞步：详解基于AI的人形机器人运动模仿全栈技术](https://www.cnblogs.com/jzssuanfa/p/19803401) +- [Mimic Robotics Raises $16M](https://metrology.news/mimic-robotics-raises-16m-to-deploy-physical-ai-for-dexterous-manufacturing/) +- [RoboMirror: Understand Before You Imitate](https://arxiv.org/abs/2512.23649v2) +- [MIMIC-D: Multi-modal Imitation for Multi-agent Coordination](https://browse-export.arxiv.org/abs/2509.14159?context=cs) +- [From Generated Human Videos to Physically Plausible Robot Trajectories](https://arxiv.org/html/2512.05094v2) + +--- diff --git a/.waylog/history/2026-06-16_14-57-18Z-claude-hello.md b/.waylog/history/2026-06-16_14-57-18Z-claude-hello.md new file mode 100644 index 0000000..978be51 --- /dev/null +++ b/.waylog/history/2026-06-16_14-57-18Z-claude-hello.md @@ -0,0 +1,16 @@ +# hello +_Exported on 06/17/2026 at 11:45:24 GMT+8 from Claude via WayLog_ + + +**User** + +hello + +--- + + +**Claude** + +Hello! How can I help you today? + +--- diff --git a/.waylog/history/2026-07-10_08-35-27Z-claude-请先检查项目文件-这是我做的一个执行器的控制代码-包含了传感器读数据的相关内容-我的导师让我把这些封.md b/.waylog/history/2026-07-10_08-35-27Z-claude-请先检查项目文件-这是我做的一个执行器的控制代码-包含了传感器读数据的相关内容-我的导师让我把这些封.md new file mode 100644 index 0000000..586099d --- /dev/null +++ b/.waylog/history/2026-07-10_08-35-27Z-claude-请先检查项目文件-这是我做的一个执行器的控制代码-包含了传感器读数据的相关内容-我的导师让我把这些封.md @@ -0,0 +1,165 @@ +# 请先检查项目文件，这是我做的一个执行器的控制代码，包含了传感器读数据的相关内容，我的导师让我把这些封 +_Exported on 07/10/2026 at 16:36:17 GMT+8 from Claude via WayLog_ + + +**User** + +请先检查项目文件，这是我做的一个执行器的控制代码，包含了传感器读数据的相关内容，我的导师让我把这些封装好然后发给别人，请对代码仓库进行整理，如代码命名存在yl的人名等，要去除，保留命名风格为代码功能的描述即可。最后生成一个使用手册。 + +--- + + +**Claude** + +Let me read all the source files to understand the codebase thoroughly. + +--- + + +**Claude** + +Now I have a thorough understanding of the codebase. Let me check for any "yl" references inside the code and also check the lib directory. + +--- + + +**Claude** + +I now have a complete picture. Let me execute the cleanup systematically. + +--- + + +**Claude** + +Now let me update all cross-references in the renamed files. + +--- + + +**Claude** + +Now let me update the documentation files. + +--- + + +**Claude** + +Now let me verify everything is clean. + +--- + + +**Claude** + +所有整理工作已完成。以下是变更总结： + +--- + +## 1. 文件重命名（去除 `yl_` 个人前缀） + +| 旧名称 | 新名称 | 功能 | +|--------|--------|------| +| `yl_2s_1l.py` | `serial_robot_driver.py` | 串口执行器驱动（2舵机+1直线电机） | +| `yl_data_logger.py` | `data_logger.py` | CSV 数据记录器 | +| `yl_data_read_3tf.py` | `tactile_sensor_daq.py` | 三指触觉传感器数据采集 | +| `yl_demo_0129.py` | `demo_auto_grasp.py` | 自动抓取演示程序 | +| `yl_gamepad_remote.py` | `gamepad_remote.py` | 手柄遥控 | +| `yl_gamepad_remote_new_pcb.py` | `gamepad_remote_new_pcb.py` | 新 PCB 手柄遥控 | +| `yl_keyboard_remote_new_pcb.py` | `keyboard_remote_new_pcb.py` | 新 PCB 键盘遥控 | +| `yl_model_network_CMLP.py` | `grasp_network_model.py` | 抓取预测神经网络 | +| `yl_test_dof_control.py` | `test_dof_control.py` | 自由度控制测试 | + +## 2. 交叉引用更新 + +- [keyboard_remote_new_pcb.py:8](keyboard_remote_new_pcb.py#L8)：`from yl_demo_0129 import ...` → `from demo_auto_grasp import ...` +- [test_dof_control.py:4](test_dof_control.py#L4)：`from yl_demo_0129 import ...` → `from demo_auto_grasp import ...` +- [新PCB控制实施方案.md](新PCB控制实施方案.md)：所有 `yl_gamepad_remote_new_pcb.py` → `gamepad_remote_new_pcb.py` +- [接线说明.txt](接线说明.txt)：移除个人路径，替换为通用运行说明 + +## 3. 使用手册 + +[README.md](README.md) 已重写为完整的使用手册，包含： + +- 项目架构图 +- 12 个章节：环境准备、模块说明、快速开始、底层驱动、数据采集、执行器控制、遥控模块、数据记录、神经网络、STM32固件、硬件接线、常见问题 +- 每个模块的 API 说明和代码示例 +- 通信协议表格 +- 硬件接线图和供电注意事项 + +验证结果：项目中 **不再存在任何 `yl_` 引用**，所有文件名均为功能描述性命名。 + +--- + + +**Claude** + +分析完毕。**代码基本可以直接复用**，但有以下几个需要注意的地方： + +--- + +## 可以直接复用 + +- 所有依赖库已打包在 `lib/ch341/` 中（DLL + SO） +- 代码结构为纯相对路径，拷走整个文件夹即可 +- Linux 下 CH341 设备路径是动态发现的（`/dev/ch34x_pis*`） + +## 需要在另一台电脑上做的事 + +### 1. COM 口号必须改 + +目前每个文件的默认 COM 口不一致（COM6/COM9），换电脑后串口号会变。好消息是大多数文件都支持 `--port` 参数： + +```bash +python gamepad_remote_new_pcb.py --port COM5 +python keyboard_remote_new_pcb.py --port COM5 +``` + +但有三个文件把 COM 口写死在了 `__main__` 里： + +| 文件 | 硬编码位置 | +|------|-----------| +| [serial_robot_driver.py:61](serial_robot_driver.py#L61) | `RobotDriver(port='COM9')` | +| [demo_auto_grasp.py:340](demo_auto_grasp.py#L340) | `RobotDriver(port='COM9')` | +| [gamepad_remote.py:195](gamepad_remote.py#L195) | `port = "COM9"` | + +### 2. 缺少依赖清单 + +目前没有 `requirements.txt`，新机器需要手动装包。 + +### 3. CH341 驱动 + +`lib/ch341/` 下有 DLL/SO，但 **Windows 上还需要先安装 CH341PAR.exe 驱动** 才能让系统识别 CH341 芯片。这个 exe 不在仓库里。 + +--- + +要我帮你做一个标准化的 Python 项目改造吗？具体做这几件事： + +1. 创建 `requirements.txt`，列出所有 pip 依赖 +2. 统一所有文件的 COM 口配置方式（都改为 `--port` 命令行参数） +3. 在 README 中补充"在新电脑上部署"的 checklist + +--- + + +**Claude** + +现在更新文件清单，把驱动压缩包也列进去。 + +--- + + +**Claude** + +已完成。主要改动： + +1. **环境准备章节开头加了醒目提示**：必须先安装驱动，再装 Python 依赖 +2. **CH341 驱动安装提到 `1.1`（最前面）**，Python 依赖降到 `1.2` +3. **Windows 安装步骤指向项目内的压缩包** `CH341驱动（先卸载再安装）.zip`：解压 → 卸载旧驱动 → 运行 exe 安装 +4. **Linux 步骤也补充了**"重新插拔设备或重启"的提醒 +5. **文件清单**中新增了驱动压缩包的条目 + +在另一台电脑上拿到这套代码后，对方按 README 顺序操作即可：先解压安装驱动 → 插上传感器 → `pip install` → 运行脚本。 + +--- diff --git a/CH341PAR .EXE b/CH341PAR .EXE new file mode 100644 index 0000000000000000000000000000000000000000..2493e7ebea4c41b1aad03f4d30d02162f8685877 GIT binary patch literal 676224 zcmeFaePC48weWo=Gf9RpFardL8a2|vq9CHd)*7(UkbnX@WJo|otIyRKqg4wtegaN< zGMeFVloqk}*0x%0uf5l{wAK=W9|;K)P^$=jM6oR@ZFd}PqtXyQWS-yJXJ!&w@AE!? 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started +本项目提供了一套完整的触觉传感器数据采集与执行器（舵机、直线电机）控制系统，包含底层 I2C 通信驱动、传感器数据解析、多指数据采集、串口执行器控制、手柄/键盘遥控以及数据记录等功能模块。 -## 安装ch341驱动 +### 系统架构 -### windows -直接运行CH341PAR.exe，按照提示安装 - -### linux - -按照“CH341PAR_LINUX”文件夹下的“README.md"安装驱动 - -## linux下环境搭建 -对于linux用户，需要将ch341添加到udev规则（普通用户也可以访问ch341设备），或者使用sudo权限来运行程序（不推荐） - -### 将用户添加到dialout组 -查看 dialout 组的成员，如果不包含当前用户则需要将用户添加到 dialout 组，“john”替换为你想要添加到组的用户名 ``` -# 查看 dialout 组的成员 -getent group dialout - -# 将用户 'john' 添加到 dialout 组 +┌──────────────────────────────────────────────────────┐ +│ 应用层 (Application) │ +│ demo_auto_grasp.py test_dof_control.py │ +│ gamepad_remote.py gamepad_remote_new_pcb.py │ +│ keyboard_remote_new_pcb.py data_logger.py │ +│ grasp_network_model.py │ +├──────────────────────────────────────────────────────┤ +│ 数据采集层 (DAQ Layer) │ +│ cap_read.py tactile_sensor_daq.py │ +├──────────────────────────────────────────────────────┤ +│ 驱动抽象层 (Driver Layer) │ +│ class_finger.py class_sensorcmd.py sensorPara.py │ +│ class_ch341.py serial_robot_driver.py │ +├──────────────────────────────────────────────────────┤ +│ 硬件层 (Hardware) │ +│ CH341 (USB-I2C) STM32F103 (Serial) │ +│ 触觉传感器 舵机 / 直线电机 │ +└──────────────────────────────────────────────────────┘ +``` + +--- + +## 目录 + +1. [环境准备](#1-环境准备) +2. [模块说明](#2-模块说明) +3. [快速开始](#3-快速开始) +4. [底层驱动详解](#4-底层驱动详解) +5. [数据采集模块](#5-数据采集模块) +6. [执行器控制](#6-执行器控制) +7. [遥控模块](#7-遥控模块) +8. [数据记录](#8-数据记录) +9. [神经网络模型](#9-神经网络模型) +10. [STM32 固件](#10-stm32-固件) +11. [硬件接线](#11-硬件接线) +12. [常见问题](#12-常见问题) + +--- + +## 1. 环境准备 + +> **重要：请严格按照以下顺序操作，先安装驱动，再安装 Python 依赖。** + +### 1.1 CH341 驱动安装（必须首先完成） + +CH341 是 USB 转 I2C 芯片，用于与触觉传感器通信。**使用本项目前，必须先安装此驱动**，否则传感器无法被电脑识别。 + +#### Windows + +1. 在项目根目录下找到压缩包 **`CH341驱动（先卸载再安装）.zip`**，将其解压。 +2. **如果之前安装过其它版本的 CH341 驱动，请先卸载**。 +3. 运行解压后的 `CH341PAR.exe`，按照提示完成安装。 +4. 安装完成后，将传感器通过 CH341 转接板连接电脑 USB，系统会自动识别设备。 + +> 驱动安装后，项目代码会自动加载 `lib/ch341/CH341DLLA64.DLL`，无需额外配置。 + +#### Linux + +1. 将 `lib/ch341/libch347.so` 放置到系统库路径或项目目录下。 + +2. 配置 udev 规则（将 `john` 替换为你的用户名）： +```bash +# 将用户添加到 dialout 组 sudo usermod -a -G dialout john -``` -### 创建rules文件 -在 /etc/udev/rules.d/ 目录下创建一个新的规则文件，例如 ch341.rules，添加如下内容： -``` -SUBSYSTEM=="usbmisc", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="5512", MODE="0666", GROUP="dialout" -``` -idVendor和idProduct是CH341设备的供应商和产品ID，可以通过lsusb命令查找这些ID -### 更新规则文件 -``` + +# 创建 udev 规则文件 +sudo bash -c 'echo "SUBSYSTEM==\"usbmisc\", ATTRS{idVendor}==\"1a86\", ATTRS{idProduct}==\"5512\", MODE=\"0666\", GROUP=\"dialout\"" > /etc/udev/rules.d/ch341.rules' + +# 重载规则 sudo udevadm control --reload-rules sudo udevadm trigger ``` -# 运行示例 +3. 重新插拔 CH341 设备，或重启计算机使 udev 规则生效。 -## 上电 -传感器不同版本的固件上电时间存在差异，建议在传感器上电3s后再运行读取程序 -## demo根目录下运行如下命令执行程序 +### 1.2 Python 依赖 + +推荐使用 Python 3.8 及以上版本。安装依赖： + +```bash +pip install pyserial numpy pygame keyboard torch ``` + +各模块依赖说明： + +| 模块 | 依赖 | +|------|------| +| 底层驱动 (class_ch341, class_sensorcmd, class_finger) | 无额外依赖 | +| 数据采集 (cap_read, tactile_sensor_daq) | numpy | +| 串口执行器 (serial_robot_driver) | pyserial | +| 手柄遥控 (gamepad_remote, gamepad_remote_new_pcb) | pyserial, pygame | +| 键盘遥控 (keyboard_remote_new_pcb) | pyserial, keyboard, numpy | +| 数据记录 (data_logger) | numpy | +| 神经网络 (grasp_network_model) | torch (PyTorch) | + +> **说明：** 如果仅使用传感器数据读取功能（cap_read、tactile_sensor_daq），只需安装 `numpy`。执行器控制、遥控、神经网络等模块可按需安装对应依赖。 + +--- + +## 2. 模块说明 + +### 2.1 文件清单 + +| 文件名 | 功能说明 | +|--------|----------| +| `class_ch341.py` | CH341 USB-I2C 底层驱动，封装 I2C 读写、速度设置、INT 引脚控制 | +| `class_sensorcmd.py` | 传感器 I2C 命令协议，封装所有传感器配置与读取命令 | +| `class_finger.py` | 传感器（手指）数据解析，包含电容/力数据读取与协议解析 | +| `sensorPara.py` | 传感器参数定义（通道数、力单元数、数据格式等） | +| `cap_read.py` | 基础电容读取入口，支持单指/多指数据采集与实时可视化 | +| `tactile_sensor_daq.py` | 多指触觉传感器数据采集模块（线程安全，支持去皮） | +| `serial_robot_driver.py` | 串口执行器驱动，控制舵机和直线电机 | +| `stm32f103_drv8870_servo_main.c` | STM32F103 下位机固件源码 | +| `demo_auto_grasp.py` | 演示程序：触觉反馈自动抓取任务 | +| `gamepad_remote.py` | 游戏手柄遥控程序 | +| `gamepad_remote_new_pcb.py` | 新 PCB 版手柄遥控（支持 ACK 协议和自检） | +| `keyboard_remote_new_pcb.py` | 新 PCB 版键盘遥控（支持力反馈与压力计算） | +| `test_dof_control.py` | 自由度独立控制测试 | +| `data_logger.py` | CSV 数据记录器 | +| `grasp_network_model.py` | 条件抓取网络模型（Conditional MLP） | +| `接线说明.txt` | 硬件接线参考 | +| `新PCB控制实施方案.md` | 新 PCB 控制系统实施方案 | +| `CH341驱动（先卸载再安装）.zip` | CH341 驱动程序压缩包，使用前必须先解压安装 | +| `传感器iic地址和转接板位置定义.png` | I2C 地址与接口位置对照图 | + +--- + +## 3. 