mirror of
https://github.com/m1ngsama/robot_arm.git
synced 2026-03-25 19:53:49 +00:00
m1ngsama
f2ad220cc8
config.py: - Add AUDIO_SILENCE_THRESHOLD, AUDIO_SILENCE_MARGIN, AUDIO_MIN_DURATION, AUDIO_MAX_DURATION so all audio tunables live in one place whisper_main.py: - RobotEar.get_text() now owns the full pipeline: silence trimming, duration guards, WAV write, Whisper transcription with all options - _fix_recognition() moved here from RobotApp (ASR post-processing belongs in the ear layer, not the application layer) - Add `import re`, `import config`; remove unused `sounddevice` import voice_main.py: - Remove `import scipy.io.wavfile` (WAV handling moved to whisper_main) - get_audio_text() is now a one-liner: return self.ear.get_text(self.audio_frames) - Remove _fix_recognition() (lives in RobotEar now) Closes #9
71 lines
4 KiB
Python
71 lines
4 KiB
Python
# config.py — hardware constants and motion parameters
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# All values can be overridden via environment variables.
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import os
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# ---------------------------------------------------------------------------
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# Serial
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# ---------------------------------------------------------------------------
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SERIAL_PORT = os.environ.get("ROBOT_PORT", "COM3")
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SERIAL_BAUD = int(os.environ.get("ROBOT_BAUD", "115200"))
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# ---------------------------------------------------------------------------
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# Model paths
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# ---------------------------------------------------------------------------
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LLM_MODEL_PATH = os.environ.get("LLM_MODEL_PATH", r"D:\lora\2")
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YOLO_MODEL_PATH = os.environ.get("YOLO_MODEL_PATH", "best.pt")
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# ---------------------------------------------------------------------------
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# Z-axis key heights (mm), relative to robot base
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# ---------------------------------------------------------------------------
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Z_HOVER = float(os.environ.get("Z_HOVER", "120.0")) # safe transit height
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Z_GRAB = float(os.environ.get("Z_GRAB", "-15.0")) # table / grasp surface
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Z_AFTER_PICK = float(os.environ.get("Z_AFTER_PICK", "50.0")) # clearance after grasp
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# ---------------------------------------------------------------------------
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# Rest (home) position [x, y, z] in mm
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# Exposed as three scalars so config.py has no numpy dependency.
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# Callers: np.array([config.REST_X, config.REST_Y, config.REST_Z])
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# ---------------------------------------------------------------------------
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REST_X = float(os.environ.get("REST_X", "120.0"))
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REST_Y = float(os.environ.get("REST_Y", "0.0"))
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REST_Z = float(os.environ.get("REST_Z", "60.0"))
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# ---------------------------------------------------------------------------
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# Workspace hard limits (mm) — movements are clipped to these bounds
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# ---------------------------------------------------------------------------
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WS_X = (float(os.environ.get("WS_X_MIN", "80.0")), float(os.environ.get("WS_X_MAX", "250.0")))
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WS_Y = (float(os.environ.get("WS_Y_MIN", "-120.0")), float(os.environ.get("WS_Y_MAX", "120.0")))
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WS_Z = (float(os.environ.get("WS_Z_MIN", "-20.0")), float(os.environ.get("WS_Z_MAX", "200.0")))
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# ---------------------------------------------------------------------------
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# Damping / smoothing
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# ---------------------------------------------------------------------------
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DAMPING_BUFFER_SIZE = int(os.environ.get("DAMPING_BUFFER", "3"))
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DAMPING_MAX_SPEED = float(os.environ.get("DAMPING_MAX_SPEED", "25.0")) # deg/frame
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DAMPING_FACTOR = float(os.environ.get("DAMPING_FACTOR", "0.6"))
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# ---------------------------------------------------------------------------
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# Tilt correction offsets (servo degrees)
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# Tune OFFSET_Y > 0 if the end-effector droops during horizontal moves.
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# ---------------------------------------------------------------------------
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OFFSET_Y = float(os.environ.get("OFFSET_Y", "-10.0"))
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OFFSET_Z = float(os.environ.get("OFFSET_Z", "0.0"))
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# ---------------------------------------------------------------------------
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# Audio processing
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# ---------------------------------------------------------------------------
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AUDIO_SILENCE_THRESHOLD = float(os.environ.get("AUDIO_SILENCE_THRESHOLD", "0.01"))
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AUDIO_SILENCE_MARGIN = float(os.environ.get("AUDIO_SILENCE_MARGIN", "0.3")) # seconds
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AUDIO_MIN_DURATION = float(os.environ.get("AUDIO_MIN_DURATION", "0.5")) # seconds
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AUDIO_MAX_DURATION = float(os.environ.get("AUDIO_MAX_DURATION", "15.0")) # seconds
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# ---------------------------------------------------------------------------
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# Default motion increment for fuzzy directional commands (no explicit distance)
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# ---------------------------------------------------------------------------
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DEFAULT_MOVE_MM = float(os.environ.get("DEFAULT_MOVE_MM", "50.0"))
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# ---------------------------------------------------------------------------
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# Gesture animation (nod / shake_head)
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# ---------------------------------------------------------------------------
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GESTURE_AMPLITUDE = float(os.environ.get("GESTURE_AMPLITUDE", "30.0")) # mm
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GESTURE_CYCLES = int(os.environ.get("GESTURE_CYCLES", "3"))
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