fix: 修改电量不固定

main.py

@@ -7,20 +7,21 @@
 作者：ZZH
 最后更新：2025-11-21
 """
-from maix import camera, display, image, app, time, key, uart, pinmap, i2c, network, err
+import _thread
+import hashlib
+import hmac
+import json
+import os
+import re
+import socket
+import struct
+
 import cv2
 import numpy as np
-import json
-import struct
-import re
-from maix.peripheral import adc
-import _thread
-import os
-import hmac
-import ujson
-import hashlib
 import requests
-import socket
+import ujson
+from maix import camera, display, image, app, time, key, uart, pinmap, i2c, network, err
+from maix.peripheral import adc
 
 # import config
 
@@ -168,6 +169,7 @@ def direct_ota_download():
     finally:
         update_thread_started = False  # 允许下次 OTA
 
+
 def handle_wifi_and_update(ssid, password):
     """在子线程中执行 Wi-Fi 连接 + OTA 更新流程"""
     try:
@@ -442,7 +444,7 @@ def find_red_laser(frame, threshold=150):
     for y in range(0, h, 2):
         for x in range(0, w, 2):
             idx = (y * w + x) * 3
-            r, g, b = img_bytes[idx], img_bytes[idx+1], img_bytes[idx+2]
+            r, g, b = img_bytes[idx], img_bytes[idx + 1], img_bytes[idx + 2]
             if r > threshold and r > g * 2 and r > b * 2:
                 rgb_sum = r + g + b
                 if rgb_sum > max_sum:
@@ -588,18 +590,20 @@ 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}")
+    if circle_center is None:
+        return 200, 200
     cx, cy = circle_center
-    lx, ly = 320,230
+    lx, ly = 320, 220
-    # lx, ly = laser_point
     dx = lx - cx
     dy = ly - cy
     r = 22.16 * 5
-    target_x = dx/r*100
+    target_x = dx / r * 100
-    target_y = dy/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 ====================
 
 def connect_server():
@@ -704,7 +708,8 @@ def tcp_main():
                                                 safe_enqueue({"result": "update_already_started"}, 2)
                                     elif inner_cmd == 6:
                                         try:
-                                            ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip()
+                                            ip = os.popen(
+                                                "ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip()
                                             ip = ip if ip else "no_ip"
                                         except:
                                             ip = "error_getting_ip"
@@ -717,12 +722,14 @@ def tcp_main():
 
                                         # 实时检查是否有 IP
                                         try:
-                                            ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip()
+                                            ip = os.popen(
+                                                "ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip()
                                         except:
                                             ip = None
 
                                         if not ip:
-                                            safe_enqueue({"result": "ota_rejected", "reason": "no_wifi_ip"}, MSG_TYPE_STATUS)
+                                            safe_enqueue({"result": "ota_rejected", "reason": "no_wifi_ip"},
+                                                         MSG_TYPE_STATUS)
                                         else:
                                             # 启动纯下载线程
                                             update_thread_started = True
@@ -778,7 +785,7 @@ def tcp_main():
                     print("💓 心跳已发送")
 
             # 心跳超时重连
-            if logged_in and current_time - last_heartbeat_ack_time > 1000*60*10: # 十分钟
+            if logged_in and current_time - last_heartbeat_ack_time > 1000 * 60 * 10:  # 十分钟
                 print("⏰ 十分钟无心跳ACK，重连")
                 break
 
@@ -843,9 +850,10 @@ 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()
-            diff_ms = current_time-last_adc_trigger
+        if adc_val > ADC_TRIGGER_THRESHOLD:
-            if diff_ms<3000:
+            diff_ms = current_time - last_adc_trigger
+            if diff_ms < 3000:
                 continue
             last_adc_trigger = current_time
             time.sleep_ms(60)  # 防抖
@@ -876,14 +884,14 @@ def cmd_str():
             #     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 = {
                 "x": float(dx) if dx is not None else 200.0,
                 "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}
             # 射箭事件高优先级入队，由 tcp_main 统一发送