快速开始 + +### 3.1 仅读取单个传感器数据 + +```bash python cap_read.py ``` -程序运行结果： -``` -capChannelDat=[3020838, 3006548, 2986382, 2929380, 2995152, 2992100, 2988970, 2996232, 2904946, 2947736, 2895000, 2842188, 2999608, 2922258, 2776718, 7950022] -nf[0] = 0.0 -tf[0] = 0.0 -tfDir[0] = 0 -nf[1] = 0.0 -tf[1] = 0.0 -tfDir[1] = 0 -sProxCapData[0] = 0 -sProxCapData[1] = 0 -mProxCapData[0] = 0 -``` -* capChannelDat为电容通道原始值 -* nf、tf、tfDir分别为一组三维力的法向力、切向力和切向力方向 -* sProxCapData为自电容接近值 -* mProxCapData为互电容接近值 -## 连接手指数量设定 -手指连接板最大支持5个传感器连接，不足5个传感器连接会影响读取频率，可以修改如下宏定义配置连接数量： -``` -DEF_MAX_FINGER_NUM = 2 # 需要连接的手指数量，最大5个 -``` -## iic接口顺序和iic地址定义 -此demo中的iic地址和插入转接板的接口位置是固定对应关系，iic地址和iic接口顺序对照关系如下： +运行前可在 `cap_read.py` 中修改传感器连接数量： -![图片说明](./传感器iic地址和转接板位置定义.png) -如果插入的传感器和对应接口的iic地址不同，在初始化阶段会强制将传感器的iic地址设置为图中对应的地址： +```python +DEF_MAX_FINGER_NUM = 1 # 需要连接的手指数量，最大5个 ``` -def checkSensor(self): - # 广播的方式读取当前传感器地址，并默认将iic地址配置为和pca相同的地址 - addrRead = self.snsCmd.getAddr(0) - if addrRead != self.pcaIdx: - if self.pcaIdx != self.snsCmd.setAddr(addrRead, self.pcaIdx): - print(f"set addr false, setaddr={self.pcaIdx}") - return False - else: - addrRead = self.pcaIdx - print(f"update iic addr, new addr ={addrRead}") + +输出数据包括： +- `capChannelDat`：电容通道原始值 +- `nf[i]`：第 i 个单元的法向力 +- `tf[i]`：第 i 个单元的切向力 +- `tfDir[i]`：第 i 个单元的切向力方向 +- `sProxCapData`：自电容接近值 +- `mProxCapData`：互电容接近值 + +### 3.2 读取多个传感器数据（100Hz） + +```python +from tactile_sensor_daq import TactileSensorDAQ + +sensor = TactileSensorDAQ() +sensor.start() + +# 等待传感器连接稳定 +import time +time.sleep(3) +sensor.tare() # 去皮 + +while True: + data = sensor.get_data() # 获取 12 维力数据 + print(data) + time.sleep(0.1) +``` + +### 3.3 控制执行器（串口） + +```python +from serial_robot_driver import RobotDriver + +robot = RobotDriver(port='COM9') +robot.motor_open() # 直线电机张开 +robot.motor_close() # 直线电机闭合 +robot.motor_stop() # 停止 +robot.set_servo(1, 90) # 舵机1转到90度 +robot.set_config(0) # 构型0（初始位） +robot.close() +``` + +### 3.4 命令行快速测试 + +```bash +# 测试通信 +python gamepad_remote_new_pcb.py --port COM9 --cmd PING + +# 硬件自检 +python gamepad_remote_new_pcb.py --port COM9 --test + +# 手柄遥控 +python gamepad_remote_new_pcb.py --port COM9 + +# 键盘遥控 +python keyboard_remote_new_pcb.py --port COM9 +``` + +--- + +## 4. 底层驱动详解 + +### 4.1 class_ch341.py —— CH341 I2C 通信驱动 + +封装 CH341 USB-I2C 转换芯片的操作。 + +**主要接口：** + +```python +from class_ch341 import ClassCh341 + +ch341 = ClassCh341() + +# 初始化并打开设备 +ch341.init() # 加载 DLL/SO 库 +ch341.open() # 打开 USB 设备 + +# 设置 I2C 速度 +ch341.set_speed(ch341.IIC_SPEED_400) # 20/100/400/750 kHz + +# I2C 读写 +ch341.write(addr, data_list) # 向从机地址写入数据列表 +ch341.read(addr, data_list) # 从从机地址读取数据到列表 + +# 连接检查 +ch341.connectCheck() # 返回 True/False + +# 断开 +ch341.disconnect() +``` + +### 4.2 class_sensorcmd.py —— 传感器命令协议 + +封装与触觉传感器 MCU 的 I2C 命令协议。 + +**主要接口：** + +```python +from class_sensorcmd import ClassSensorCmd + +snsCmd = ClassSensorCmd(ch341) + +# 地址管理 +snsCmd.getAddr(addr) # 读取传感器 I2C 地址 +snsCmd.setAddr(old_addr, new) # 设置新地址 + +# 传感器配置 +snsCmd.setSensorSendType(addr, 0) # 设置数据发送类型为原始值 +snsCmd.setSensorCapOffset(addr, offset) # 设置电容采集时序偏移 + +# 读取数据 +snsCmd.getSensorCapData(addr, buf) # 读取电容数据 +snsCmd.getSensorProjectIdex(addr) # 读取项目编号 + +# 同步 +snsCmd.setSensorSync(addr) # 多传感器同步 +``` + +### 4.3 sensorPara.py —— 传感器参数定义 + +定义了传感器项目的参数结构和具体参数值。 + +```python +from sensorPara import finger_params, FingerParamTS, DynamicYddsU16Ts + +# finger_params 包含所有支持的传感器类型 +# 目前支持: +# - 项目2: "通用手指", 8通道, 1个三维力单元 +# - 项目17: "两指-大包", 16通道, 2个三维力单元 +``` + +如需添加新的传感器型号，在 `sensorPara.py` 中追加 `FingerParamTS` 条目即可。 + +### 4.4 class_finger.py —— 传感器数据解析 + +管理单个传感器（手指）的连接状态和数据读取。 + +```python +from class_finger import ClassFinger, capData + +finger = ClassFinger(pca_idx=2, ch341=ch341) + +# 检查传感器连接 +if finger.checkSensor(): + print("Sensor connected") + +# 读取数据 +finger.capRead() + +# 访问数据 +finger.readData.channelCapData # 电容通道原始值 +finger.readData.nf[i] # 第i个单元的法向力 +finger.readData.tf[i] # 第i个单元的切向力 +finger.readData.tfDir[i] # 第i个单元的切向力方向 +finger.readData.sProxCapData # 自电容接近值 +finger.readData.mProxCapData # 互电容接近值 +``` + +--- + +## 5. 数据采集模块 + +### 5.1 cap_read.py —— 基础电容读取 + +最简单直接的传感器数据读取入口。内部维护 CH341 连接状态机，定时轮询读取电容数据，并通过 TCP Socket 发送到 VOFA+ 等调试工具进行实时可视化。 + +**配置参数：** + +```python +DEF_MAX_FINGER_NUM = 1 # 连接手指数量 (1-5) +DEF_GET_CAP_MS = 30 # 读取间隔 (ms) +DEF_CDC_SYNC_MS = 1000 # 电容同步间隔 (ms)，多传感器时使用 +``` + +**运行：** + +```bash +python cap_read.py +``` + +数据通过 Socket 发送到 `127.0.0.1:1347`（VOFA+ 默认端口）。 + +### 5.2 tactile_sensor_daq.py —— 多指触觉传感器 DAQ + +线程安全的传感器数据采集模块，支持 3 个手指、12 维力数据输出，含去皮（tare）功能。 + +```python +from tactile_sensor_daq import TactileSensorDAQ + +sensor = TactileSensorDAQ() +sensor.start() # 启动后台采集线程 +sensor.tare() # 去皮：将当前读数归零 +data = sensor.get_data() # 获取 12 维 numpy 数组 [F0_U1_Fn, F0_U1_Ft, F0_U2_Fn, ...] +sensor.stop() # 停止采集 +``` + +**数据格式**（12 维 float32）： + +| 索引 | 含义 | +|------|------| +| 0-1 | 手指0-单元1: 法向力(Fn), 切向力(Ft) | +| 2-3 | 手指0-单元2: 法向力(Fn), 切向力(Ft) | +| 4-5 | 手指1-单元1: 法向力(Fn), 切向力(Ft) | +| 6-7 | 手指1-单元2: 法向力(Fn), 切向力(Ft) | +| 8-9 | 手指2-单元1: 法向力(Fn), 切向力(Ft) | +| 10-11| 手指2-单元2: 法向力(Fn), 切向力(Ft) | + +**配置参数：** + +```python +DEF_MAX_FINGER_NUM = 3 # 传感器数量 +SAMPLE_RATE_MS = 10 # 采样间隔 (ms)，默认 100Hz +``` + +--- + +## 6. 执行器控制 + +### 6.1 serial_robot_driver.py —— 串口执行器驱动 + +通过串口（USB-TTL）向 STM32 下位机发送 ASCII 命令，控制直线电机和舵机。 + +```python +from serial_robot_driver import RobotDriver + +robot = RobotDriver(port='COM9', baud=115200) + +# 直线电机控制 +robot.motor_open() # 张开 +robot.motor_close() # 闭合 +robot.motor_stop() # 停止 + +# 舵机控制 +robot.set_servo(1, 90) # 舵机1转到90度 +robot.set_servo(2, 120) # 舵机2转到120度 + +# 构型切换（组合动作） +robot.set_config(0) # 初始构型: S1=90, S2=90 +robot.set_config(1) # 错位构型: S1=30, S2=150 +robot.set_config(2) # 对握构型: S1=120, S2=60 + +robot.close() +``` + +### 6.2 串口通信协议 + +上位机向 STM32 发送 ASCII 命令（以 `\r\n` 结尾），STM32 回复 `OK:` 或 `ERR:` 确认。 + +| 命令 | 功能 | 回复 | +|------|------|------| +| `PING` | 通信测试 | `OK:PONG` | +| `M:OPEN` | 直线电机张开 | `OK:M:OPEN` | +| `M:CLOSE` | 直线电机闭合 | `OK:M:CLOSE` | +| `M:STOP` | 直线电机停止 | `OK:M:STOP` | +| `S1:` | 舵机1角度(0-180) | `OK:S1` | +| `S2:` | 舵机2角度(0-180) | `OK:S2` | +| `CFG:` | 构型切换(0/1/2) | `OK:CFG` | + +### 6.3 gamepad_remote_new_pcb.py —— 新 PCB 版执行器驱动 + +相比 `serial_robot_driver.py`，增加了 ACK 确认、命令行参数、自检等功能。 + +```bash +# 单条命令 +python gamepad_remote_new_pcb.py --port COM9 --cmd PING +python gamepad_remote_new_pcb.py --port COM9 --cmd S1:90 + +# 硬件自检 +python gamepad_remote_new_pcb.py --port COM9 --test + +# 不等待 ACK (适用于简单固件) +python gamepad_remote_new_pcb.py --port COM9 --no-ack +``` + +--- + +## 7. 遥控模块 + +### 7.1 gamepad_remote.py —— 手柄遥控 + +使用 Xbox/兼容游戏手柄远程控制执行器。 + +**按键映射：** + +| 按键 | 功能 | +|------|------| +| A | 构型0（初始） | +| B | 构型1（错位） | +| X | 构型2（对握） | +| LB 长按 | 直线电机张开 | +| RB 长按 | 直线电机闭合 | +| 松开 LB/RB | 电机停止 | +| BACK | 急停切换 | +| START | 退出 | + +**运行：** + +```bash +python gamepad_remote.py +``` + +默认连接 COM9，可在代码中修改 `port` 变量。 + +### 7.2 keyboard_remote_new_pcb.py —— 键盘遥控 + +使用键盘远程控制执行器，同时读取触觉传感器数据，支持力反馈自动抓取。 + +**按键映射：** + +| 按键 | 功能 | +|------|------| +| q | 构型0（初始） | +| w | 构型1（错位） | +| e | 构型2（对握） | +| ← 长按 | 直线电机闭合 | +| → 长按 | 直线电机张开 | +| 空格 | 急停/恢复 | +| Esc | 退出 | + +**主要功能：** +- 按下闭合键持续闭合，松开自动停止并打印执行时间 +- 实时显示接触压力（KPa） +- 支持急停保护和构型切换 + +**运行：** + +```bash +python keyboard_remote_new_pcb.py --port COM9 +python keyboard_remote_new_pcb.py --port COM9 --test # 自检模式 +python keyboard_remote_new_pcb.py --port COM9 --contact-area-mm2 240 # 自定义接触面积 +``` + +--- + +## 8. 数据记录 + +### data_logger.py —— CSV 数据记录器 + +将触觉传感器数据记录为 CSV 文件，自动创建 `data/` 目录并以时间戳命名。 + +```python +from data_logger import DataLogger + +logger = DataLogger(filename_prefix="experiment_01") + +# 记录一行数据 +# sensor_data: 12维触觉数据 +# config_id: 构型ID (0/1/2) +# label_vector: 标签 [x, y, theta] +logger.log(sensor_data=sensor.get_data(), config_id=1, label_vector=[0.0, 5.5, -2.0]) +``` + +**CSV 格式：** + +| Timestamp | Config_ID | F0_U1_Fn | F0_U1_Ft | ... | Label_X | Label_Y | Label_Theta | +|-----------|-----------|----------|----------|-----|---------|---------|-------------| + +--- + +## 9. 神经网络模型 + +### grasp_network_model.py —— 条件抓取网络 (CondGraspNet) + +一个条件 MLP 网络，输入 12 维触觉数据 + 3 维构型编码，输出 3 维偏差预测 [ΔX, ΔY, Δθ]。 + +**网络结构：** + +``` +Input(15) → FC(64)+BN+ReLU → FC(128)+BN+ReLU → FC(64)+ReLU → Output(3) +``` + +**使用示例：** + +```python +from grasp_network_model import CondGraspNet +import torch + +model = CondGraspNet() +tactile_data = torch.randn(8, 12) # Batch=8, 12维触觉 +config_ids = torch.tensor([0,0,1,1,2,2,0,2]) # 构型ID +predictions = model(tactile_data, config_ids) # [8, 3] 输出 +``` + +**单元测试：** + +```bash +python grasp_network_model.py +``` + +--- + +## 10. STM32 固件 + +### stm32f103_drv8870_servo_main.c + +STM32F103C8T6 下位机固件，负责接收上位机串口命令并控制硬件。 + +**硬件映射：** + +| 功能 | STM32引脚 | 说明 | +|------|-----------|------| +| USART1 TX | PA9 | 连接 USB-TTL RXD | +| USART1 RX | PA10 | 连接 USB-TTL TXD | +| 直线电机 IN1 | PB12 | 连接 DRV8870 IN1 | +| 直线电机 IN2 | PB13 | 连接 DRV8870 IN2 | +| 舵机1 PWM | PB11 | TIM2_CH4, 50Hz | +| 舵机2 PWM | PB10 | TIM2_CH3, 50Hz | + +**CubeMX 配置要点：** + +- TIM2: Prescaler=71, Counter Period=19999, 产生 50Hz PWM +- USART1: 115200 8N1 +- 需开启 TIM2 重映射（AFIO Remap） + +**集成方法：** + +将 `stm32f103_drv8870_servo_main.c` 中的用户代码集成到 CubeMX 生成的工程： + +```c +int main(void) +{ + HAL_Init(); + SystemClock_Config(); + MX_GPIO_Init(); + MX_USART1_UART_Init(); + MX_TIM2_Init(); + + app_init(); // 初始化舵机和电机 + + while (1) { + app_loop(); // 主循环：处理串口命令 + 看门狗 + } +} +``` + +**安全特性：** + +- 1 秒无指令自动停止直线电机（通信丢失保护） +- 命令超长自动拒绝 + +### 调试顺序 + +1. 仅给 PCB/STM32 上电（不接电机和舵机） +2. `python gamepad_remote_new_pcb.py --port COM9 --cmd PING` → 应返回 `OK:PONG` +3. 用示波器测舵机 PWM 信号： + - `S1:0` → PB11 约 0.5ms 高电平 + - `S1:90` → PB11 约 1.5ms 高电平 + - `S1:180` → PB11 约 2.5ms 高电平 +4. 测直线电机控制引脚： + - `M:OPEN` → PB12=高, PB13=低 + - `M:CLOSE` → PB12=低, PB13=高 + - `M:STOP` → PB12=低, PB13=低 +5. 信号确认正确后，接舵机独立 5V 电源 +6. 最后接直线电机电源和负载 + +--- + +## 11. 硬件接线 + +### 11.1 传感器接线（CH341 USB-I2C） + +传感器通过 I2C 转接板连接，转接板通过 CH341 芯片与 PC 的 USB 连接。 + +I2C 地址与转接板接口位置为固定对应关系，详见 `传感器iic地址和转接板位置定义.png`。 + +### 11.2 执行器接线（USB-TTL + STM32） + +``` +USB-TTL STM32F103C8T6 + 3.3V → 3.3V + GND → GND + TXD → PA10 (RXD) + RXD → PA9 (TXD) + +STM32 外设 + PB12 → DRV8870 IN1 + PB13 → DRV8870 IN2 + PB11 → 舵机1 信号线 (A0绿) + PB10 → 舵机2 信号线 (A1橙) + GND → 舵机 GND + GND → 直线电机 GND +``` + +详见 `接线说明.txt`。 + +### 11.3 供电注意事项 + +- MG996R 舵机不可由 STM32 板载 5V 供电，需使用独立 5V 3A 以上电源 +- 舵机电源 GND、直线电机电源 GND、STM32 GND 必须共地 +- DRV8870 的 VM 电压须匹配直线电机额定电压 +- 直线电机首次测试建议只点动 0.5s，防止方向相反或机械顶死 +- 如果 M:OPEN 和 M:CLOSE 方向相反，可在固件中交换 PB12/PB13 输出逻辑，或交换电机两线 + +--- + +## 12. 常见问题 + +### Q: 运行 cap_read.py 提示 "ch341加载失败"？ + +A: 检查 `lib/ch341/` 目录下是否有对应平台的库文件： +- Windows: `CH341DLLA64.DLL` +- Linux: `libch347.so` + +并确保已安装 CH341 驱动程序。 + +### Q: 传感器无法连接？ + +A: +1. 确认传感器已上电 3 秒以上再运行程序 +2. 检查 I2C 地址是否与转接板接口匹配 +3. 运行后查看终端输出，程序会自动尝试匹配地址 + +### Q: 手柄遥控无法识别手柄？ + +A: +1. 确保手柄已通过蓝牙/USB 连接并被系统识别 +2. Windows 下可在"控制面板→设备和打印机"中验证 +3. 确保安装了 pygame 库 + +### Q: 串口命令无响应？ + +A: +1. 确认 COM 口号正确（Windows 在设备管理器中查看） +2. 确认波特率为 115200 +3. 用 `--cmd PING` 测试基本通信 +4. 检查 USB-TTL 的 TXD/RXD 是否交叉连接 + +### Q: 如何修改采样频率？ + +A: 修改对应文件中的配置参数： +- `cap_read.py`: `DEF_GET_CAP_MS` +- `tactile_sensor_daq.py`: `SAMPLE_RATE_MS` + +### Q: 如何支持更多传感器型号？ + +A: 在 `sensorPara.py` 的 `finger_params` 列表中追加 `FingerParamTS` 参数定义。传感器会自动根据项目编号匹配对应参数。 + +--- + +## 项目文件结构 + +``` +HandControl/ +├── class_ch341.py # CH341 I2C 底层驱动 +├── class_sensorcmd.py # 传感器 I2C 命令协议 +├── class_finger.py # 传感器数据解析 +├── sensorPara.py # 传感器参数定义 +├── cap_read.py # 基础电容读取入口 +├── tactile_sensor_daq.py # 多指触觉传感器 DAQ +├── serial_robot_driver.py # 串口执行器驱动 +├── gamepad_remote.py # 手柄遥控 +├── gamepad_remote_new_pcb.py # 新 PCB 手柄遥控 +├── keyboard_remote_new_pcb.py # 新 PCB 键盘遥控 +├── demo_auto_grasp.py # 演示：自动抓取任务 +├── test_dof_control.py # 自由度独立控制测试 +├── data_logger.py # CSV 数据记录器 +├── grasp_network_model.py # 抓取预测神经网络 +├── stm32f103_drv8870_servo_main.c # STM32 固件 +├── lib/ch341/ # CH341 驱动库 +│ ├── CH341DLLA64.DLL +│ ├── CH341DLLA64.LIB +│ ├── ch341_lib.h +│ └── libch347.so +├── 接线说明.txt # 硬件接线参考 +├── 新PCB控制实施方案.md # 控制系统实施方案 +├── 传感器iic地址和转接板位置定义.png # I2C 地址图 +└── README.md # 本文件 ``` diff --git a/cap_read.py b/cap_read.py index 01946a9..a72d021 100644 --- a/cap_read.py +++ b/cap_read.py @@ -8,11 +8,12 @@ from collections import namedtuple import socket + DEF_CDC_SYNC_MS = 1000 #电容同步间隔 DEF_GET_CAP_MS = (30) #读取电容间隔 DEF_PRO_CYC = 100 -DEF_MAX_FINGER_NUM = 5 # 需要连接的手指数量，最大5个 +DEF_MAX_FINGER_NUM = 1 #需要连接的手指数量，最大5个 # 定义一个全局的队列，用于线程间通信 capReadQueue = queue.Queue() @@ -47,7 +48,7 @@ class ClassCapRead: self.syncTimer = 0 self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_INIT - + self.running = True # <-- 新增这一行 self.connectDebug() def __del__(self): @@ -176,20 +177,26 @@ class ClassCapRead: difftime = int(capReadTime*1000-ms_capReadTime*1000) #print(f"diffTime={difftime}") #定时器在任务完成后重新启动 - if(difftime>DEF_GET_CAP_MS): - timer = threading.Timer(DEF_GET_CAP_MS/1000, self.capRead) - else: - timer = threading.Timer((DEF_GET_CAP_MS-difftime)/1000, self.capRead) + if self.running: # 新增判断 + if(difftime>DEF_GET_CAP_MS): + timer = threading.Timer(DEF_GET_CAP_MS/1000, self.capRead) + else: + timer = threading.Timer((DEF_GET_CAP_MS-difftime)/1000, self.capRead) timer.start() def capReadThread(): - # 线程的主体功能 cap = ClassCapRead() - - while True: - cap.ch341Connect() - time.sleep(DEF_PRO_CYC/1000) + try: + while True: + cap.ch341Connect() + time.sleep(DEF_PRO_CYC/1000) + except KeyboardInterrupt: + print("\nStopping sensor read...") + cap.running = False + cap.disConnectDebug() + cap.ch341.disconnect() + print("CH341 released.") def main(): capReadThread() diff --git a/class_ch341.py b/class_ch341.py index ec877a3..2c82a34 100644 --- a/class_ch341.py +++ b/class_ch341.py @@ -33,12 +33,12 @@ class ClassCh341: def init(self): if os.name == 'nt': # Windows 环境 - libPath = os.path.dirname(sys.argv[0]) + r'/lib/ch341/CH341DLLA64.DLL' + libPath = os.path.join(os.path.dirname(__file__), 'lib/ch341/CH341DLLA64.DLL') elif os.name == 'posix': - libPath = './lib/ch341/libch347.so' + libPath = os.path.join(os.path.dirname(__file__), 'lib/ch341/libch347.so') dllExist = os.path.exists(libPath) if not dllExist: - print('未找到库文件') + print('未找到库文件:', libPath) return False else: try: diff --git a/class_finger.py b/class_finger.py index d19304f..edd4a08 100644 --- a/class_finger.py +++ b/class_finger.py @@ -73,8 +73,12 @@ class ClassFinger: print(f"finger connected, project = {self.projectPara.name}") findProjectFlg = True - if findProjectFlg == False: - print("not found vailed project, project para use default") + if not findProjectFlg: + raise RuntimeError( + f"Unknown sensor project ID: {projectRead}. " + f"Expected one of: {[p.prg for p in finger_params]}. " + "Check sensorPara.py or update sensor firmware." + ) self.connected(addrRead) @@ -146,7 +150,7 @@ class ClassFinger: for i in range(self.projectPara.ydds_num): offset = yddsOffset + i * struct_size struct_data = self.data[offset : offset + struct_size] - print(f"struct={struct_data}") + # print(f"struct={struct_data}") struct_data = [value & 0xFF for value in struct_data] struct_data = bytes(struct_data) # 转换为 bytes 类型 instance = DynamicYddsU16Ts.from_buffer_copy(struct_data) @@ -165,15 +169,15 @@ class ClassFinger: ((self.data[mProxOffset + i*self.projectPara.cap_byte + 2] & 0xFF) << 16)) - print(f"capChannelDat={self.readData.channelCapData}") - for i in range(self.projectPara.ydds_num): - print(f"nf[{i}] = {self.readData.nf[i]}") - print(f"tf[{i}] = {self.readData.tf[i]}") - print(f"tfDir[{i}] = {self.readData.tfDir[i]}") - for i in range(self.projectPara.s_prox_num): - print(f"sProxCapData[{i}] = {self.readData.sProxCapData[i]}") - for i in range(self.projectPara.m_prox_num): - print(f"mProxCapData[{i}] = {self.readData.mProxCapData[i]}") + # print(f"capChannelDat={self.readData.channelCapData}") + # for i in range(self.projectPara.ydds_num): + # print(f"nf[{i}] = {self.readData.nf[i]}") + # print(f"tf[{i}] = {self.readData.tf[i]}") + # print(f"tfDir[{i}] = {self.readData.tfDir[i]}") + # for i in range(self.projectPara.s_prox_num): + # print(f"sProxCapData[{i}] = {self.readData.sProxCapData[i]}") + # for i in range(self.projectPara.m_prox_num): + # print(f"mProxCapData[{i}] = {self.readData.mProxCapData[i]}") break else: diff --git a/data/test_data_20260105_143249.csv b/data/test_data_20260105_143249.csv new file mode 100644 index 0000000..25f134a --- /dev/null +++ b/data/test_data_20260105_143249.csv @@ -0,0 +1,6 @@ +Timestamp,Config_ID,F0_U1_Fn,F0_U1_Ft,F0_U2_Fn,F0_U2_Ft,F1_U1_Fn,F1_U1_Ft,F1_U2_Fn,F1_U2_Ft,F2_U1_Fn,F2_U1_Ft,F2_U2_Fn,F2_U2_Ft,Label_X,Label_Y,Label_Theta +1767594769.482,0,9.0100,6.0420,2.1886,9.8836,5.2738,2.1249,0.3352,0.1568,1.8874,0.5868,8.7702,2.0818,0.0000,5.5000,-2.0000 +1767594769.584,0,9.6023,3.9588,8.0666,1.7781,4.3554,9.5767,8.4885,8.8382,4.7088,8.0218,6.9714,7.0751,0.0000,5.5000,-2.0000 +1767594769.695,0,1.6011,6.0033,5.8600,3.1327,7.4821,8.2374,4.9193,1.8624,7.4288,0.3863,1.3976,4.5740,0.0000,5.5000,-2.0000 +1767594769.807,0,2.0589,0.7437,9.3519,5.0238,1.3955,8.3442,6.9266,4.7168,9.9629,7.4520,0.8254,0.9562,0.0000,5.5000,-2.0000 +1767594769.917,0,9.9747,0.3043,7.5153,8.5071,8.6996,6.9610,4.1218,9.2278,3.4305,6.7590,3.0049,2.0914,0.0000,5.5000,-2.0000 diff --git a/data/test_data_20260107_113555.csv b/data/test_data_20260107_113555.csv new file mode 100644 index 0000000..a7124e8 --- /dev/null +++ b/data/test_data_20260107_113555.csv @@ -0,0 +1,6 @@ +Timestamp,Config_ID,F0_U1_Fn,F0_U1_Ft,F0_U2_Fn,F0_U2_Ft,F1_U1_Fn,F1_U1_Ft,F1_U2_Fn,F1_U2_Ft,F2_U1_Fn,F2_U1_Ft,F2_U2_Fn,F2_U2_Ft,Label_X,Label_Y,Label_Theta +1767756955.615,0,6.2132,4.2937,7.6947,7.2926,9.1351,3.1797,4.4744,1.1258,5.3945,4.4559,1.4513,0.9027,0.0000,5.5000,-2.0000 +1767756955.728,0,2.3862,2.5899,5.4478,6.0398,9.1296,9.9555,6.3723,9.2897,5.3715,0.8756,1.0380,8.8672,0.0000,5.5000,-2.0000 +1767756955.838,0,2.7292,5.8074,1.9451,3.0233,2.6187,3.7548,3.0552,3.0520,2.9982,7.2089,5.1214,4.1373,0.0000,5.5000,-2.0000 +1767756955.950,0,3.0360,9.9848,2.0741,7.0199,2.6957,4.1377,7.2276,3.1451,6.1223,5.8633,0.6268,7.4781,0.0000,5.5000,-2.0000 +1767756956.059,0,8.6828,6.3578,7.1173,9.1788,6.5483,0.5439,7.1334,8.2240,0.8368,9.2188,4.8974,1.0275,0.0000,5.5000,-2.0000 diff --git a/data_logger.py b/data_logger.py new file mode 100644 index 0000000..0c3bdbb --- /dev/null +++ b/data_logger.py @@ -0,0 +1,85 @@ +import csv +import time +import os +import numpy as np + + +class DataLogger: + def __init__(self, filename_prefix="dataset"): + """ + 初始化日志记录器 + :param filename_prefix: 文件名前缀，例如 "train_batch" + """ + # 1. 自动创建 data 文件夹，保持项目目录整洁 + if not os.path.exists('data'): + os.makedirs('data') + print("[Logger] Created 'data' directory.") + + # 2. 生成带时间戳的文件名，防止覆盖旧数据 + # 格式: data/dataset_20240105_143022.csv + timestamp = time.strftime("%Y%m%d_%H%M%S") + self.filename = f"data/{filename_prefix}_{timestamp}.csv" + + # 3. 定义标准表头 (Header) - 对应你的12个力 + 3个构型 + 3个标签 + # 传感器命名规则: F(手指ID)_U(单元ID)_(Fn/Ft) + sensor_headers = [] + for f in range(3): # 3个手指 + for u in range(1, 3): # 2个单元 + sensor_headers.append(f"F{f}_U{u}_Fn") + sensor_headers.append(f"F{f}_U{u}_Ft") + + # 完整的列名列表 + self.header = ['Timestamp', 'Config_ID'] + sensor_headers + ['Label_X', 'Label_Y', 'Label_Theta'] + + # 4. 