Merge pull request '降低小车延迟，提升小车操控性' (#8) from zyp into main

carsrun/appCam.py

@@ -32,7 +32,7 @@ picam2 = None
 def cameraon():
     global picam2
     picam2 = Picamera2()
-    picam2.configure(picam2.create_video_configuration(main={"format": 'XRGB8888', "size": (640, 480)}))
+    picam2.configure(picam2.create_video_configuration(main={"format": 'XRGB8888', "size": (320, 240)}))
     picam2.start()
     
     
@@ -70,7 +70,7 @@ def gen_frames():  # generate frame by frame from camera
 @app.route('/control/sendit', methods=['POST'])
 def send_command():
     # 定义目标 IP 地址、端口和路由
-    ip = "192.168.60.204"
+    ip = "192.168.100.101"
     port = 3000
     route = "sendit2"
     
@@ -105,7 +105,8 @@ def capture_image():
     # 将帧保存为图片
     try:
         cv2.imwrite(photo_path, frame)
-        return f"Photo saved at {photo_path}"
+        return send_file(photo_path, as_attachment=True)
+
     except Exception as e:
         return f"Failed to save photo: {str(e)}"
 

carsrun/car.py

@@ -59,8 +59,8 @@ class CAR:
         self.back()
 
     def left(self):                 # 左转
-        base.send_command({"T":1,"L":-0.2,"R":0.2})
-        time.sleep(0.5)
+        base.send_command({"T":1,"L":-0.1,"R":0.1})
+        time.sleep(0.3)
         base.send_command({"T":1,"L":0,"R":0})
         print("run: move left")
     
@@ -70,8 +70,8 @@ class CAR:
         self.left()
 
     def right(self):                # 右转
-        base.send_command({"T":1,"L":0.2,"R":-0.2})
-        time.sleep(0.5)
+        base.send_command({"T":1,"L":0.1,"R":-0.1})
+        time.sleep(0.3)
         base.send_command({"T":1,"L":0,"R":0})
         print("run: move right")
 

carsrun/templates/index-t.html

@@ -4,6 +4,8 @@
     <!-- Required meta tags -->
     <link href="http://cdn.bootcss.com/bootstrap/3.3.5/css/bootstrap.min.css" rel="stylesheet" media="screen">
     <script src="http://cdn.staticfile.org/jquery/2.2.4/jquery.min.js"></script>
+    <!-- <link href="./css/bootstrap.min.css" rel="stylesheet" media="screen">
+    <script src="./js/jquery.min.js"></script> -->
     <meta charset="utf-8">
     <title>Live Video Based on Flask</title>
     <link rel="stylesheet" href='/style.css'/>