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Code Pull Requests Activity

1.增加robot舵机初始位置校准 2.fix(mcp_sever) 超出范围异常捕获类型 bug (#817)

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* otto v1.4.0 MCP

1.使用MCP协议控制机器人
2.gif继承lcdDisplay，避免修改lcdDisplay

* otto v1.4.1 gif as components

gif as components

* electronBot v1.1.0 mcp

1.增加electronBot支持
2.mcp协议
3.gif 作为组件
4.display子类

* 规范代码

1.规范代码
2.修复切换主题死机bug

* fix(ota): 修复 ottoRobot和electronBot OTA 升级崩溃问题 bug

* 1.增加robot舵机初始位置校准
2.fix(mcp_sever) 超出范围异常捕获类型  bug
This commit is contained in:
小鹏
2025-06-13 21:02:03 +08:00
committed by GitHub
parent bf125446b3
commit 7435c98609
7 changed files with 246 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files

114
main/boards/electron-bot/electron_bot_controller.cc
View File

@@ -13,6 +13,7 @@
#include "mcp_server.h"
#include "movements.h"
#include "sdkconfig.h"
#include "settings.h"
#define TAG "ElectronBotController"
@@ -52,11 +53,14 @@ private:
ACTION_BODY_TURN_CENTER = 15, // 回中心
// 头部动作 16-20
ACTION_HEAD_UP = 16, // 抬头
ACTION_HEAD_DOWN = 17, // 低头
ACTION_HEAD_NOD_ONCE = 18, // 点头一次
ACTION_HEAD_CENTER = 19, // 回中心
ACTION_HEAD_NOD_REPEAT = 20 // 连续点头
ACTION_HEAD_UP = 16, // 抬头
ACTION_HEAD_DOWN = 17, // 低头
ACTION_HEAD_NOD_ONCE = 18, // 点头一次
ACTION_HEAD_CENTER = 19, // 回中心
ACTION_HEAD_NOD_REPEAT = 20, // 连续点头
// 系统动作 21
ACTION_HOME = 21 // 复位到初始位置
};
static void ActionTask(void* arg) {
@@ -87,6 +91,9 @@ private:
int head_action = params.action_type - ACTION_HEAD_UP + 1;
controller->electron_bot_.HeadAction(head_action, params.steps, params.amount,
params.speed);
} else if (params.action_type == ACTION_HOME) {
// 复位动作
controller->electron_bot_.Home(true);
}
controller->is_action_in_progress_ = false; // 动作执行完毕
}
@@ -110,14 +117,28 @@ private:
}
}
void LoadTrimsFromNVS() {
Settings settings("electron_trims", false);
int right_pitch = settings.GetInt("right_pitch", 0);
int right_roll = settings.GetInt("right_roll", 0);
int left_pitch = settings.GetInt("left_pitch", 0);
int left_roll = settings.GetInt("left_roll", 0);
int body = settings.GetInt("body", 0);
int head = settings.GetInt("head", 0);
electron_bot_.SetTrims(right_pitch, right_roll, left_pitch, left_roll, body, head);
}
public:
ElectronBotController() {
electron_bot_.Init(Right_Pitch_Pin, Right_Roll_Pin, Left_Pitch_Pin, Left_Roll_Pin, Body_Pin,
Head_Pin);
electron_bot_.Home(true);
LoadTrimsFromNVS();
action_queue_ = xQueueCreate(10, sizeof(ElectronBotActionParams));
QueueAction(ACTION_HOME, 1, 1000, 0, 0);
RegisterMcpTools();
ESP_LOGI(TAG, "Electron Bot控制器已初始化并注册MCP工具");
}
@@ -231,7 +252,7 @@ public:
// 清空队列但保持任务常驻
xQueueReset(action_queue_);
is_action_in_progress_ = false;
electron_bot_.Home(true);
QueueAction(ACTION_HOME, 1, 1000, 0, 0);
return true;
});
@@ -240,6 +261,85 @@ public:
return is_action_in_progress_ ? "moving" : "idle";
});
// 单个舵机校准工具
mcp_server.AddTool(
"self.electron.set_trim",
"校准单个舵机位置。设置指定舵机的微调参数以调整ElectronBot的初始姿态，设置将永久保存。"
"servo_type: 舵机类型(right_pitch:右臂旋转, right_roll:右臂推拉, left_pitch:左臂旋转, "
"left_roll:左臂推拉, body:身体, head:头部); "
"trim_value: 微调值(-30到30度)",
PropertyList({Property("servo_type", kPropertyTypeString, "right_pitch"),
Property("trim_value", kPropertyTypeInteger, 0, -30, 30)}),
[this](const PropertyList& properties) -> ReturnValue {
std::string servo_type = properties["servo_type"].value<std::string>();
int trim_value = properties["trim_value"].value<int>();
ESP_LOGI(TAG, "设置舵机微调: %s = %d度", servo_type.c_str(), trim_value);
// 获取当前所有微调值
Settings settings("electron_trims", true);
int right_pitch = settings.GetInt("right_pitch", 0);
int right_roll = settings.GetInt("right_roll", 0);
int left_pitch = settings.GetInt("left_pitch", 0);
int left_roll = settings.GetInt("left_roll", 0);
int body = settings.GetInt("body", 0);
int head = settings.GetInt("head", 0);
// 更新指定舵机的微调值
if (servo_type == "right_pitch") {
right_pitch = trim_value;
settings.SetInt("right_pitch", right_pitch);
} else if (servo_type == "right_roll") {
right_roll = trim_value;
settings.SetInt("right_roll", right_roll);
} else if (servo_type == "left_pitch") {
left_pitch = trim_value;
settings.SetInt("left_pitch", left_pitch);
} else if (servo_type == "left_roll") {
left_roll = trim_value;
settings.SetInt("left_roll", left_roll);
} else if (servo_type == "body") {
body = trim_value;
settings.SetInt("body", body);
} else if (servo_type == "head") {
head = trim_value;
settings.SetInt("head", head);
} else {
return "错误：无效的舵机类型，请使用: right_pitch, right_roll, left_pitch, "
"left_roll, body, head";
}
electron_bot_.SetTrims(right_pitch, right_roll, left_pitch, left_roll, body, head);
QueueAction(ACTION_HOME, 1, 500, 0, 0);
return "舵机 " + servo_type + " 微调设置为 " + std::to_string(trim_value) +
" 度，已永久保存";
});
mcp_server.AddTool("self.electron.get_trims", "获取当前的舵机微调设置", PropertyList(),
[this](const PropertyList& properties) -> ReturnValue {
Settings settings("electron_trims", false);
int right_pitch = settings.GetInt("right_pitch", 0);
int right_roll = settings.GetInt("right_roll", 0);
int left_pitch = settings.GetInt("left_pitch", 0);
int left_roll = settings.GetInt("left_roll", 0);
int body = settings.GetInt("body", 0);
int head = settings.GetInt("head", 0);
std::string result =
"{\"right_pitch\":" + std::to_string(right_pitch) +
",\"right_roll\":" + std::to_string(right_roll) +
",\"left_pitch\":" + std::to_string(left_pitch) +
",\"left_roll\":" + std::to_string(left_roll) +
",\"body\":" + std::to_string(body) +
",\"head\":" + std::to_string(head) + "}";
ESP_LOGI(TAG, "获取微调设置: %s", result.c_str());
return result;
});
mcp_server.AddTool("self.battery.get_level", "获取机器人电池电量和充电状态", PropertyList(),
[](const PropertyList& properties) -> ReturnValue {
auto& board = Board::GetInstance();