refactor: full cleanup — dead code, audio pipeline, helpers, ino translation

refactor: full cleanup — dead code, audio pipeline, helpers, ino translation

arm_main.py

@@ -3,7 +3,6 @@ from collections import deque
 import math
 import time
 
-import matplotlib.pyplot as plt
 import numpy as np
 import serial
 from scipy.optimize import minimize
@@ -16,12 +15,10 @@ class RobotArmUltimate:
         self.L1, self.L2, self.L3, self.L4 = 70.0, 75.0, 50.0, 130.0
         self.current_servos_logic = np.array([90.0, 90.0, 90.0, 90.0])
         self.last_sent_servos = np.array([0.0, 0.0, 0.0, 0.0])
-        self.path_history = []
 
-        # --- 2. Tilt correction offsets ---
+        # --- 2. Tilt correction offsets (loaded from config; tune via OFFSET_Y/OFFSET_Z env vars) ---
-        # Increase OFFSET_Y if end-effector droops during horizontal moves
+        self.OFFSET_Y = config.OFFSET_Y
-        self.OFFSET_Y = 0.0
+        self.OFFSET_Z = config.OFFSET_Z
-        self.OFFSET_Z = 0.0
 
         # --- 3. Damping parameters ---
         self.buffer_size = config.DAMPING_BUFFER_SIZE
@@ -103,8 +100,6 @@ class RobotArmUltimate:
             self.last_sent_servos = s_hardware.astype(int)
 
         self.current_servos_logic = s_logic_final
-        _, _, pts = self.forward_kinematics(*s_logic_final)
-        self.path_history.append(pts)
 
     def move_line(self, start_xyz, end_xyz, p_start=-90, p_end=-90, duration=3.0):
         """S-Curve trajectory planning with adaptive FPS based on distance."""
@@ -154,13 +149,6 @@ class RobotArmUltimate:
 if __name__ == "__main__":
     arm = RobotArmUltimate()  # uses config.SERIAL_PORT / SERIAL_BAUD
 
-    arm.set_damping_params(
-        buffer_size=config.DAMPING_BUFFER_SIZE,
-        max_speed=config.DAMPING_MAX_SPEED,
-        damping_factor=config.DAMPING_FACTOR,
-    )
-    arm.set_correction(offset_y=config.OFFSET_Y, offset_z=config.OFFSET_Z)
-
     p_standby = np.array([110, 100, 20])
     p_pick1   = np.array([210, 110, 20])
     p_pick2   = np.array([210, -110, 20])

config.py

@@ -50,3 +50,22 @@ DAMPING_FACTOR      = float(os.environ.get("DAMPING_FACTOR",    "0.6"))
 # ---------------------------------------------------------------------------
 OFFSET_Y = float(os.environ.get("OFFSET_Y", "-10.0"))
 OFFSET_Z = float(os.environ.get("OFFSET_Z",  "0.0"))
+
+# ---------------------------------------------------------------------------
+# Audio processing
+# ---------------------------------------------------------------------------
+AUDIO_SILENCE_THRESHOLD = float(os.environ.get("AUDIO_SILENCE_THRESHOLD", "0.01"))
+AUDIO_SILENCE_MARGIN    = float(os.environ.get("AUDIO_SILENCE_MARGIN",    "0.3"))   # seconds
+AUDIO_MIN_DURATION      = float(os.environ.get("AUDIO_MIN_DURATION",      "0.5"))   # seconds
+AUDIO_MAX_DURATION      = float(os.environ.get("AUDIO_MAX_DURATION",      "15.0"))  # seconds
+
+# ---------------------------------------------------------------------------
+# Default motion increment for fuzzy directional commands (no explicit distance)
+# ---------------------------------------------------------------------------
+DEFAULT_MOVE_MM = float(os.environ.get("DEFAULT_MOVE_MM", "50.0"))
+
+# ---------------------------------------------------------------------------
+# Gesture animation (nod / shake_head)
+# ---------------------------------------------------------------------------
+GESTURE_AMPLITUDE = float(os.environ.get("GESTURE_AMPLITUDE", "30.0"))  # mm
+GESTURE_CYCLES    = int(os.environ.get("GESTURE_CYCLES",    "3"))

main.ino

@@ -1,45 +1,45 @@
 /*
- * ESP32 原生硬件 PWM 控制程序 (适配 Core 3.x 版本)
+ * ESP32 native hardware PWM servo controller (ESP32 Arduino Core 3.x)
- * 解决 'ledcSetup' was not declared 报错问题
+ * Uses the updated ledcAttach/ledcWrite API (replaces deprecated ledcSetup).
  */
 
