模型推理移至管道末尾降舵机延迟60→16ms + 视觉Mat复用 + 端到端延迟计时 + OpenCV 4.13 + WASD遥控

2026-06-29 16:43:41 +08:00
parent 40d5cb1604
commit 017a827b18
16 changed files with 1201 additions and 709 deletions
@@ -3,4 +3,7 @@ add_executable(smartcar_demo1 main.cpp)
 target_link_libraries(smartcar_demo1 common_lib ${OpenCV_LIBS})

 add_executable(lidar_test lidar_test.cpp)
-target_link_libraries(lidar_test common_lib)
+target_link_libraries(lidar_test common_lib)
+
+add_executable(remote_control remote_control.cpp)
+target_link_libraries(remote_control common_lib)
@@ -0,0 +1,93 @@
+/*
+ * remote_control — 终端 WASD 遥控
+ *
+ * 用法: SSH 到小车后直接运行 ./remote_control
+ *   W/S = 前进/后退
+ *   A/D = 左转/右转
+ *   Q   = 退出
+ *
+ * 硬件:
+ *   左电机: pwmchip8/pwm2, GPIO12 方向, GPIO13 IN2=高
+ *   右电机: pwmchip8/pwm1, GPIO13 方向
+ *   使能:   GPIO73
+ *   舵机:   pwmchip1/pwm0, 3ms 周期, 1.5ms 中位
+ */
+#include "MotorController.h"
+#include "PwmController.h"
+#include "GPIO.h"
+#include <cstdio>
+#include <cstdlib>
+#include <termios.h>
+#include <unistd.h>
+
+static constexpr unsigned int MOTOR_PERIOD_NS = 50000;
+static constexpr unsigned int SERVO_PERIOD_NS = 3000000;
+static constexpr unsigned int SERVO_CENTER_NS = 1500000;
+static constexpr unsigned int SERVO_RANGE_NS  = 300000;
+
+int main()
+{
+    GPIO mortorEN(73);
+    mortorEN.setDirection("out");
+    mortorEN.setValue(1);
+
+    GPIO leftIn2(13);
+    leftIn2.setDirection("out");
+    leftIn2.setValue(1);
+
+    MotorController motorL(8, 2, 12, MOTOR_PERIOD_NS);
+    MotorController motorR(8, 1, 13, MOTOR_PERIOD_NS);
+
+    PwmController servo(1, 0);
+    servo.setPeriod(SERVO_PERIOD_NS);
+    servo.setDutyCycle(SERVO_CENTER_NS);
+    servo.enable();
+
+    struct termios old_tio, new_tio;
+    tcgetattr(STDIN_FILENO, &old_tio);
+    new_tio = old_tio;
+    new_tio.c_lflag &= ~(ICANON | ECHO);
+    tcsetattr(STDIN_FILENO, TCSANOW, &new_tio);
+
+    printf("WASD 遥控已启动\n");
+    printf("  W=前进  S=后退  A=左转  D=右转  Q=退出  松手即停\n");
+
+    double speed = 0, steer = 0;
+    bool running = true;
+
+    while (running) {
+        fd_set fds;
+        FD_ZERO(&fds);
+        FD_SET(STDIN_FILENO, &fds);
+        struct timeval tv = {0, 50000};
+
+        if (select(STDIN_FILENO + 1, &fds, nullptr, nullptr, &tv) > 0) {
+            char c;
+            if (read(STDIN_FILENO, &c, 1) == 1) {
+                switch (c) {
+                case 'w': case 'W': speed =  50; break;
+                case 's': case 'S': speed = -50; break;
+                case 'a': case 'A': steer = -100; break;
+                case 'd': case 'D': steer =  100; break;
+                case 'q': case 'Q': running = false; break;
+                }
+            }
+        } else {
+            speed = 0;
+            steer = 0;
+        }
+
+        unsigned int duty_ns = SERVO_CENTER_NS + (unsigned int)(steer / 100.0 * SERVO_RANGE_NS);
+        servo.setDutyCycle(duty_ns);
+        motorL.updateduty(speed);
+        motorR.updateduty(speed);
+    }
+
+    motorL.updateduty(0);
+    motorR.updateduty(0);
+    servo.setDutyCycle(SERVO_CENTER_NS);
+    mortorEN.setValue(0);
+    tcsetattr(STDIN_FILENO, TCSANOW, &old_tio);
+    printf("\n已退出\n");
+    return 0;
+}