releasev1.2

main/main.c

@@ -22,7 +22,6 @@
  * WiFi: 连接 ICE (密码 12345678), 获取 IP 后用浏览器打开控制页面
  */
 
-#include "emm_v5.h"
 #include "magnet.h"
 #include "servo.h"
 #include "web_ctrl.h"
@@ -47,35 +46,15 @@ static void button_recognize_task(void *pvParam)
 {
     while (1) {
         if (key_is_pressed()) {
-            ESP_LOGI(TAG, "按钮按下, 归零后再发送 RECOGNIZE ...");
+            ESP_LOGI(TAG, "按钮按下, 先发 TASK_START (MPU 开始计时) ...");
             buzzer_beep(2000, 100);   /* 短音: 识别开始 */
 
+            /* 按下按钮即通知 MPU 任务开始计时 (与 RECOGNIZE 区分, 不触发识别) */
+            edc_proto_send_task_start();
+
             /* ---- 归零: 舵机抬起 + Z/X/Y 三轴并行回零 ----
-               Z 旋转与 X/Y 平移互不干扰 (Fragment 里也是三轴并行),
-               无需等 Z 到位再动 X/Y —— 三轴同时下发、一次到位等待 */
-            actuator_servo_up();
-
-            uint32_t z_motion  = actuator_angle_motion_time_ms(ACTUATOR_ANGLE_LIMIT_DEG,
-                                                               ACTUATOR_EXEC_Z_VEL,
-                                                               ACTUATOR_EXEC_Z_ACC);
-            uint32_t xy_motion = actuator_mm_motion_time_ms(ACTUATOR_LIMIT_X_MAX,
-                                                            ACTUATOR_EXEC_VEL,
-                                                            ACTUATOR_EXEC_ACC);
-            uint32_t y_motion  = actuator_mm_motion_time_ms(ACTUATOR_LIMIT_Y_MAX,
-                                                            ACTUATOR_EXEC_VEL,
-                                                            ACTUATOR_EXEC_ACC);
-            uint32_t home_motion = z_motion;
-            if (xy_motion > home_motion) home_motion = xy_motion;
-            if (y_motion  > home_motion) home_motion = y_motion;
-
-            actuator_motor_angle(ACTUATOR_ADDR_ANGLE, 0.0f,
-                                 ACTUATOR_EXEC_Z_VEL, ACTUATOR_EXEC_Z_ACC, true);
-            actuator_motor_mm(ACTUATOR_ADDR_X, 0.0f,
-                              ACTUATOR_EXEC_VEL, ACTUATOR_EXEC_ACC, true);
-            actuator_motor_mm(ACTUATOR_ADDR_Y1, 330.0f,
-                              ACTUATOR_EXEC_VEL, ACTUATOR_EXEC_ACC, true);
-            actuator_wait_arrival(home_motion,
-                                  (1u << 0) | (1u << 1) | (1u << 2) | (1u << 3));
+               Cycle 执行完成后也会调用 actuator_home_all() 置零 */
+            actuator_home_all();
 
             ESP_LOGI(TAG, "归零完成, 发送 RECOGNIZE ...");