-// --- 1. 引脚定义 ---
+// --- 1. Pin assignments ---
-const int PIN_X = 14; 
+const int PIN_X = 14;  // X-axis servo
-const int PIN_Y = 4;  
+const int PIN_Y = 4;   // Y-axis servo
-const int PIN_Z = 5;  
+const int PIN_Z = 5;   // Z-axis servo
-const int PIN_B = 18; 
+const int PIN_B = 18;  // Base rotation servo
-const int PIN_G = 23; 
+const int PIN_G = 23;  // Gripper servo
 
-// --- 2. PWM 参数 (舵机标准) ---
+// --- 2. PWM parameters (standard servo) ---
-const int freq = 50;           // 频率 50Hz (周期 20ms)
+const int freq = 50;        // 50 Hz (20 ms period)
-const int resolution = 12;     // 分辨率 12位 (数值范围 0-4095)
+const int resolution = 12;  // 12-bit resolution (0–4095)
 
-// 舵机角度对应的占空比数值 (12位分辨率)
+// Duty-cycle values for servo angles (12-bit, 50 Hz):
-// 0.5ms (0度)   -> 约 102
+//   0.5 ms (  0°) → ~102
-// 1.5ms (90度)  -> 约 307
+//   1.5 ms ( 90°) → ~307
-// 2.5ms (180度) -> 约 512
+//   2.5 ms (180°) → ~512
 
 void setup() {
   Serial.begin(115200);
   delay(1000);
 
-  Serial.println("\n--- 使用 ESP32 Core 3.x LEDC 驱动初始化 ---");
+  Serial.println("\n--- ESP32 Core 3.x LEDC driver initializing ---");
 
-  // 在新版 Core 中，直接使用 ledcAttach(引脚, 频率, 分辨率)
+  // Core 3.x API: ledcAttach(pin, frequency, resolution)
   ledcAttach(PIN_X, freq, resolution);
   ledcAttach(PIN_Y, freq, resolution);
   ledcAttach(PIN_Z, freq, resolution);
   ledcAttach(PIN_B, freq, resolution);
   ledcAttach(PIN_G, freq, resolution);
 
-  // 初始归中
+  // Center all servos at startup
   writeAngle(PIN_X, 90); delay(500);
   writeAngle(PIN_Y, 90); delay(500);
   writeAngle(PIN_Z, 90); delay(500);
   writeAngle(PIN_B, 90); delay(500);
   writeAngle(PIN_G, 90); delay(500);
 
-  Serial.println("--- 5轴硬件 PWM 初始化完成 ---");
+  Serial.println("--- 5-axis hardware PWM ready ---");
 }
 
 void loop() {
@@ -47,42 +47,39 @@ void loop() {
     String cmd = Serial.readStringUntil('\n');
     cmd.trim();
 
-    // 根据指令解析并控制
+    if      (cmd.startsWith("Servo_ArmX"))    writeAngle(PIN_X, extractAngle(cmd, "Servo_ArmX"));
-    if (cmd.startsWith("Servo_ArmX")) writeAngle(PIN_X, extractAngle(cmd, "Servo_ArmX"));
+    else if (cmd.startsWith("Servo_ArmY"))    writeAngle(PIN_Y, extractAngle(cmd, "Servo_ArmY"));
-    else if (cmd.startsWith("Servo_ArmY")) writeAngle(PIN_Y, extractAngle(cmd, "Servo_ArmY"));
+    else if (cmd.startsWith("Servo_ArmZ"))    writeAngle(PIN_Z, extractAngle(cmd, "Servo_ArmZ"));
-    else if (cmd.startsWith("Servo_ArmZ")) writeAngle(PIN_Z, extractAngle(cmd, "Servo_ArmZ"));
+    else if (cmd.startsWith("Servo_ArmB"))    writeAngle(PIN_B, extractAngle(cmd, "Servo_ArmB"));
-    else if (cmd.startsWith("Servo_ArmB")) writeAngle(PIN_B, extractAngle(cmd, "Servo_ArmB"));
     else if (cmd.startsWith("Servo_Gripper")) {
       int a = extractAngle(cmd, "Servo_Gripper");
       if (a != -1) {
         writeAngle(PIN_G, a);
-        Serial.print("夹爪已转动至: "); Serial.println(a);
+        Serial.print("Gripper moved to: "); Serial.println(a);
       }
     }
   }
 }
 