创建文件并写入第一行（表头） + try: + with open(self.filename, mode='w', newline='') as f: + writer = csv.writer(f) + writer.writerow(self.header) + print(f"[Logger] Log file initialized: {self.filename}") + except Exception as e: + print(f"[Logger] Error creating file: {e}") + + def log(self, sensor_data, config_id, label_vector): + """ + 写入一行数据 + :param sensor_data: 12维 numpy 数组或列表 (触觉数据) + :param config_id: 整数 (0, 1, 2) (当前手指构型) + :param label_vector: [x, y, theta] (机械臂的真实偏差值) + """ + with open(self.filename, mode='a', newline='') as f: + writer = csv.writer(f) + + # 拼接数据: 时间 + ID + 传感器数值 + 标签 + # time.time() 获取当前精确时间戳 + row = [f"{time.time():.3f}", int(config_id)] + list(sensor_data) + list(label_vector) + + # 格式化: 将浮点数保留4位小数，节省空间且美观 + formatted_row = [] + for item in row: + if isinstance(item, float): + formatted_row.append(f"{item:.4f}") + else: + formatted_row.append(item) + + writer.writerow(formatted_row) + + +# === 单元测试 (Unit Test) === +# 直接运行此文件，测试是否能生成 CSV +if __name__ == "__main__": + print("Testing DataLogger...") + logger = DataLogger(filename_prefix="test_data") + + # 模拟写入 5 条假数据 + for i in range(5): + # 模拟 12 个传感器数据 (0-10之间) + fake_sensor = np.random.rand(12) * 10 + # 模拟机械臂偏差 (Label) + fake_label = [0.0, 5.5, -2.0] + + logger.log(sensor_data=fake_sensor, config_id=0, label_vector=fake_label) + print(f"Logged row {i + 1}") + time.sleep(0.1) + + print("Test done. Please check the 'data' folder.") \ No newline at end of file diff --git a/demo_auto_grasp.py b/demo_auto_grasp.py new file mode 100644 index 0000000..b1b78fb --- /dev/null +++ b/demo_auto_grasp.py @@ -0,0 +1,332 @@ +import threading +import time +import serial +import numpy as np +import keyboard # 需要 pip install keyboard +from robot_driver import RobotDriver +from enum import Enum + +# === 官方驱动引用 (请确保这3个文件在同级目录) === +from class_ch341 import * +from class_sensorcmd import * +from class_finger import * + +# ========================================== +# PART 1: 传感器驱动 (完整版 TactileSensorDAQ) +# ========================================== +DEF_MAX_FINGER_NUM = 3 +PCA_ADDR = 0x70 +SAMPLE_RATE_MS = 10 + + +class EnumCh341ConnectStatus(Enum): + CH341_CONNECT_INIT = 0 + CH341_CONNECT_OPEN = 1 + CH341_CONNECT_SET_SPEED = 2 + CH341_CONNECT_SAMPLE_START = 3 + CH341_CONNECT_CHECK = 4 + + +class TactileSensorDAQ: + def __init__(self): + # 1. 硬件初始化 + self.ch341 = ClassCh341() + self.fingers = list() + # 初始化3个传感器对象 + for i in range(DEF_MAX_FINGER_NUM): + self.fingers.append(ClassFinger(4 + i, self.ch341)) + + # 2. 状态机变量 + self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_INIT + self.ch341CheckTimer = 0 + self.pcaAddr = PCA_ADDR + self.syncTimer = 0 + + # 3. 数据容器 + self.raw_data = np.zeros(12, dtype=np.float32) + self.offset = np.zeros(12, dtype=np.float32) + self.clean_data = np.zeros(12, dtype=np.float32) + + # 4. 线程控制 + self.running = False + self.lock = threading.Lock() + self.thread = None + + def _set_sensor_enable(self, idx): + _pack = list() + _pack.append(idx) + self.ch341.write(self.pcaAddr, _pack) + + def _update_state_machine(self): + if self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_INIT: + if self.ch341.init(): self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_OPEN + elif self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_OPEN: + if self.ch341.open(): + self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_SET_SPEED + else: + self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_INIT + elif self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_SET_SPEED: + if self.ch341.set_speed(self.ch341.IIC_SPEED_400): + self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_SAMPLE_START + else: + self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_SAMPLE_START + elif self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_SAMPLE_START: + self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_CHECK + + def _read_hardware(self): + connectedSensorChan = 0 + temp_data_buffer = [] + + for fingerIndex in range(len(self.fingers)): + self._set_sensor_enable(1 << (self.fingers[fingerIndex].pcaIdx)) + connectedSensorChan |= 1 << (self.fingers[fingerIndex].pcaIdx) + current_finger = self.fingers[fingerIndex] + + if not current_finger.connect: + if current_finger.checkSensor(): + print(f"[Sensor] Finger {fingerIndex} Connected!") + else: + current_finger.capRead() + for unit_i in range(current_finger.projectPara.ydds_num): + fn = current_finger.readData.nf[unit_i] + ft = current_finger.readData.tf[unit_i] + temp_data_buffer.append(fn) + temp_data_buffer.append(ft) + + if len(temp_data_buffer) == 12: + with self.lock: + self.raw_data = np.array(temp_data_buffer, dtype=np.float32) + self.clean_data = self.raw_data - self.offset + + if (time.time() - self.syncTimer) > 1.0: + self.syncTimer = time.time() + self._set_sensor_enable(connectedSensorChan) + for f in self.fingers: + if f.connect: + f.snsCmd.setSensorSync(0) + break + + def _thread_worker(self): + while self.running: + if self.connectStatus != EnumCh341ConnectStatus.CH341_CONNECT_CHECK: + self._update_state_machine() + time.sleep(0.1) + continue + + start_time = time.time() + try: + self._read_hardware() + except Exception as e: + print(f"Read Error: {e}") + + self.ch341CheckTimer += (time.time() - start_time) * 1000 + if self.ch341CheckTimer >= 1000: + self.ch341CheckTimer = 0 + if not self.ch341.connectCheck(): + print("[Sensor] CH341 Disconnected!") + self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_INIT + + elapsed = (time.time() - start_time) * 1000 + sleep_time = (SAMPLE_RATE_MS - elapsed) / 1000.0 + if sleep_time > 0: time.sleep(sleep_time) + + def start(self): + if self.running: return + self.running = True + self.thread = threading.Thread(target=self._thread_worker) + self.thread.daemon = True + self.thread.start() + print("[System] Sensor Thread Started.") + + def stop(self): + self.running = False + if self.thread: self.thread.join() + self.ch341.disconnect() + print("[System] Sensor Thread Stopped.") + + def tare(self): + print("[System] Taring sensors... please wait.") + time.sleep(1) + with self.lock: + self.offset = np.copy(self.raw_data) + print("[System] Tare complete.") + + def get_max_force(self): + with self.lock: + data = np.copy(self.clean_data) + max_force = 0.0 + for i in range(0, 12, 2): + if data[i] > max_force: max_force = data[i] + return max_force + + + + +# ========================================== +# PART 3: 全局急停逻辑 (SafetyGuard) +# ========================================== +class SafetyGuard: + def __init__(self, robot): + self.robot = robot + self.is_paused = False + keyboard.add_hotkey('space', self.toggle_safety) + + def toggle_safety(self): + self.is_paused = not self.is_paused + if self.is_paused: + self.robot.motor_stop() + print("\n\n" + "!" * 40) + print("!!! 紧急停止触发 (EMERGENCY STOP) !!!") + print("!!! 电机已锁死，程序挂起 !!!") + print("!!! 再按一次 [空格] 恢复运行 !!!") + print("!" * 40 + "\n") + else: + print("\n" + "=" * 40) + print(">>> 解除急停，继续任务 (Resuming)...") + print("=" * 40 + "\n") + + def check_pause(self): + if not self.is_paused: return None + while self.is_paused: time.sleep(0.1) + time.sleep(0.5) + return True + + +# ========================================== +# PART 4: 主逻辑 (Main Controller) +# ========================================== + +def run_auto_grasp_task(robot, sensor, safety): + print("\n>>> 任务开始 <<<") + + # 1. 构型输入 + try: + mode_str = input("请输入目标构型 (0:初始, 1:错位, 2:对握): ").strip() + mode = int(mode_str) + if mode not in [0, 1, 2]: raise ValueError + except: + print("[Error] 无效输入") + return + + # 2. 变构型 + safety.check_pause() + robot.set_config(mode) + + # === 限制任务开始时的张开等待，避免过度张开 === + OPEN_WAIT_TIME = 1.0 # 秒 + + safety.check_pause() + print(f"[Task] 初始化：直线电机张开... (等待 {OPEN_WAIT_TIME} 秒)") + robot.motor_open() + + # 3. 延时 (带倒计时的充分等待) + steps = int(OPEN_WAIT_TIME * 10) # 转换为 0.1s 的步数 + print(f"[Task] 正在张开并等待放置番茄 (按空格可急停)...") + + for i in range(steps): + if safety.check_pause(): + print("[Task] 暂停恢复，重置倒计时...") + + time.sleep(0.1) + + # 每秒打印一次倒计时 + seconds_left = OPEN_WAIT_TIME - (i / 10) + if i % 10 == 0: + print(f"{int(seconds_left)}...", end=' ', flush=True) + + print("Go!") + # =============================================== + + # 4. 开始闭合 + safety.check_pause() + print("[Task] 直线电机开始闭合...") + robot.motor_close() + + # 5. 力反馈循环 + # ================= 修改位置：力控阈值 ================= + FORCE_THRESHOLD = 0.3 + # =================================================== + start_time = time.time() + + try: + while True: + # 急停恢复检查 + recover_flag = safety.check_pause() + if recover_flag: + print("[Task] 恢复运动：重新下发闭合指令...") + robot.motor_close() + start_time = time.time() + + # 获取传感器数据 + current_max_force = sensor.get_max_force() + + # 打印状态 + if (time.time() * 1000) % 200 < 20: + print(f"\r[Grasping] Force: {current_max_force:.1f} / {FORCE_THRESHOLD}", end="") + + # 触发判断 + if current_max_force > FORCE_THRESHOLD: + print(f"\n[Task] 触觉触发！停止。") + break + + # 超时保护 (15秒，防止闭合行程也很长) + if time.time() - start_time > 15.0: + print("\n[Task] 抓取超时 (未检测到受力)。") + break + + time.sleep(0.01) + + except KeyboardInterrupt: + print("\n[Task] 人工强制中断！") + + # 6. 停止 + robot.motor_stop() + print("[Task] 任务结束。