refactor: extract magic constants to config.py (closes #7)

Create config.py with env-var-overridable hardware constants:
- SERIAL_PORT / SERIAL_BAUD
- LLM_MODEL_PATH / YOLO_MODEL_PATH
- Z_HOVER / Z_GRAB / Z_AFTER_PICK  (Z_TABLE eliminated — same as Z_GRAB)
- REST_X / REST_Y / REST_Z         (replaces three copies of [120,0,60])
- WS_X / WS_Y / WS_Z              (workspace clipping bounds)
- DAMPING_BUFFER_SIZE / DAMPING_MAX_SPEED / DAMPING_FACTOR
- OFFSET_Y / OFFSET_Z

arm_main.py: port/baud/damping defaults now read from config.
voice_main.py: all magic constants replaced; remaining Chinese
non-i18n strings translated to English.
.gitignore: whitelist config.py.

.gitignore

@@ -45,6 +45,7 @@ temp_voice.wav
 !voice_main.py
 !arm_main.py
 !whisper_main.py
+!config.py
 !项目介绍文档.md
 !ck.md
 !lora.md

arm_main.py

@@ -8,8 +8,10 @@ import numpy as np
 import serial
 from scipy.optimize import minimize
 
+import config
+
 class RobotArmUltimate:
-    def __init__(self, port='COM3', baud=115200):
+    def __init__(self, port=config.SERIAL_PORT, baud=config.SERIAL_BAUD):
         # --- 1. Physical parameters (mm) ---
         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])
@@ -22,10 +24,10 @@ class RobotArmUltimate:
         self.OFFSET_Z = 0.0
 
         # --- 3. Damping parameters ---
-        self.buffer_size = 3
+        self.buffer_size = config.DAMPING_BUFFER_SIZE
         self.servo_buffer = deque(maxlen=self.buffer_size)
-        self.max_servo_speed = 30.0  # max servo speed (deg/frame)
-        self.damping_factor = 0.7
+        self.max_servo_speed = config.DAMPING_MAX_SPEED  # max servo speed (deg/frame)
+        self.damping_factor = config.DAMPING_FACTOR
 
         try:
             self.ser = serial.Serial(port, baud, timeout=1)
@@ -150,11 +152,14 @@ class RobotArmUltimate:
         if self.ser: self.ser.close()
 
 if __name__ == "__main__":
-    arm = RobotArmUltimate(port='COM3')
+    arm = RobotArmUltimate()  # uses config.SERIAL_PORT / SERIAL_BAUD
 
-    arm.set_damping_params(buffer_size=3, max_speed=30.0, damping_factor=0.7)
-    # Tune offset_y if end-effector droops during horizontal moves
-    arm.set_correction(offset_y=-10.0, offset_z=0.0)
+    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])

config.py

@@ -0,0 +1,52 @@
+# config.py — hardware constants and motion parameters
+# All values can be overridden via environment variables.
+import os
+
+# ---------------------------------------------------------------------------
+# Serial
+# ---------------------------------------------------------------------------
+SERIAL_PORT = os.environ.get("ROBOT_PORT", "COM3")
+SERIAL_BAUD = int(os.environ.get("ROBOT_BAUD", "115200"))
+
+# ---------------------------------------------------------------------------
+# Model paths
+# ---------------------------------------------------------------------------
+LLM_MODEL_PATH  = os.environ.get("LLM_MODEL_PATH",  r"D:\lora\2")
+YOLO_MODEL_PATH = os.environ.get("YOLO_MODEL_PATH", "best.pt")
+
+# ---------------------------------------------------------------------------
+# Z-axis key heights (mm), relative to robot base
+# ---------------------------------------------------------------------------
+Z_HOVER      = float(os.environ.get("Z_HOVER",      "120.0"))  # safe transit height
+Z_GRAB       = float(os.environ.get("Z_GRAB",       "-15.0"))  # table / grasp surface
+Z_AFTER_PICK = float(os.environ.get("Z_AFTER_PICK", "50.0"))   # clearance after grasp
+
+# ---------------------------------------------------------------------------
+# Rest (home) position [x, y, z] in mm
+# Exposed as three scalars so config.py has no numpy dependency.
+# Callers: np.array([config.REST_X, config.REST_Y, config.REST_Z])
+# ---------------------------------------------------------------------------
+REST_X = float(os.environ.get("REST_X", "120.0"))
+REST_Y = float(os.environ.get("REST_Y", "0.0"))
+REST_Z = float(os.environ.get("REST_Z", "60.0"))
+
+# ---------------------------------------------------------------------------
+# Workspace hard limits (mm) — movements are clipped to these bounds
+# ---------------------------------------------------------------------------
+WS_X = (float(os.environ.get("WS_X_MIN", "80.0")),   float(os.environ.get("WS_X_MAX", "250.0")))
+WS_Y = (float(os.environ.get("WS_Y_MIN", "-120.0")), float(os.environ.get("WS_Y_MAX", "120.0")))
+WS_Z = (float(os.environ.get("WS_Z_MIN", "-20.0")),  float(os.environ.get("WS_Z_MAX", "200.0")))
+
+# ---------------------------------------------------------------------------
+# Damping / smoothing
+# ---------------------------------------------------------------------------
+DAMPING_BUFFER_SIZE = int(os.environ.get("DAMPING_BUFFER",    "3"))
+DAMPING_MAX_SPEED   = float(os.environ.get("DAMPING_MAX_SPEED", "25.0"))  # deg/frame
+DAMPING_FACTOR      = float(os.environ.get("DAMPING_FACTOR",    "0.6"))
+
+# ---------------------------------------------------------------------------
+# Tilt correction offsets (servo degrees)
+# Tune OFFSET_Y > 0 if the end-effector droops during horizontal moves.
+# ---------------------------------------------------------------------------
+OFFSET_Y = float(os.environ.get("OFFSET_Y", "-10.0"))
+OFFSET_Z = float(os.environ.get("OFFSET_Z",  "0.0"))