 /**
- * 核心控制函数
+ * Write a target angle to a servo pin.
- * pin: 控制的引脚号
+ * pin  : GPIO pin number
- * angle: 目标角度 (0-180)
+ * angle: target angle in degrees (0–180, clamped)
  */
 void writeAngle(int pin, int angle) {
-  if (angle < 0) angle = 0;
+  if (angle < 0)   angle = 0;
   if (angle > 180) angle = 180;
 
-  // 线性映射计算占空比
+  // Linear map: 0° → duty 102, 180° → duty 512
-  // 0度 = 102, 180度 = 512
   int duty = (angle * (512 - 102) / 180) + 102;
 
-  // 在新版 Core 中，ledcWrite 直接接收引脚号和数值
+  // Core 3.x API: ledcWrite takes pin number directly
   ledcWrite(pin, duty);
 }
 
-// 提取命令中的数字
+/** Extract the numeric argument after a known command prefix. Returns -1 on failure. */
 int extractAngle(String cmd, String prefix) {
-  int prefixLen = prefix.length();
+  String valPart = cmd.substring(prefix.length());
-  String valPart = cmd.substring(prefixLen);
   if (valPart.length() > 0) return valPart.toInt();
   return -1;
 }

voice_main.py

@@ -5,7 +5,6 @@ import time
 
 import cv2
 import numpy as np
-import scipy.io.wavfile as wav
 import sounddevice as sd
 import torch
 from transformers import AutoModelForCausalLM, AutoTokenizer
@@ -202,20 +201,19 @@ class RobotBrain:
         if m:
             return [{"action": "move_inc", "axis": "x", "value": -extract_value(m, 2, 3)}]
 
-        # Fuzzy directional commands without explicit distance — use default 5 cm
+        # Fuzzy directional commands without explicit distance — use config default
-        DEFAULT_MOVE = 50.0  # mm
         if re.search(r'(向?上|抬起|举起|往上)', text):
-            return [{"action": "move_inc", "axis": "z", "value": DEFAULT_MOVE}]
+            return [{"action": "move_inc", "axis": "z", "value": config.DEFAULT_MOVE_MM}]
         if re.search(r'(向?下|往下)', text):
-            return [{"action": "move_inc", "axis": "z", "value": -DEFAULT_MOVE}]
+            return [{"action": "move_inc", "axis": "z", "value": -config.DEFAULT_MOVE_MM}]
         if re.search(r'(向?左|往左)', text):
-            return [{"action": "move_inc", "axis": "y", "value": DEFAULT_MOVE}]
+            return [{"action": "move_inc", "axis": "y", "value": config.DEFAULT_MOVE_MM}]
         if re.search(r'(向?右|往右)', text):
-            return [{"action": "move_inc", "axis": "y", "value": -DEFAULT_MOVE}]
+            return [{"action": "move_inc", "axis": "y", "value": -config.DEFAULT_MOVE_MM}]
         if re.search(r'(向?前|往前)', text):
-            return [{"action": "move_inc", "axis": "x", "value": DEFAULT_MOVE}]
+            return [{"action": "move_inc", "axis": "x", "value": config.DEFAULT_MOVE_MM}]
         if re.search(r'(向?后|往后)', text):
-            return [{"action": "move_inc", "axis": "x", "value": -DEFAULT_MOVE}]
+            return [{"action": "move_inc", "axis": "x", "value": -config.DEFAULT_MOVE_MM}]
 