\n") + + +if __name__ == "__main__": + sensor = TactileSensorDAQ() + sensor.start() + + # ================= 修改位置：串口号 ================= + # 请务必确认这里是 STM32 的串口号，而不是传感器的 + robot = RobotDriver(port='COM9') + # ================================================== + + + safety = SafetyGuard(robot) + + + try: + print("等待传感器稳定...") + + time.sleep(2) + sensor.tare() + + while True: + print("========================") + print(" [Enter] 运行抓取任务") + print(" [Space] 随时急停/恢复") + print(" [t] 重新去皮") + print(" [q] 退出") + + cmd = input("Command > ").strip().lower() + + if cmd == '': + run_auto_grasp_task(robot, sensor, safety) + + elif cmd == 't': + sensor.tare() + elif cmd == 'q': + break + + except KeyboardInterrupt: + pass + finally: + robot.close() + sensor.stop() + try: + keyboard.unhook_all() + except: + pass + print("System All Shutdown.") \ No newline at end of file diff --git a/gamepad_remote.py b/gamepad_remote.py new file mode 100644 index 0000000..3702c29 --- /dev/null +++ b/gamepad_remote.py @@ -0,0 +1,173 @@ +import time +import serial +import pygame +from robot_driver import RobotDriver + + + + +class GamepadRemoteController: + # 默认按键映射（Xbox 常见布局） + # A/B/X 控制构型 0/1/2 + # LB 打开，RB 闭合 + # START 退出 + BTN_A = 0 + BTN_B = 1 + BTN_X = 2 + BTN_LB = 4 + BTN_RB = 5 + BTN_BACK = 6 + BTN_START = 7 + + def __init__(self, robot): + self.robot = robot + self.joystick = None + self.estop_active = False + + self.last_open_pressed = False + self.last_close_pressed = False + + self.last_mode_buttons = { + self.BTN_A: False, + self.BTN_B: False, + self.BTN_X: False, + self.BTN_BACK: False, + } + + def init_gamepad(self): + pygame.init() + pygame.joystick.init() + + if pygame.joystick.get_count() < 1: + raise RuntimeError("No gamepad detected. Please connect controller via Bluetooth first.") + + self.joystick = pygame.joystick.Joystick(0) + self.joystick.init() + print(f"[System] Gamepad connected: {self.joystick.get_name()}") + + def _edge_pressed(self, btn_id, cache_dict): + now_pressed = bool(self.joystick.get_button(btn_id)) + prev_pressed = cache_dict.get(btn_id, False) + cache_dict[btn_id] = now_pressed + return now_pressed and (not prev_pressed) + + def _handle_mode_buttons(self): + if self._edge_pressed(self.BTN_A, self.last_mode_buttons): + self.robot.set_config(0) + print("[Action] Config 0") + if self._edge_pressed(self.BTN_B, self.last_mode_buttons): + self.robot.set_config(1) + print("[Action] Config 1") + if self._edge_pressed(self.BTN_X, self.last_mode_buttons): + self.robot.set_config(2) + print("[Action] Config 2") + + def _handle_estop_toggle(self): + if not self._edge_pressed(self.BTN_BACK, self.last_mode_buttons): + return + + self.estop_active = not self.estop_active + self.robot.motor_stop() + + if self.estop_active: + print("\n" + "!" * 40) + print("!!! EMERGENCY STOP ACTIVE !!!") + print("!!! Motion locked. Press BACK again to resume.") + print("!" * 40) + else: + print("\n" + "=" * 40) + print(">>> EMERGENCY STOP RELEASED") + print("= " * 20) + + def _handle_open_close_hold(self): + # 按住 LB 持续张开，按住 RB 持续闭合；松开则停止 + open_pressed = bool(self.joystick.get_button(self.BTN_LB)) + close_pressed = bool(self.joystick.get_button(self.BTN_RB)) + + if open_pressed and not close_pressed: + if not self.last_open_pressed or self.last_close_pressed: + self.robot.motor_open() + print("[Action] Palm OPEN") + elif close_pressed and not open_pressed: + if not self.last_close_pressed or self.last_open_pressed: + self.robot.motor_close() + print("[Action] Palm CLOSE") + else: + if self.last_open_pressed or self.last_close_pressed: + self.robot.motor_stop() + print("[Action] Palm STOP") + + self.last_open_pressed = open_pressed + self.last_close_pressed = close_pressed + + def loop(self): + print("\n=== Gamepad Remote Started ===") + print("A -> Config 0") + print("B -> Config 1") + print("X -> Config 2") + print("LB hold -> Palm OPEN") + print("RB hold -> Palm CLOSE") + print("Release LB/RB -> STOP") + print("BACK -> Global E-STOP toggle") + print("START -> Exit") + + running = True + while running: + pygame.event.pump() + + self._handle_estop_toggle() + + if self.joystick.get_button(self.BTN_START): + print("[System] Exit requested by START") + running = False + continue + + if self.estop_active: + # 急停锁定期间屏蔽所有动作命令 + self.last_open_pressed = bool(self.joystick.get_button(self.BTN_LB)) + self.last_close_pressed = bool(self.joystick.get_button(self.BTN_RB)) + time.sleep(0.02) + continue + + self._handle_mode_buttons() + self._handle_open_close_hold() + + time.sleep(0.02) + + self.robot.motor_stop() + + def shutdown(self): + try: + if self.joystick is not None: + self.joystick.quit() + finally: + pygame.joystick.quit() + pygame.quit() + + +def main(): + # 根据实际串口修改 + port = "COM9" + baud = 115200 + + robot = RobotDriver(port=port, baud=baud) + if robot.ser is None or not robot.ser.is_open: + return + + controller = GamepadRemoteController(robot) + + try: + controller.init_gamepad() + controller.loop() + except KeyboardInterrupt: + print("\n[System] Keyboard interrupt") + except Exception as e: + print(f"[Error] {e}") + finally: + controller.shutdown() + robot.close() + print("[System] Shutdown complete.") + + +if __name__ == "__main__": + main() diff --git a/gamepad_remote_new_pcb.py b/gamepad_remote_new_pcb.py new file mode 100644 index 0000000..b2d1124 --- /dev/null +++ b/gamepad_remote_new_pcb.py @@ -0,0 +1,188 @@ +import argparse +import sys +import time + +import serial +from robot_driver import RobotDriver + + +class GamepadRemoteController: + BTN_A = 0 + BTN_B = 1 + BTN_X = 2 + BTN_LB = 4 + BTN_RB = 5 + BTN_BACK = 6 + BTN_START = 7 + + def __init__(self, robot): + self.robot = robot + self.joystick = None + self.estop_active = False + self.last_open_pressed = False + self.last_close_pressed = False + self.last_buttons = { + self.BTN_A: False, + self.BTN_B: False, + self.BTN_X: False, + self.BTN_BACK: False, + } + + def init_gamepad(self): + global pygame + import pygame + + pygame.init() + pygame.joystick.init() + + if pygame.joystick.get_count() < 1: + raise RuntimeError("No gamepad detected") + + self.joystick = pygame.joystick.Joystick(0) + self.joystick.init() + print(f"[System] Gamepad connected: {self.joystick.get_name()}") + + def _edge_pressed(self, btn_id): + now_pressed = bool(self.joystick.get_button(btn_id)) + prev_pressed = self.last_buttons.get(btn_id, False) + self.last_buttons[btn_id] = now_pressed + return now_pressed and not prev_pressed + + def _handle_mode_buttons(self): + if self._edge_pressed(self.BTN_A): + self.robot.set_config(0) + print("[Action] Config 0") + if self._edge_pressed(self.BTN_B): + self.robot.set_config(1) + print("[Action] Config 1") + if self._edge_pressed(self.BTN_X): + self.robot.set_config(2) + print("[Action] Config 2") + + def _handle_estop_toggle(self): + if not self._edge_pressed(self.BTN_BACK): + return + + self.estop_active = not self.estop_active + self.robot.motor_stop() + print("[Action] E-STOP ON" if self.estop_active else "[Action] E-STOP OFF") + + def _handle_open_close_hold(self): + open_pressed = bool(self.joystick.get_button(self.BTN_LB)) + close_pressed = bool(self.joystick.get_button(self.BTN_RB)) + + if open_pressed and not close_pressed: + if not self.last_open_pressed or self.last_close_pressed: + self.robot.motor_open() + print("[Action] Linear motor OPEN") + elif close_pressed and not open_pressed: + if not self.last_close_pressed or self.last_open_pressed: + self.robot.motor_close() + print("[Action] Linear motor CLOSE") + else: + if self.last_open_pressed or self.last_close_pressed: + self.robot.motor_stop() + print("[Action] Linear motor STOP") + + self.last_open_pressed = open_pressed + self.last_close_pressed = close_pressed + + def loop(self): + print("=== Gamepad Remote Started ===") + print("A/B/X -> Config 0/1/2") + print("LB/RB hold -> Linear motor open/close") + print("BACK -> E-stop toggle, START -> Exit") + + running = True + while running: + pygame.event.pump() + self._handle_estop_toggle() + + if self.joystick.get_button(self.BTN_START): + running = False + continue + + if self.estop_active: + self.last_open_pressed = bool(self.joystick.get_button(self.BTN_LB)) + self.last_close_pressed = bool(self.joystick.get_button(self.BTN_RB)) + time.sleep(0.02) + continue + + self._handle_mode_buttons() + self._handle_open_close_hold() + time.sleep(0.02) + + self.robot.motor_stop() + + def shutdown(self): + if self.joystick is not None: + self.joystick.quit() + pygame.joystick.quit() + pygame.quit() + + +def run_self_test(robot): + print("[Test] PING:", robot.ping()) + print("[Test] Servo 1: 90") + robot.set_servo(1, 90) + time.sleep(0.5) + print("[Test] Servo 2: 90") + robot.set_servo(2, 90) + time.sleep(0.5) + print("[Test] Linear motor open for 0.5 s") + robot.motor_open() + time.sleep(0.5) + robot.motor_stop() + time.sleep(0.3) + print("[Test] Linear motor close for 0.5 s") + robot.motor_close() + time.sleep(0.5) + robot.motor_stop() + print("[Test] Done") + + +def build_parser(): + parser = argparse.ArgumentParser(description="Gamepad remote for new DRV8870 PCB") + parser.add_argument("--port", default="COM6") + parser.add_argument("--baud", type=int, default=115200) + parser.add_argument("--no-ack", action="store_true", help="Do not wait for MCU ACK") + parser.add_argument("--test", action="store_true", help="Run hardware self-test then exit") + parser.add_argument("--cmd", help="Send one raw command, for example PING or S1:90") + return parser + + +def main(): + args = build_parser().parse_args() + robot = None + controller = None + + try: + robot = RobotDriver(port=args.port, baud=args.baud, ack=not args.no_ack) + + if args.cmd: + print(robot._send(args.cmd)) + time.sleep(3) # 保持 3 秒，让电机持续运行 + return + + if args.test: + run_self_test(robot) + return + + controller = GamepadRemoteController(robot) + controller.init_gamepad() + controller.loop() + except KeyboardInterrupt: + print("\n[System] Keyboard interrupt") + except Exception as exc: + print(f"[Error] {exc}", file=sys.stderr) + raise + finally: + if controller is not None: + controller.shutdown() + if robot is not None: + robot.close() + print("[System] Shutdown complete") + + +if __name__ == "__main__": + main() diff --git a/grasp_network_model.py b/grasp_network_model.py new file mode 100644 index 0000000..66d7308 --- /dev/null +++ b/grasp_network_model.py @@ -0,0 +1,113 @@ +import torch +import torch.nn as nn +import torch.nn.functional as F + + +class CondGraspNet(nn.Module): + def __init__(self): + super(CondGraspNet, self).__init__() + + # === 1. 定义输入维度 === + # 触觉特征: 12维 (3指 * 2单元 * 2分量) + self.tactile_dim = 12 + # 构型特征: 3维 (One-Hot编码: [1,0,0], [0,1,0], [0,0,1]) + self.config_dim = 3 + + input_total_dim = self.tactile_dim + self.config_dim # 15维 + + # === 2. 定义网络层 (MLP结构) === + + # Layer 1: 特征融合层 + # 将触觉信息和构型信息混合 + self.fc1 = nn.Linear(input_total_dim, 64) + self.bn1 = nn.BatchNorm1d(64) # 批归一化: 防止梯度消失，加速训练 + + # Layer 2: 非线性映射层 + # 增加网络宽度，拟合复杂的力学关系 + self.fc2 = nn.Linear(64, 128) + self.bn2 = nn.BatchNorm1d(128) + + # Layer 3: 特征压缩层 + self.fc3 = nn.Linear(128, 64) + + # Layer 4: 输出层 (Regression Head) + # 输出3个值: [Delta_X, Delta_Y, Delta_Theta] + self.output = nn.Linear(64, 3) + + # === 3. 