电机最大旋转角度限定100度

财位指令旋转电机以后返回原位

components/control_plane/src/runtime/control_plane_runtime_workers.c

@@ -47,7 +47,8 @@
 /* Liveness safety bound for the fixed two-cycle wealth spin intro (not the
  * animation length). On timeout the worker proceeds to reveal + rotate anyway. */
 #define CONTROL_PLANE_SPIN_INTRO_TIMEOUT_MS        6000
-#define CONTROL_PLANE_COMMAND_ROTATION_DEG         45.0f
+#define CONTROL_PLANE_COMMAND_ROTATION_DEG         100.0f
+#define CONTROL_PLANE_COMMAND_RETURN_DELAY_MS      5000
 
 #if (configSUPPORT_STATIC_ALLOCATION == 1) && \
     ((defined(CONFIG_FREERTOS_TASK_CREATE_ALLOW_EXT_MEM) && CONFIG_FREERTOS_TASK_CREATE_ALLOW_EXT_MEM) || \
@@ -716,8 +717,14 @@ static esp_err_t control_plane_apply_wealth_direction(size_t direction_index,
 
     (void)direction_index;
 
-    float current_angle = domain_get_current_angle();
-    return control_plane_rotate_to_angle(current_angle + CONTROL_PLANE_COMMAND_ROTATION_DEG);
+    float start_angle = domain_get_current_angle();
+    esp_err_t rotate_err = control_plane_rotate_to_angle(start_angle + CONTROL_PLANE_COMMAND_ROTATION_DEG);
+    if (rotate_err != ESP_OK) {
+        return rotate_err;
+    }
+
+    vTaskDelay(pdMS_TO_TICKS(CONTROL_PLANE_COMMAND_RETURN_DELAY_MS));
+    return control_plane_rotate_to_angle(start_angle);
 }
 
 static esp_err_t control_plane_run_model_calibration_motion(void)

components/platform/src/platform_stepper_driver.c

@@ -40,7 +40,7 @@
 #define PLATFORM_STEPPER_DECEL_STEPS     48
 #define PLATFORM_STEPPER_STEPS_PER_REV   4128.0f
 #define PLATFORM_STEPPER_POWER_OFF_WAIT_MS 1000
-#define PLATFORM_STEPPER_MAX_ROTATION_DEG 330.0f
+#define PLATFORM_STEPPER_MAX_ROTATION_DEG 100.0f
 #define PLATFORM_GPIO_LOW_BANK_MAX_PIN   31
 #define PLATFORM_GPIO_HIGH_BANK_OFFSET   32
 

tools/png_to_rle.py

@@ -0,0 +1,143 @@
+#!/usr/bin/env python3
+"""Convert PNG images to the binary RGB565 RLE format used by lcd_direct."""
+
+import argparse
+import struct
+from pathlib import Path
+
+try:
+    from PIL import Image
+except ImportError as exc:
+    raise SystemExit("Pillow is required. Install it with: python -m pip install Pillow") from exc
+
+
+MAX_RUN_COUNT = 0xFFFF
+
+
+def parse_rgb(value):
+    text = value.strip()
+    if text.startswith("#"):
+        text = text[1:]
+    if len(text) != 6:
+        raise argparse.ArgumentTypeError("expected RRGGBB or #RRGGBB")
+    try:
+        return tuple(int(text[index:index + 2], 16) for index in (0, 2, 4))
+    except ValueError as exc:
+        raise argparse.ArgumentTypeError("background must be hexadecimal RGB") from exc
+
+
+def rgb888_to_rgb565(red, green, blue):
+    return ((red & 0xF8) << 8) | ((green & 0xFC) << 3) | (blue >> 3)
+
+
+def image_to_runs(path, background):
+    with Image.open(path) as image:
+        rgba = image.convert("RGBA")
+        width, height = rgba.size
+        bg_red, bg_green, bg_blue = background
+
+        runs = []
+        current_color = None
+        current_count = 0
+
+        for red, green, blue, alpha in rgba.getdata():
+            if alpha < 255:
+                red = ((red * alpha) + (bg_red * (255 - alpha))) // 255
+                green = ((green * alpha) + (bg_green * (255 - alpha))) // 255
+                blue = ((blue * alpha) + (bg_blue * (255 - alpha))) // 255
+
+            color = rgb888_to_rgb565(red, green, blue)
+            if color == current_color and current_count < MAX_RUN_COUNT:
+                current_count += 1
+                continue
+
+            if current_color is not None:
+                runs.append((current_color, current_count))
+            current_color = color
+            current_count = 1
+
+        if current_color is not None:
+            runs.append((current_color, current_count))
+
+    return width, height, runs
+
+
+def write_rle(path, runs):
+    path.parent.mkdir(parents=True, exist_ok=True)
+    with path.open("wb") as output:
+        for color, count in runs:
+            output.write(struct.pack("<HH", color, count))
+
+
+def iter_inputs(input_path, recursive):
+    if input_path.is_file():
+        if input_path.suffix.lower() != ".png":
+            raise SystemExit(f"input file is not a PNG: {input_path}")
+        yield input_path
+        return
+
+    pattern = "**/*.png" if recursive else "*.png"
+    yield from sorted(input_path.glob(pattern))
+
+
+def output_path_for(input_file, input_root, output):
+    if output is None:
+        return input_file.with_suffix(".rle")
+
+    if input_root.is_file():
+        return output
+
+    relative = input_file.relative_to(input_root)
+    return (output / relative).with_suffix(".rle")
+
+
+def convert_file(input_file, input_root, output, background):
+    out_path = output_path_for(input_file, input_root, output)
+    width, height, runs = image_to_runs(input_file, background)
+    write_rle(out_path, runs)
+    print(f"{input_file} -> {out_path} ({width}x{height}, {len(runs)} runs)")
+
+
+def main():
+    parser = argparse.ArgumentParser(
+        description="Convert PNG files to lcd_direct RGB565 RLE binary assets.",
+    )
+    parser.add_argument("input", type=Path, help="PNG file or directory containing PNG files.")
+    parser.add_argument(
+        "-o",
+        "--output",
+        type=Path,
+        help="Output .rle file for one input file, or output directory for an input directory.",
+    )
+    parser.add_argument(
+        "-r",
+        "--recursive",
+        action="store_true",
+        help="Recursively convert PNG files when input is a directory.",
+    )
+    parser.add_argument(
+        "--background",
+        type=parse_rgb,
+        default=(0, 0, 0),
+        help="RGB background for transparent pixels, as RRGGBB or #RRGGBB. Default: 000000.",
+    )
+    args = parser.parse_args()
+
+    input_path = args.input.resolve()
+    if not input_path.exists():
+        raise SystemExit(f"input path does not exist: {input_path}")
+
+    output = args.output.resolve() if args.output is not None else None
+    inputs = list(iter_inputs(input_path, args.recursive))
+    if not inputs:
+        raise SystemExit(f"no PNG files found in: {input_path}")
+
+    if input_path.is_file() and output is not None and output.suffix.lower() != ".rle":
+        raise SystemExit("single-file output must use a .rle suffix")
+
+    for input_file in inputs:
+        convert_file(input_file, input_path, output, args.background)
+
+
+if __name__ == "__main__":
+    main()