         return None  # not a simple command — fall through to LLM
 
@@ -326,12 +324,6 @@ class AutoGraspSystem:
     def __init__(self):
         print("\n[1/3] Initializing robot arm...")
         self.arm = RobotArmUltimate()  # uses config.SERIAL_PORT / SERIAL_BAUD
-        self.arm.set_damping_params(
-            buffer_size=config.DAMPING_BUFFER_SIZE,
-            max_speed=config.DAMPING_MAX_SPEED,
-            damping_factor=config.DAMPING_FACTOR,
-        )
-        self.arm.set_correction(offset_y=config.OFFSET_Y, offset_z=config.OFFSET_Z)
 
         print("[2/3] Loading YOLO model...")
         self.model = YOLO(config.YOLO_MODEL_PATH)
@@ -463,22 +455,13 @@ class AutoGraspSystem:
             return rx, ry
         return None
 
-    def execute_pick(self, rx, ry, current_pos=None):
+    def _approach_and_grasp(self, rx, ry, current_pos):
-        """Execute pick action: move to target (rx, ry) and grasp.
+        """Move to hover above target, descend to grab height, close gripper.
 
-        Args:
+        Returns the grab position (p_down) so callers can continue from there.
-            rx, ry: robot-frame target coordinates (mm)
-            current_pos: actual current end-effector position (mm, [x, y, z]).
-                         Falls back to REST_POS if None.
         """
-        if current_pos is None:
+        p_up   = np.array([rx, ry, config.Z_HOVER])
-            current_pos = np.array([config.REST_X, config.REST_Y, config.REST_Z])
+        p_down = np.array([rx, ry, config.Z_GRAB])
-
-        p_up    = np.array([rx, ry, config.Z_HOVER])
-        p_down  = np.array([rx, ry, config.Z_GRAB])
-        p_after = np.array([rx, ry, config.Z_AFTER_PICK])
-
-        print(f"\n[Pick] target=({rx:.1f}, {ry:.1f}), from={current_pos}")
 
         self.arm.gripper_control(70)
         self.gripper_closed = False
@@ -493,43 +476,28 @@ class AutoGraspSystem:
         self.gripper_closed = True
         time.sleep(0.5)
 
-        self.arm.move_line(p_down, p_after, p_start=-90, p_end=-60, duration=1.0)
+        return p_down
 
+    def execute_pick(self, rx, ry, current_pos=None):
+        """Grasp target and lift to Z_AFTER_PICK clearance height."""
+        if current_pos is None:
+            current_pos = np.array([config.REST_X, config.REST_Y, config.REST_Z])
+
+        print(f"\n[Pick] target=({rx:.1f}, {ry:.1f}), from={current_pos}")
+        p_down  = self._approach_and_grasp(rx, ry, current_pos)
+        p_after = np.array([rx, ry, config.Z_AFTER_PICK])
+        self.arm.move_line(p_down, p_after, p_start=-90, p_end=-60, duration=1.0)
         return p_after
 
     def execute_lift(self, rx, ry, height, current_pos=None):
-        """Execute pick-and-lift: grasp target and raise by `height` mm.
+        """Grasp target and raise by `height` mm above grab point."""
-
-        Args:
-            rx, ry: robot-frame target coordinates (mm)
-            height: lift distance above grab point (mm)
-            current_pos: actual current end-effector position (mm, [x, y, z]).
-                         Falls back to REST_POS if None.
-        """
         if current_pos is None:
             current_pos = np.array([config.REST_X, config.REST_Y, config.REST_Z])
 