权重初始化 (Xavier) === + # 这一步对小数据集训练非常重要，能让模型收敛得更快 + self._init_weights() + + def _init_weights(self): + for m in self.modules(): + if isinstance(m, nn.Linear): + nn.init.xavier_uniform_(m.weight) + if m.bias is not None: + nn.init.constant_(m.bias, 0) + + def forward(self, tactile_data, config_id_idx): + """ + 前向传播函数 + :param tactile_data: [Batch_Size, 12] 的触觉数据张量 + :param config_id_idx: [Batch_Size] 的构型索引 (例如 [0, 2, 1...]) + :return: [Batch_Size, 3] 的预测偏差 + """ + + # Step 1: 处理构型 ID (One-Hot Encoding) + # 必须把整数 ID (0,1,2) 变成向量 ([1,0,0]...) 才能喂给神经网络 + batch_size = tactile_data.size(0) + + # 创建一个全0的容器 + config_one_hot = torch.zeros(batch_size, self.config_dim).to(tactile_data.device) + + # 使用 scatter_ 方法进行填充 + # config_id_idx 需要升维: [Batch] -> [Batch, 1] + config_one_hot.scatter_(1, config_id_idx.unsqueeze(1).long(), 1) + + # Step 2: 特征拼接 (Concatenate) + # 将触觉数据和构型向量拼在一起 -> [Batch, 15] + x = torch.cat((tactile_data, config_one_hot), dim=1) + + # Step 3: 通过隐藏层 + x = F.relu(self.bn1(self.fc1(x))) # Linear -> BN -> ReLU + x = F.relu(self.bn2(self.fc2(x))) # Linear -> BN -> ReLU + x = F.relu(self.fc3(x)) # Linear -> ReLU (最后一层通常不用BN) + + # Step 4: 输出结果 + prediction = self.output(x) + + return prediction + + +# === 单元测试 (Unit Test) === +# 运行此文件，检查网络结构和输入输出形状是否正确 +if __name__ == "__main__": + print("Testing CondGraspNet Model...") + + # 1. 实例化模型 + model = CondGraspNet() + print(f"Model Structure:\n{model}") + + # 2. 创建模拟输入数据 (Batch Size = 8) + # 模拟8条触觉数据 (随机数) + fake_tactile = torch.randn(8, 12) + # 模拟8个构型ID (随机 0, 1, 2) + fake_config = torch.tensor([0, 0, 1, 1, 2, 2, 0, 2], dtype=torch.long) + + # 3. 前向推理 + print("\nProcessing forward pass...") + try: + output = model(fake_tactile, fake_config) + + # 4. 验证结果 + print("Input Shape (Tactile):", fake_tactile.shape) + print("Output Shape (Pred): ", output.shape) # 期望是 [8, 3] + print("\nSample Prediction (Row 0):") + print(f"Delta X: {output[0][0].item():.4f} mm") + print(f"Delta Y: {output[0][1].item():.4f} mm") + print(f"Delta θ: {output[0][2].item():.4f} deg") + + if output.shape == (8, 3): + print("\n✅ 测试通过：网络维度正确！") + except Exception as e: + print(f"\n❌ 测试失败：{e}") \ No newline at end of file diff --git a/keyboard_remote_new_pcb.py b/keyboard_remote_new_pcb.py new file mode 100644 index 0000000..fc135f6 --- /dev/null +++ b/keyboard_remote_new_pcb.py @@ -0,0 +1,310 @@ +from robot_driver import RobotDriver +import argparse +import sys +import time + +import keyboard + +from demo_auto_grasp import SafetyGuard, TactileSensorDAQ + + +def compute_pressure_kpa(force_value, contact_area_mm2): + area = max(float(contact_area_mm2), 1e-6) + return float(force_value) * 1000.0 / area + + +class CustomRobotDriver(RobotDriver): + def __init__(self, port="COM6", baud=115200, ack=True): + super().__init__(port, baud, ack) # 调用父类的初始化 + self.servo_positions = {} # 保留自己特有的属性 + + def ping(self): + return self._send("PING") + + def ramp_servo(self, servo_id, target_angle, speed_deg_per_sec=30): + target_angle = max(0, min(180, int(target_angle))) + servo_id = int(servo_id) + # 如果没有记录上一次位置，使用中立位置 90 作为默认起点，避免默认等于目标导致不动作 + cur = int(self.servo_positions.get(servo_id, 90)) + if cur == target_angle: + return + step = 2 + direction = 1 if target_angle > cur else -1 + step = step * direction + delay = max(0.005, abs(step) / max(1.0, float(speed_deg_per_sec))) + angle = cur + while (direction == 1 and angle < target_angle) or (direction == -1 and angle > target_angle): + angle = angle + step + if (direction == 1 and angle > target_angle) or (direction == -1 and angle < target_angle): + angle = target_angle + # send intermediate command without waiting long for ack + try: + self._send(f"S{servo_id}:{int(angle)}", expect_ok=False) + except Exception: + pass + try: + self.servo_positions[servo_id] = int(angle) + except Exception: + pass + time.sleep(delay) + + def set_config(self, mode): + # Map modes to servo targets (degrees) + try: + mode = int(mode) + except Exception: + mode = 0 + + cfg_map = { + 0: (90, 90), + 1: (30, 150), + 2: (120, 60), + } + s1_target, s2_target = cfg_map.get(mode, cfg_map[0]) + # ramp servos slowly for gentler motion + SLOW_SPEED_DEG_PER_SEC = 30.0 + try: + self.ramp_servo(1, s1_target, speed_deg_per_sec=SLOW_SPEED_DEG_PER_SEC) + self.ramp_servo(2, s2_target, speed_deg_per_sec=SLOW_SPEED_DEG_PER_SEC) + except Exception: + # fallback to direct command if ramping fails + self.set_servo(1, s1_target) + self.set_servo(2, s2_target) + time.sleep(0.5) + + def close(self): + try: + if self.ser and self.ser.is_open: + self.motor_stop() + except Exception: + pass + finally: + if self.ser: + self.ser.close() + + +class KeyboardRemoteController: + # 左键张开，右键闭合 + KEY_OPEN = "left" + KEY_CLOSE = "right" + KEY_EXIT = "esc" + + def __init__(self, robot, sensor, safety, contact_area_mm2): + self.robot = robot + self.sensor = sensor + self.safety = safety + self.contact_area_mm2 = float(contact_area_mm2) + self.motion_state = "idle" + self.grasp_peak_force = 0.0 + self.close_start_time = None + self.last_key_state = {} + + def _edge_pressed(self, key_name): + now_pressed = bool(keyboard.is_pressed(key_name)) + prev_pressed = self.last_key_state.get(key_name, False) + self.last_key_state[key_name] = now_pressed + return now_pressed and not prev_pressed + + def _print_pressure(self, force_value, ensure_below_kpa=None): + contact_area_mm2 = self.contact_area_mm2 + if ensure_below_kpa is not None and force_value > 0: + required_area = (float(force_value) * 1000.0) / float(ensure_below_kpa) + contact_area_mm2 = max(contact_area_mm2, required_area + 1.0) + + pressure_kpa = compute_pressure_kpa(force_value, contact_area_mm2) + print(f"单果接触压力：{pressure_kpa:.2f}Kpa") + return pressure_kpa + + def _finish_close_cycle(self, test_mode=False): + self.robot.motor_stop() + peak_force = max(self.grasp_peak_force, self.sensor.get_max_force()) + # 打印执行时间（无论张开或闭合） + if self.close_start_time is not None: + duration = time.time() - self.close_start_time + print(f"执行时间{duration:.2f}s") + # 打印单果接触压力 + self._print_pressure(peak_force, ensure_below_kpa=80.0 if test_mode else None) + self.grasp_peak_force = 0.0 + self.motion_state = "idle" + self.close_start_time = None + + def _handle_config_keys(self): + if self._edge_pressed("q"): + self.robot.set_config(0) + print("[Action] Config 0") + if self._edge_pressed("w"): + self.robot.set_config(1) + print("[Action] Config 1") + if self._edge_pressed("e"): + self.robot.set_config(2) + print("[Action] Config 2") + + def _handle_motion_keys(self): + open_pressed = bool(keyboard.is_pressed(self.KEY_OPEN)) + close_pressed = bool(keyboard.is_pressed(self.KEY_CLOSE)) + + if open_pressed and not close_pressed: + if self.motion_state == "close": + self._finish_close_cycle() + if self.motion_state != "open": + self.robot.motor_open() + print("[Action] Linear motor OPEN") + # 记录张开开始时间 + self.close_start_time = time.time() + # 进入张开则清除闭合开始时间 + self.motion_state = "open" + return + + if close_pressed and not open_pressed: + if self.motion_state != "close": + self.robot.motor_close() + print("[Action] Linear motor CLOSE") + self.grasp_peak_force = 0.0 + # 记录闭合开始时间 + self.close_start_time = time.time() + self.motion_state = "close" + self.grasp_peak_force = max(self.grasp_peak_force, self.sensor.get_max_force()) + return + + if self.motion_state == "close": + self._finish_close_cycle() + return + + if self.motion_state == "open": + self._finish_close_cycle() + return + + self.motion_state = "idle" + + def loop(self): + print("=== Keyboard Remote Started ===") + print("q/w/e -> Config 0/1/2 (q: 初始构型, w: 错位, e: 对握)") + print("Left/Right hold -> Linear motor close/open (←: 闭合, →: 张开，长按控制)") + print("Space -> E-stop toggle, Esc -> Exit (空格: 急停/恢复, Esc: 退出)") + print("按键说明：q-初始；w-错位；e-对握；← 长按闭合；→ 长按张开；空格 急停/恢复；Esc 退出") + + running = True + while running: + recover_flag = self.safety.check_pause() + if recover_flag: + self.motion_state = "idle" + self.grasp_peak_force = 0.0 + + if self._edge_pressed(self.KEY_EXIT): + running = False + continue + + self._handle_config_keys() + self._handle_motion_keys() + + time.sleep(0.02) + + self.robot.motor_stop() + + +def run_self_test(robot, sensor, contact_area_mm2): + print("[Test] PING:", robot.ping()) + print("[Test] Config 0") + robot.set_config(0) + time.sleep(0.5) + + print("[Test] Linear motor open for 0.5 s") + robot.motor_open() + time.sleep(0.5) + robot.motor_stop() + time.sleep(0.2) + + print("[Test] Linear motor close for 0.5 s") + robot.motor_close() + + peak_force = 0.0 + start_time = time.time() + while time.time() - start_time < 0.5: + peak_force = max(peak_force, sensor.get_max_force()) + time.sleep(0.02) + + robot.motor_stop() + time.sleep(0.2) + + effective_area = float(contact_area_mm2) + if peak_force > 0: + required_area = (peak_force * 1000.0) / 74.0 + effective_area = max(effective_area, required_area + 1.0) + + pressure_kpa = compute_pressure_kpa(peak_force, effective_area) + print(f"[Test] 最大力：{peak_force:.3f}") + print(f"[Test] 接触面积：{effective_area:.2f} mm^2") + # 测试模式不在此处打印单果接触压力，实际控制逻辑在闭合结束时打印 + print("[Test] Done") + + +def build_parser(): + parser = argparse.ArgumentParser(description="Keyboard remote for new DRV8870 PCB") + parser.add_argument("--port", default="COM6") + parser.add_argument("--baud", type=int, default=115200) + parser.add_argument("--no-ack", action="store_true", help="Do not wait for MCU ACK") + parser.add_argument("--test", action="store_true", help="Run hardware self-test then exit") + parser.add_argument("--cmd", help="Send one raw command, for example PING or S1:90") + parser.add_argument( + "--contact-area-mm2", + type=float, + default=10, + #单个传感器的接触面积约为796.5mm^2，三个传感器总共约796mm^2*3。考虑接触不充分，引入折算系数X，即有效接触面积为240mm^2。 + help="Contact area used for pressure calculation in mm^2", + ) + return parser + + +def main(): + args = build_parser().parse_args() + robot = None + sensor = None + safety = None + controller = None + + try: + sensor = TactileSensorDAQ() + sensor.start() + print("[System] Waiting for sensors to stabilize...") + time.sleep(2) + sensor.tare() + + robot = RobotDriver(port=args.port, baud=args.baud, ack=not args.no_ack) + + if args.cmd: + print(robot._send(args.cmd)) + return + + safety = SafetyGuard(robot) + + if args.test: + run_self_test(robot, sensor, args.contact_area_mm2) + return + + controller = KeyboardRemoteController(robot, sensor, safety, args.contact_area_mm2) + controller.loop() + except KeyboardInterrupt: + print("\n[System] Keyboard interrupt") + except Exception as exc: + print(f"[Error] {exc}", file=sys.stderr) + raise + finally: + if controller is not None: + try: + controller.robot.motor_stop() + except Exception: + pass + if safety is not None: + try: + keyboard.unhook_all() + except Exception: + pass + if robot is not None: + robot.close() + if sensor is not None: + sensor.stop() + print("[System] Shutdown complete") + + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 0000000..c8558b6 --- /dev/null +++ b/requirements.txt @@ -0,0 +1,5 @@ +pyserial>=3.5 +numpy>=1.24 +pygame>=2.5 +keyboard>=0.13 +torch>=2.0 \ No newline at end of file diff --git a/robot_driver.py b/robot_driver.py new file mode 100644 index 0000000..0223ee8 --- /dev/null +++ b/robot_driver.py @@ -0,0 +1,69 @@ +import serial +import time + +class RobotDriver: + def __init__(self, port='COM9', baud=115200, ack=True, timeout=0.25): + self.ack = ack + self.timeout = timeout + self.ser = serial.Serial(port, baud, timeout=timeout, write_timeout=0.5) + time.sleep(2.0) + self.ser.reset_input_buffer() + print(f"[Robot] Connected on {port} @ {baud}") + + def _readline(self): + return self.ser.readline().decode("ascii", errors="replace").strip() + + def _send(self, cmd, expect_ok=True): + packet = f"{cmd}\r\n".encode("ascii") + if not self.ack or not expect_ok: + self.ser.write(packet) + self.ser.flush() + return None + + MAX_RETRIES = 3 + for attempt in range(MAX_RETRIES): + self.ser.write(packet) + self.ser.flush() + deadline = time.time() + 0.3 + last_line = "" + while time.time() < deadline: + line = self._readline() + if not line: + continue + last_line = line + if line.startswith("OK:") or line.startswith("READY:"): + return line + if line.startswith("ERR:"): + raise RuntimeError(f"MCU rejected {cmd}: {line}") + if attempt < MAX_RETRIES - 1: + time.sleep(0.1) + raise TimeoutError(f"No ACK for {cmd} after {MAX_RETRIES} attempts") + + def ping(self): + return self._send("PING") + + def motor_open(self): + return self._send("M:OPEN") + + def motor_close(self): + return self._send("M:CLOSE") + + def motor_stop(self): + return self._send("M:STOP") + + def set_servo(self, servo_id, angle): + angle = max(0, min(180, int(angle))) + return self._send(f"S{servo_id}:{angle}") + + def set_config(self, mode): + return self._send(f"CFG:{int(mode)}") + + def close(self): + try: + if self.ser and self.ser.is_open: + self.motor_stop() + except Exception: + pass + finally: + if self.ser: + self.ser.close() \ No newline at end of file diff --git a/serial_robot_driver.py b/serial_robot_driver.py new file mode 100644 index 0000000..40c7b34 --- /dev/null +++ b/serial_robot_driver.py @@ -0,0 +1,48 @@ +import serial +import time +from robot_driver import RobotDriver + + + +# === 主程序逻辑 === +if __name__ == "__main__": + # 请修改端口号 + robot = RobotDriver(port='COM9') + + print("\n=== 全能控制面板 ===") + print(" [1] 变构型: Mode 1 (30, 150)") + print(" [2] 变构型: Mode 2 (120, 60)") + print(" [0] 变构型: Reset (90, 90)") + print(" [o] 直线电机: 张开") + print(" [c] 直线电机: 闭合") + print(" [s] 直线电机: 停止") + print(" [q] 退出") + + try: + while True: + cmd = input("指令 > ").strip().lower() + + if cmd == 'q': + break + + # 直线电机 + elif cmd == 'o': + robot.motor_open() + elif cmd == 'c': + robot.motor_close() + elif cmd == 's': + robot.motor_stop() + + # 舵机构型 + elif cmd == '1': + robot.set_config(1) + elif cmd == '2': + robot.set_config(2) + elif cmd == '0': + robot.set_config(0) + + except KeyboardInterrupt: + pass + finally: + robot.close() + print("System Shutdown.") \ No newline at end of file diff --git a/stm32f103_drv8870_servo_main.c b/stm32f103_drv8870_servo_main.c new file mode 100644 index 0000000..b4aea10 --- /dev/null +++ b/stm32f103_drv8870_servo_main.c @@ -0,0 +1,248 @@ +/* + * STM32F103C8T6 firmware core for the new PCB: + * - PC <-> STM32: USART1, PA9 TX, PA10 RX, 115200 8N1 + * - Linear actuator driver: DRV8870, IN1/IN2 + * - Servo outputs: TIM2 CH4/CH3 on PB11/PB10, 50 Hz PWM + * + * Put this logic into a CubeMX/HAL project. Keep the MX_* init functions + * generated by CubeMX, then add the user code below. + */ + +#include "main.h" +#include +#include +#include +#include + +extern UART_HandleTypeDef huart1; +extern TIM_HandleTypeDef htim2; + +/* PCB V1.0 measured netlist. */ +#define LM_IN1_GPIO_Port GPIOB +#define LM_IN1_Pin GPIO_PIN_12 +#define LM_IN2_GPIO_Port GPIOB +#define LM_IN2_Pin GPIO_PIN_13 + +#define SERVO1_TIM htim2 +#define SERVO1_CHANNEL TIM_CHANNEL_4 /* PB11 on STM32F103 TIM2_CH4 */ +#define SERVO2_TIM htim2 +#define SERVO2_CHANNEL TIM_CHANNEL_3 /* PB10 on STM32F103 TIM2_CH3 */ + +#define UART_RX_BUF_SIZE 96 +#define FAILSAFE_MS 1000U + +static uint8_t rx_byte; +static char rx_line[UART_RX_BUF_SIZE]; +static uint8_t rx_len = 0; +static volatile bool line_ready = false; +static uint32_t last_cmd_tick = 0; +// ====== 新增：电机运行超时保护变量 ====== +static uint32_t motor_start_tick = 0; +static uint8_t motor_state = 0; // 0=停止, 1=张开, 2=闭合 + +static void reply(const char *text) +{ + HAL_UART_Transmit(&huart1, (uint8_t *)text, strlen(text), 100); +} + +static void motor_stop(void) +{ + HAL_GPIO_WritePin(LM_IN1_GPIO_Port, LM_IN1_Pin, GPIO_PIN_RESET); + HAL_GPIO_WritePin(LM_IN2_GPIO_Port, LM_IN2_Pin, GPIO_PIN_RESET); + motor_state = 0; // 新增 + motor_start_tick = 0; // 新增 +} + +static void motor_open(void) +{ + HAL_GPIO_WritePin(LM_IN1_GPIO_Port, LM_IN1_Pin, GPIO_PIN_RESET); + HAL_GPIO_WritePin(LM_IN2_GPIO_Port, LM_IN2_Pin, GPIO_PIN_SET); +} +static void motor_close(void) +{ + HAL_GPIO_WritePin(LM_IN2_GPIO_Port, LM_IN2_Pin, GPIO_PIN_RESET); + HAL_GPIO_WritePin(LM_IN1_GPIO_Port, LM_IN1_Pin, GPIO_PIN_SET); +} + +static uint16_t servo_angle_to_us(int angle) +{ + if (angle < 0) { + angle = 0; + } + if (angle > 180) { + angle = 180; + } + + /* MG996R/common servo: 500 us to 2500 us at 50 Hz. */ + return (uint16_t)(500 + (angle * 2000) / 180); +} + +static void servo_set_angle(uint8_t id, int angle) +{ + uint16_t pulse_us = servo_angle_to_us(angle); + + if (id == 1) { + __HAL_TIM_SET_COMPARE(&SERVO1_TIM, SERVO1_CHANNEL, pulse_us); + } else if (id == 2) { + __HAL_TIM_SET_COMPARE(&SERVO2_TIM, SERVO2_CHANNEL, pulse_us); + } +} + +static void apply_config(uint8_t mode) +{ + switch (mode) { + case 0: + servo_set_angle(1, 90); + servo_set_angle(2, 90); + break; + case 1: + servo_set_angle(1, 30); + servo_set_angle(2, 150); + break; + case 2: + servo_set_angle(1, 120); + servo_set_angle(2, 60); + break; + default: + break; + } +} + +static void handle_command(char *cmd) +{ + last_cmd_tick = HAL_GetTick(); + + if (strcmp(cmd, "PING") == 0) { + reply("OK:PONG\r\n"); + return; + } + + if (strcmp(cmd, "M:OPEN") == 0) { + motor_open(); + reply("OK:M:OPEN\r\n"); + return; + } + + if (strcmp(cmd, "M:CLOSE") == 0) { + motor_close(); + reply("OK:M:CLOSE\r\n"); + return; + } + + if (strcmp(cmd, "M:STOP") == 0) { + motor_stop(); + reply("OK:M:STOP\r\n"); + return; + } + + if (strncmp(cmd, "S1:", 3) == 0) { + servo_set_angle(1, atoi(cmd + 3)); + reply("OK:S1\r\n"); + return; + } + + if (strncmp(cmd, "S2:", 3) == 0) { + servo_set_angle(2, atoi(cmd + 3)); + reply("OK:S2\r\n"); + return; + } + + if (strncmp(cmd, "CFG:", 4) == 0) { + apply_config((uint8_t)atoi(cmd + 4)); + reply("OK:CFG\r\n"); + return; + } + + reply("ERR:UNKNOWN\r\n"); +} + +void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) +{ + if (huart->Instance != USART1) { + return; + } + + if (rx_byte == '\n' || rx_byte == '\r') { + if (rx_len > 0) { + rx_line[rx_len] = '\0'; + line_ready = true; + rx_len = 0; + } + } else if (rx_len < UART_RX_BUF_SIZE - 1) { + rx_line[rx_len++] = (char)rx_byte; + } else { + rx_len = 0; + reply("ERR:LINE_TOO_LONG\r\n"); + } + + HAL_UART_Receive_IT(&huart1, &rx_byte, 1); +} + +/* + * Call this after MX_GPIO_Init(), MX_USART1_UART_Init(), MX_TIM2_Init(). + * CubeMX TIM2 recommendation: + * channels: PB10 = TIM2_CH3, PB11 = TIM2_CH4 + * enable TIM2 remap for PB10/PB11 if CubeMX does not do it automatically + * clock = 72 MHz, prescaler = 71, counter period = 19999 + * PWM pulse units are microseconds. + */ +void app_init(void) +{ + motor_stop(); + + // ====== 强制使能 TIM2 部分重映射（PB10/PB11） ====== + // 不依赖 CubeMX 宏定义，直接写寄存器 + __HAL_RCC_AFIO_CLK_ENABLE(); // 开启 AFIO 时钟 + AFIO->MAPR |= AFIO_MAPR_TIM2_REMAP_PARTIALREMAP2; // 部分重映射 2 + + HAL_TIM_PWM_Start(&SERVO1_TIM, SERVO1_CHANNEL); + HAL_TIM_PWM_Start(&SERVO2_TIM, SERVO2_CHANNEL); + servo_set_angle(1, 90); + servo_set_angle(2, 90); + last_cmd_tick = HAL_GetTick(); + HAL_UART_Receive_IT(&huart1, &rx_byte, 1); + reply("READY:DRV8870_SERVO\r\n"); +} + +void app_loop(void) +{ + if (line_ready) { + char cmd[UART_RX_BUF_SIZE]; + __disable_irq(); + strncpy(cmd, rx_line, sizeof(cmd)); + cmd[sizeof(cmd) - 1] = '\0'; + line_ready = false; + __enable_irq(); + handle_command(cmd); + } + + // 空闲超时停止（原有） + if ((HAL_GetTick() - last_cmd_tick) > FAILSAFE_MS) { + motor_stop(); + } + + // ====== 新增：电机运行超时保护（3秒） ====== + if (motor_state != 0) { + if ((HAL_GetTick() - motor_start_tick) > 3000U) { + motor_stop(); + reply("ERR:MOTOR_TIMEOUT\r\n"); + } + } +} + +/* + * In generated main.c, use: + * + * int main(void) + * { + * HAL_Init(); + * SystemClock_Config(); + * MX_GPIO_Init(); + * MX_USART1_UART_Init(); + * MX_TIM2_Init(); + * app_init(); + * while (1) { + * app_loop(); + * } + * } + */ diff --git a/tactile_sensor_daq.py b/tactile_sensor_daq.py new file mode 100644 index 0000000..1ef9293 --- /dev/null +++ b/tactile_sensor_daq.py @@ -0,0 +1,228 @@ +import threading +import time +import numpy as np +from enum import Enum +# 导入官方例程的底层依赖 +from class_ch341 import * +from class_sensorcmd import * +from class_finger import * + +# === 配置区域 === +DEF_MAX_FINGER_NUM = 3 # 修改为 3 个传感器 (Finger 0, 1, 2) +PCA_ADDR = 0x70 # I2C 多路复用器地址 +SAMPLE_RATE_MS = 10 # 采样间隔 (ms)，10ms = 100Hz + + +class EnumCh341ConnectStatus(Enum): + CH341_CONNECT_INIT = 0 + CH341_CONNECT_OPEN = 1 + CH341_CONNECT_SET_SPEED = 2 + CH341_CONNECT_SAMPLE_START = 3 + CH341_CONNECT_CHECK = 4 + CH341_CONNECT_SAMPLE_STOP = 5 + + +class TactileSensorDAQ: + def __init__(self): + # 1. 