temp:

main.py

@@ -60,7 +60,7 @@ pinmap.set_pin_function("P21", "I2C1_SDA")
 # pinmap.set_pin_function("A15", "I2C5_SCL")
 # pinmap.set_pin_function("A27", "I2C5_SDA")#ota升级要修改的
 # ADC 触发阈值（用于检测扳机/激光触发）
-ADC_TRIGGER_THRESHOLD = 3000
+ADC_TRIGGER_THRESHOLD = 2450
 ADC_LASER_THRESHOLD = 3000
 
 # 显示参数：激光十字线样式
@@ -565,6 +565,18 @@ def compute_laser_position(circle_center, laser_point, radius, method):
     dy = ly - cy
     return dx / (circle_r / 100.0), -dy / (circle_r / 100.0)
 
+def compute_laser_position_v2(circle_center, laser_point):
+    print(f"circle_center : {circle_center}")
+    cx, cy = circle_center
+    lx, ly = 320,230
+    # lx, ly = laser_point
+    dx = lx - cx
+    dy = ly - cy
+    r = 22.16 * 5
+    target_x = dx/r*100
+    target_y = dy/r*100
+    print(f"lx：{lx} ly: {ly} cx: {cx} cy: {cy} dx: {dx} dy: {dy} result_x: {target_x} result_y: {-target_y}")
+    return (target_x, -target_y)
 
 # ==================== TCP 通信线程 ====================
 
@@ -790,7 +802,10 @@ def cmd_str():
     while not app.need_exit():
         current_time = time.ticks_ms()
         # print("压力传感器数值： ", adc_obj.read())
-        if adc_obj.read() > ADC_TRIGGER_THRESHOLD:
+        adc_val = adc_obj.read()
+        if adc_val > 2450:
+            print(f"adc_val: {adc_val}")
+        if adc_val > ADC_TRIGGER_THRESHOLD:
             diff_ms = current_time-last_adc_trigger
             if diff_ms<3000:
                 continue
@@ -809,7 +824,22 @@ def cmd_str():
             disp.show(result_img)
 
             # 计算偏移与距离
-            dx, dy = compute_laser_position(center, (x, y), radius, method)
+            # dx, dy = compute_laser_position(center, (x, y), radius, method)
+            if center is None:
+                print(f"程序异常或者离谱脱靶")
+                  # 构造上报数据
+                inner_data = {
+                    "x": 200.0,
+                    "y": 200.0,
+                    "r": 90.0,
+                    "d": 0.0,  # 距离（厘米）
+                    "m": 'error',
+                    'adc': adc_val,
+                }
+                report_data = {"cmd": 1, "data": inner_data}
+                tcp_send_raw(make_packet(2, report_data))
+                continue
+            dx, dy = compute_laser_position_v2(center, (x, y))
             distance_m = estimate_distance(best_radius1)
 
             # 读取电量
@@ -817,12 +847,12 @@ def cmd_str():
             battery_percent = voltage_to_percent(voltage)
 
             # 保存图像（带标注）
-            try:
-                jpg_count = len([f for f in os.listdir(photo_dir) if f.endswith('.jpg')])
-                filename = f"{photo_dir}/{int(x)}_{int(y)}_{round((distance_m or 0.0) * 100)}_{method}_{jpg_count:04d}.jpg"
-                result_img.save(filename, quality=70)
-            except Exception as e:
-                print(f"❌ 保存失败: {e}")
+            # try:
+            #     jpg_count = len([f for f in os.listdir(photo_dir) if f.endswith('.jpg')])
+            #     filename = f"{photo_dir}/{int(x)}_{int(y)}_{round((distance_m or 0.0) * 100)}_{method}_{jpg_count:04d}.jpg"
+            #     result_img.save(filename, quality=70)
+            # except Exception as e:
+            #     print(f"❌ 保存失败: {e}")
 
             # 构造上报数据
             inner_data = {
@@ -830,10 +860,12 @@ def cmd_str():
                 "y": float(dy) if dy is not None else 200.0,
                 "r": 90.0,
                 "d": round((distance_m or 0.0) * 100),  # 距离（厘米）
-                "m": method
+                "m": method,
+                'adc': adc_val,
             }
             report_data = {"cmd": 1, "data": inner_data}
-            safe_enqueue(report_data)
+            # safe_enqueue(report_data)
+            tcp_send_raw(make_packet(2, report_data))
             print("📤 射箭事件已加入发送队列")
 
             time.sleep_ms(100)