-        p_up     = np.array([rx, ry, config.Z_HOVER])
-        p_down   = np.array([rx, ry, config.Z_GRAB])
-        p_lifted = np.array([rx, ry, np.clip(config.Z_GRAB + height, config.WS_Z[0], config.WS_Z[1])])
-
         print(f"\n[Lift] target=({rx:.1f}, {ry:.1f}), height={height}mm, from={current_pos}")
-
+        p_down   = self._approach_and_grasp(rx, ry, current_pos)
-        self.arm.gripper_control(70)
+        p_lifted = np.array([rx, ry, np.clip(config.Z_GRAB + height, config.WS_Z[0], config.WS_Z[1])])
-        self.gripper_closed = False
-        time.sleep(0.3)
-
-        self.arm.servo_buffer.clear()
-
-        self.arm.move_line(current_pos, p_up,   p_start=-60, p_end=-60, duration=1.5)
-        self.arm.move_line(p_up,        p_down,  p_start=-60, p_end=-90, duration=1.5)
-
-        self.arm.gripper_control(120)
-        self.gripper_closed = True
-        time.sleep(0.5)
-
         self.arm.move_line(p_down, p_lifted, p_start=-90, p_end=-60, duration=1.5)
-
         print(f"[OK] Lifted to Z={p_lifted[2]:.1f}mm")
         return p_lifted
 
@@ -601,80 +569,29 @@ class RobotApp:
 
     def get_audio_text(self):
         """Transcribe recorded audio frames to text."""
-        if not self.audio_frames:
+        return self.ear.get_text(self.audio_frames)
-            return ""
 
-        audio_data = np.concatenate(self.audio_frames, axis=0)
+    def _oscillate(self, axis, amplitude, cycles):
+        """Oscillate end-effector along `axis` for nod/shake gestures.
 
-        # Trim leading/trailing silence to reduce Whisper hallucinations
+        Args:
-        audio_flat = audio_data.flatten()
+            axis: 'x', 'y', or 'z'
-        threshold = 0.01
+            amplitude: half-swing distance in mm
-        nonzero = np.where(np.abs(audio_flat) > threshold)[0]
+            cycles: number of full back-and-forth cycles
-        if len(nonzero) == 0:
+        """
-            print("[Audio] No speech detected")
+        base_pos = self.current_pos.copy()
-            return ""
+        idx = {'x': 0, 'y': 1, 'z': 2}[axis]
 
-        margin = int(16000 * 0.3)  # 0.3 s padding on each side
+        self.grasp_sys.arm.servo_buffer.clear()
-        start = max(0, nonzero[0] - margin)
-        end = min(len(audio_flat), nonzero[-1] + margin)
-        audio_trimmed = audio_flat[start:end]
 
-        duration = len(audio_trimmed) / 16000
+        for _ in range(cycles):
-        if duration < 0.5:
+            pos_a = base_pos.copy(); pos_a[idx] += amplitude
-            print(f"[Audio] Too short ({duration:.1f}s), skipping")
+            self.grasp_sys.arm.move_line(base_pos, pos_a, duration=0.5)
-            return ""
+            pos_b = base_pos.copy(); pos_b[idx] -= amplitude
-        if duration > 15.0:
+            self.grasp_sys.arm.move_line(pos_a, pos_b, duration=0.8)
-            print(f"[Audio] Too long ({duration:.1f}s), truncating to 15s")
+            self.grasp_sys.arm.move_line(pos_b, base_pos, duration=0.5)
-            audio_trimmed = audio_trimmed[:16000 * 15]
 