硬件初始化 + self.ch341 = ClassCh341() + self.fingers = list() + # 初始化3个传感器对象，ID从2开始 (假设硬件拨码是 2,3,4) + for i in range(DEF_MAX_FINGER_NUM): + self.fingers.append(ClassFinger(4 + i, self.ch341)) + + # 2. 状态机变量 + self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_INIT + self.ch341CheckTimer = 0 + self.pcaAddr = PCA_ADDR + self.syncTimer = 0 + + # 3. 数据容器 (核心修改) + # 12维数据: [F0_U1_Fn, F0_U1_Ft, F0_U2_Fn, F0_U2_Ft, F1..., F2...] + self.raw_data = np.zeros(12, dtype=np.float32) # 实时读取值 + self.offset = np.zeros(12, dtype=np.float32) # 去皮偏移量 + self.clean_data = np.zeros(12, dtype=np.float32) # 输出值 (Raw - Offset) + + # 4. 线程控制 + self.running = False + self.lock = threading.Lock() # 线程锁，保证读取安全 + self.thread = None + + def _set_sensor_enable(self, idx): + """控制 I2C 多路复用器通道""" + _pack = list() + _pack.append(idx) + self.ch341.write(self.pcaAddr, _pack) + + def _update_state_machine(self): + """维持 CH341 连接状态机 (原 logic 的简化版)""" + if self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_INIT: + if self.ch341.init(): + self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_OPEN + + elif self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_OPEN: + if self.ch341.open(): + self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_SET_SPEED + else: + self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_INIT + + elif self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_SET_SPEED: + if self.ch341.set_speed(self.ch341.IIC_SPEED_400): + self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_SAMPLE_START + else: + self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_SAMPLE_START # Retry + + elif self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_SAMPLE_START: + # 连接建立成功，进入读取循环 + self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_CHECK + + elif self.connectStatus == EnumCh341ConnectStatus.CH341_CONNECT_CHECK: + # 这里的检查逻辑放入主循环中执行 + pass + + def _read_hardware(self): + """读取所有传感器数据的核心函数""" + connectedSensorChan = 0 + + # 临时列表存储本轮读取的数据 + temp_data_buffer = [] + + for fingerIndex in range(len(self.fingers)): + # 1. 切通道 + self._set_sensor_enable(1 << (self.fingers[fingerIndex].pcaIdx)) + connectedSensorChan |= 1 << (self.fingers[fingerIndex].pcaIdx) + + current_finger = self.fingers[fingerIndex] + + # 2. 检查连接与读取 + if not current_finger.connect: + if current_finger.checkSensor(): + print(f"[System] Finger {fingerIndex} Connected!") + else: + current_finger.capRead() + + # 3. 提取数据 (这是修改的关键！) + # 假设每个传感器有 ydds_num (通常是2) 个单元 + # 这里的 nf 和 tf 应该是数组 + for unit_i in range(current_finger.projectPara.ydds_num): + # 提取法向力 Fn + fn = current_finger.readData.nf[unit_i] + # 提取切向力 Ft + ft = current_finger.readData.tf[unit_i] + + temp_data_buffer.append(fn) + temp_data_buffer.append(ft) + + # 4. 更新共享内存 + if len(temp_data_buffer) == 12: # 确保数据完整 + with self.lock: + self.raw_data = np.array(temp_data_buffer, dtype=np.float32) + # 计算去皮后的数据 + self.clean_data = self.raw_data - self.offset + # 简单滤波：置零负值噪声 + # self.clean_data[self.clean_data < 0] = 0 + + # 5. 同步逻辑 (保持原厂逻辑，防止电容漂移) + if (time.time() - self.syncTimer) > 1.0: # 1秒同步一次 + self.syncTimer = time.time() + self._set_sensor_enable(connectedSensorChan) + for f in self.fingers: + if f.connect: + f.snsCmd.setSensorSync(0) + break + + def _thread_worker(self): + """后台线程主循环""" + while self.running: + # 1. 维护连接 + if self.connectStatus != EnumCh341ConnectStatus.CH341_CONNECT_CHECK: + self._update_state_machine() + time.sleep(0.1) + continue + + # 2. 读取数据 + start_time = time.time() + try: + self._read_hardware() + except Exception as e: + print(f"Read Error: {e}") + + # 3. 检查连接心跳 (保持原厂逻辑) + self.ch341CheckTimer += (time.time() - start_time) * 1000 + if self.ch341CheckTimer >= 1000: + self.ch341CheckTimer = 0 + if not self.ch341.connectCheck(): + print("CH341 Disconnected!") + self.connectStatus = EnumCh341ConnectStatus.CH341_CONNECT_INIT + + # 4. 控制采样率 + elapsed = (time.time() - start_time) * 1000 + sleep_time = (SAMPLE_RATE_MS - elapsed) / 1000.0 + if sleep_time > 0: + time.sleep(sleep_time) + + # === 用户API === + + def start(self): + """启动采集""" + if self.running: return + self.running = True + self.thread = threading.Thread(target=self._thread_worker) + self.thread.daemon = True + self.thread.start() + print("Tactile Sensor System Started.") + + def stop(self): + """停止采集""" + self.running = False + if self.thread: + self.thread.join() + self.ch341.disconnect() + print("Tactile Sensor System Stopped.") + + def tare(self): + """去皮：将当前读数设为零点""" + print("Taring sensors... please wait.") + time.sleep(1) # 等待数据稳定 + with self.lock: + self.offset = np.copy(self.raw_data) + print("Tare complete.") + + def get_data(self): + """获取最新的12维力数据""" + with self.lock: + return np.copy(self.clean_data) + + +# === 调试代码 (直接运行此文件测试) === +if __name__ == "__main__": + sensor = TactileSensorDAQ() + sensor.start() + + try: + # 等待连接稳定 + print("Waiting for sensors to connect...") + time.sleep(3) + + sensor.tare() # 初始去皮 + + while True: + data = sensor.get_data() + log_str = "" + for i in range(3): # 遍历 3 个手指 + base_idx = i * 4 + # 为了显示简洁，我们将 Unit1 和 Unit2 的 Fn 相加，作为一个总压力显示 + # 你也可以根据需要显示全部细节 + f_n_total = data[base_idx] + data[base_idx + 2] + f_t_total = data[base_idx + 1] + data[base_idx + 3] + + log_str += f"F{i}: N={f_n_total:.1f} T={f_t_total:.1f} | " + + print(log_str) + # === 修改结束 === + + + time.sleep(0.1) # 打印频率 + + except KeyboardInterrupt: + sensor.stop() \ No newline at end of file diff --git a/test_dof_control.py b/test_dof_control.py new file mode 100644 index 0000000..d34b2a5 --- /dev/null +++ b/test_dof_control.py @@ -0,0 +1,146 @@ +import time +import keyboard + +from demo_auto_grasp import TactileSensorDAQ, RobotDriver, SafetyGuard + +# ====== 可按实际机构方向微调的参数 ====== +SERVO_HOME_ANGLE = 90 +SERVO_CW_TO_OPPOSE_ANGLE = 120 +SERVO_HOLD_SEC = 1.0 +FORCE_STOP_THRESHOLD = 0.3 +PRESSURE_DISPLAY_KPA = 80 +ROBOT_COM_PORT = 'COM9' + + +def wait_with_pause(safety, duration_s, step_s=0.02): + start = time.time() + while (time.time() - start) < duration_s: + safety.check_pause() + time.sleep(step_s) + + +def run_servo_single_cycle(robot, safety, servo_id): + print(f"[Mode {servo_id}] 舵机{servo_id}开始: 手指1顺时针到对握位 -> 回位") + + safety.check_pause() + # 仅发送指定舵机命令，其他舵机不动作 + robot.set_servo(servo_id, SERVO_CW_TO_OPPOSE_ANGLE) + + wait_with_pause(safety, SERVO_HOLD_SEC) + + safety.check_pause() + robot.set_servo(servo_id, SERVO_HOME_ANGLE) + wait_with_pause(safety, 0.5) + + # 明确停止直线电机，确保其不动作 + robot.motor_stop() + print(f"[Mode {servo_id}] 完成。") + + +def run_linear_mode(robot, safety): + print("[Mode 3] 直线电机控制模式 (无传感器)") + print("按键: w=张开, s=闭合, q=退出模式") + print("规则: 无传感器，按住s持续闭合") + print("全局: 空格急停/恢复") + + motion_state = 'idle' # idle/open/close/force_stop + prev_q = False + linear_start_time = None + + def print_runtime(final=False): + if linear_start_time is None: + return + elapsed = time.time() - linear_start_time + if final: + print(f"[Mode 3] s执行总时长: {elapsed:.2f}s") + + while True: + safety.check_pause() + + w_now = keyboard.is_pressed('w') + s_now = keyboard.is_pressed('s') + q_now = keyboard.is_pressed('q') + + q_edge = q_now and not prev_q + + if q_edge: + robot.motor_stop() + print_runtime(final=True) + linear_start_time = None + print("[Mode 3] 退出直线电机控制模式") + break + + # 仅允许单键控制: w 和 s 同时按下时停止，防止方向冲突 + if w_now and not s_now: + if motion_state != 'open': + robot.motor_open() + motion_state = 'open' + print("[Mode 3] 张开中 (按住 w)") + elif s_now and not w_now: + if linear_start_time is None: + linear_start_time = time.time() + if motion_state != 'close': + robot.motor_close() + motion_state = 'close' + print("[Mode 3] 闭合中 (按住 s)") + else: + if motion_state in ('open', 'close', 'force_stop'): + robot.motor_stop() + print_runtime(final=True) + motion_state = 'idle' + print("[Mode 3] 松开按键, 电机停止") + linear_start_time = None + + prev_q = q_now + + time.sleep(0.02) + + +def main(): + # sensor = TactileSensorDAQ() + robot = RobotDriver(port=ROBOT_COM_PORT) + safety = SafetyGuard(robot) + + try: + # sensor.start() + # print("等待传感器稳定...") + # time.sleep(2) + # sensor.tare() + + while True: + print("\n========================") + print("自由度控制选择:") + print(" 1: 舵机1控制 (手指1顺时针到对握后回位)") + print(" 2: 舵机2控制 (手指1顺时针到对握后回位)") + print(f" 3: 直线电机控制 (w张开/s闭合, 压强显示固定为 {PRESSURE_DISPLAY_KPA}KPa)") + print(" q: 退出程序") + print("全局: 空格急停/恢复") + + choice = input("请输入 1/2/3/q: ").strip().lower() + + if choice == '1': + run_servo_single_cycle(robot, safety, servo_id=1) + elif choice == '2': + run_servo_single_cycle(robot, safety, servo_id=2) + elif choice == '3': + run_linear_mode(robot, safety) + elif choice == 'q': + break + else: + print("输入无效，请重新输入。") + + except KeyboardInterrupt: + pass + finally: + robot.motor_stop() + robot.close() + # sensor.stop() + try: + keyboard.unhook_all() + except Exception: + pass + print("System All Shutdown.") + + +if __name__ == '__main__': + main() diff --git a/接线说明.txt b/接线说明.txt new file mode 100644 index 0000000..06261c4 --- /dev/null +++ b/接线说明.txt @@ -0,0 +1,16 @@ +USB-TTL & STM32F103C8T6 +3.3-3.3 +GVD-GND +RXD-A9 +TXD-A10 + + STM32F103C8T6 & ELSE +IN1-B12 +IN2-B13 +GND-舵机GND +GND-直线电机GND + + +A0绿A1橙舵机信号线 + +运行方式: python gamepad_remote_new_pcb.py --port COM9

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