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https://github.com/m1ngsama/robot_arm.git
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m1ngsama
54c1dc8c01
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.
52 lines
2.9 KiB
Python
52 lines
2.9 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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