-        temp_file = "temp_voice.wav"
+        self.current_pos = base_pos
-        wav.write(temp_file, 16000, (audio_trimmed * 32767).astype(np.int16))
-
-        segments, _ = self.ear.model.transcribe(
-            temp_file,
-            beam_size=5,
-            language="zh",
-            no_speech_threshold=0.5,
-            condition_on_previous_text=False,  # prevents "向右向右向右..." hallucination loop
-            # i18n: domain hint for Whisper — Chinese robot command vocabulary
-            initial_prompt="机械臂控制指令：抓取,抬起,放下,松开,复位,点头,摇头,削笔刀,盒子,零件,瓶子,厘米,毫米,向上,向下,向左,向右,向前,向后"
-        )
-
-        text = "".join(s.text for s in segments)
-        return self._fix_recognition(text.strip())
-
-    def _fix_recognition(self, text):
-        """Post-process ASR output: punctuation removal, homophone correction, dedup."""
-        if not text:
-            return text
-
-        text = re.sub(r'[,，。！？!?、;；]', '', text)
-
-        # i18n: Chinese homophone correction table (Whisper mishearings → correct words)
-        replacements = {
-            '小笔刀': '削笔刀', '消笔刀': '削笔刀', '销笔刀': '削笔刀',
-            '零米': '厘米', '里米': '厘米', '黎米': '厘米', '离米': '厘米',
-            '公分': '厘米', '利米': '厘米',
-            '电头': '点头', '点投': '点头', '店头': '点头', '垫头': '点头',
-            '药头': '摇头', '要头': '摇头', '右头': '摇头', '咬头': '摇头', '摇土': '摇头',
-        }
-        for wrong, right in replacements.items():
-            text = text.replace(wrong, right)
-
-        # Detect and strip repeated-phrase hallucinations like "向右向右向右..."
-        dedup_match = re.match(r'^(.{2,8}?)(.{2,8}?)\2{2,}', text)
-        if dedup_match:
-            text = dedup_match.group(1)
-            print(f"[Dedup] Repeated hallucination stripped, kept: {text}")
-
-        if len(text) > 30:
-            words = re.findall(r'向[上下左右前后]', text)
-            if len(words) > 3:
-                first_match = re.search(r'(.*?向[上下左右前后].*?\d+.*?厘米)', text)
-                text = first_match.group(1) if first_match else text[:20]
-                print(f"[Dedup] Overlong text truncated to: {text}")
-
-        return text.strip()
 
     def execute_command(self, cmd):
         """Dispatch a single parsed action command to the appropriate executor."""
@@ -738,36 +655,12 @@ class RobotApp:
 
         elif action == "nod":
             print("[Nod] Executing nod motion")
-            base_pos = self.current_pos.copy()
+            self._oscillate('z', config.GESTURE_AMPLITUDE, config.GESTURE_CYCLES)
-            dist = 30.0  # 3 cm amplitude
-
-            self.grasp_sys.arm.servo_buffer.clear()
-
-            for _ in range(3):
-                up_pos = base_pos.copy(); up_pos[2] += dist
-                self.grasp_sys.arm.move_line(base_pos, up_pos, duration=0.5)
-                down_pos = base_pos.copy(); down_pos[2] -= dist
-                self.grasp_sys.arm.move_line(up_pos, down_pos, duration=0.8)
-                self.grasp_sys.arm.move_line(down_pos, base_pos, duration=0.5)
-
-            self.current_pos = base_pos
             print("[OK] Nod complete")
 
         elif action == "shake_head":
             print("[ShakeHead] Executing shake-head motion")
-            base_pos = self.current_pos.copy()
+            self._oscillate('y', config.GESTURE_AMPLITUDE, config.GESTURE_CYCLES)
-            dist = 30.0  # 3 cm amplitude
-
-            self.grasp_sys.arm.servo_buffer.clear()
-
-            for _ in range(3):
-                left_pos = base_pos.copy(); left_pos[1] += dist  # +y = left
-                self.grasp_sys.arm.move_line(base_pos, left_pos, duration=0.5)
-                right_pos = base_pos.copy(); right_pos[1] -= dist
-                self.grasp_sys.arm.move_line(left_pos, right_pos, duration=0.8)
-                self.grasp_sys.arm.move_line(right_pos, base_pos, duration=0.5)
-
-            self.current_pos = base_pos
             print("[OK] Shake-head complete")
 
         else:

whisper_main.py

@@ -1,8 +1,11 @@
+import re
+
 import numpy as np
 import scipy.io.wavfile as wav
-import sounddevice as sd
 from faster_whisper import WhisperModel
 
+import config
+
 
 class RobotEar:
     """Speech recognition module backed by faster-whisper."""
@@ -11,17 +14,85 @@ class RobotEar:
         self.model = WhisperModel(model_size, device="cuda", compute_type="float16")
         self.fs = 16000
 
-    def get_text(self, audio_data):
+    def get_text(self, audio_frames):
-        """Transcribe audio frames to text.
+        """Transcribe audio frames to text with silence trimming and duration guards.
 
         Args:
-            audio_data: list of numpy arrays captured from sounddevice InputStream.
+            audio_frames: list of numpy arrays captured from sounddevice InputStream.
 
         Returns:
-            Transcribed string (stripped).
+            Transcribed string (stripped), or "" if audio is empty/too short/silent.
         """
+        if not audio_frames:
+            return ""
+
+        audio_data = np.concatenate(audio_frames, axis=0)
+        audio_flat = audio_data.flatten()
+
+        # Trim leading/trailing silence to reduce Whisper hallucinations
+        nonzero = np.where(np.abs(audio_flat) > config.AUDIO_SILENCE_THRESHOLD)[0]
+        if len(nonzero) == 0:
+            print("[Audio] No speech detected")
+            return ""
+
+        margin = int(self.fs * config.AUDIO_SILENCE_MARGIN)
+        start = max(0, nonzero[0] - margin)
+        end = min(len(audio_flat), nonzero[-1] + margin)
+        audio_trimmed = audio_flat[start:end]
+
+        duration = len(audio_trimmed) / self.fs
+        if duration < config.AUDIO_MIN_DURATION:
+            print(f"[Audio] Too short ({duration:.1f}s), skipping")
+            return ""
+        if duration > config.AUDIO_MAX_DURATION:
+            print(f"[Audio] Too long ({duration:.1f}s), truncating to {config.AUDIO_MAX_DURATION:.0f}s")
+            audio_trimmed = audio_trimmed[:int(self.fs * config.AUDIO_MAX_DURATION)]
+
         temp_file = "temp_voice.wav"
-        audio_np = np.concatenate(audio_data, axis=0)
+        wav.write(temp_file, self.fs, (audio_trimmed * 32767).astype(np.int16))
-        wav.write(temp_file, self.fs, (audio_np * 32767).astype(np.int16))
+
-        segments, _ = self.model.transcribe(temp_file, beam_size=5, language="zh")
+        segments, _ = self.model.transcribe(
-        return "".join(s.text for s in segments).strip()
+            temp_file,
+            beam_size=5,
+            language="zh",
+            no_speech_threshold=0.5,
+            condition_on_previous_text=False,  # prevents "向右向右向右..." hallucination loop
+            # i18n: domain hint for Whisper — Chinese robot command vocabulary
+            initial_prompt="机械臂控制指令：抓取,抬起,放下,松开,复位,点头,摇头,削笔刀,盒子,零件,瓶子,厘米,毫米,向上,向下,向左,向右,向前,向后"
+        )
+
+        text = "".join(s.text for s in segments)
+        return self._fix_recognition(text.strip())
+
+    def _fix_recognition(self, text):
+        """Post-process ASR output: punctuation removal, homophone correction, dedup."""
+        if not text:
+            return text
+
+        text = re.sub(r'[,，。！？!?、;；]', '', text)
+
+        # i18n: Chinese homophone correction table (Whisper mishearings → correct words)
+        replacements = {
+            '小笔刀': '削笔刀', '消笔刀': '削笔刀', '销笔刀': '削笔刀',
+            '零米': '厘米', '里米': '厘米', '黎米': '厘米', '离米': '厘米',
+            '公分': '厘米', '利米': '厘米',
+            '电头': '点头', '点投': '点头', '店头': '点头', '垫头': '点头',
+            '药头': '摇头', '要头': '摇头', '右头': '摇头', '咬头': '摇头', '摇土': '摇头',
+        }
+        for wrong, right in replacements.items():
+            text = text.replace(wrong, right)
+
+        # Detect and strip repeated-phrase hallucinations like "向右向右向右..."
+        dedup_match = re.match(r'^(.{2,8}?)(.{2,8}?)\2{2,}', text)
+        if dedup_match:
+            text = dedup_match.group(1)
+            print(f"[Dedup] Repeated hallucination stripped, kept: {text}")
+
+        if len(text) > 30:
+            words = re.findall(r'向[上下左右前后]', text)
+            if len(words) > 3:
+                first_match = re.search(r'(.*?向[上下左右前后].*?\d+.*?厘米)', text)
+                text = first_match.group(1) if first_match else text[:20]
+                print(f"[Dedup] Overlong text truncated to: {text}")
+
+        return text.strip()