From b56b72e38437c73b9350d466742e3ebfd64bf26b Mon Sep 17 00:00:00 2001
From: zyp <1721777650@qq.com>
Date: Wed, 30 Oct 2024 03:43:32 +0800
Subject: [PATCH] complete yuntai control

---
 carsrun/car.py                 |  23 ++++++-
 carsrun/templates/index-t.html | 114 +++++++++++++++++++++++++++++++++
 2 files changed, 136 insertions(+), 1 deletion(-)

diff --git a/carsrun/car.py b/carsrun/car.py
index 6b9bea3..f6b1743 100644
--- a/carsrun/car.py
+++ b/carsrun/car.py
@@ -22,6 +22,11 @@ def is_raspberry_pi5():
 base = BaseController('/dev/ttyAMA0', 115200)
 
 class CAR:
+    input_x = 0
+    input_y = 0
+    input_speed = 0
+    input_acc = 0
+
     def stop(self):                 # 停止运行
         base.send_command({"T":1,"L":0,"R":0})
         print("run: stop move")
@@ -73,4 +78,20 @@ class CAR:
     def D(self):                    # 右转的快捷键
         self.right()
     def d(self):
-        self.right()
\ No newline at end of file
+        self.right()
+
+    def up(self):
+        self.input_y+=10
+        base.gimbal_ctrl(self.input_x, self.input_y, self.input_speed, self.input_acc)
+
+    def down(self):
+        self.input_y-=10
+        base.gimbal_ctrl(self.input_x, self.input_y, self.input_speed, self.input_acc)
+
+    def yunleft(self):
+        self.input_x-=10
+        base.gimbal_ctrl(self.input_x, self.input_y, self.input_speed, self.input_acc)
+
+    def yunright(self):
+        self.input_x+=10
+        base.gimbal_ctrl(self.input_x, self.input_y, self.input_speed, self.input_acc)
\ No newline at end of file
diff --git a/carsrun/templates/index-t.html b/carsrun/templates/index-t.html
index e5626d8..0279e62 100644
--- a/carsrun/templates/index-t.html
+++ b/carsrun/templates/index-t.html
@@ -46,6 +46,23 @@
     </div>
         <button id="rear" type="button" onclick="back()" class="btn btn-lg btn-primary glyphicon glyphicon-circle-arrow-down" style="margin-left: 56px;"> </button>
     </div>
+
+
+    <div>
+        <button id="up" type="button" onclick="up()" class="btn btn-lg btn-primary glyphicon glyphicon-circle-arrow-up" style="margin-left: 56px;"> </button>
+    </div>
+    <!-- <div>
+        <button id="printButton" type="button" onclick="printClicked()" class="btn btn-lg btn-primary">打印点击</button>
+    </div> -->
+    
+    <div>
+        <button type="button" onclick="yunleft()" class="btn btn-lg btn-primary glyphicon glyphicon-circle-arrow-left" > </button>
+        <button type="button" onclick="guiwei()" class="btn btn-lg btn-primary glyphicon glyphicon-stop"> </button>
+        <button type="button" onclick="yunright()" class="btn btn-lg btn-primary glyphicon glyphicon-circle-arrow-right" > </button>
+
+    </div>
+        <button id="down" type="button" onclick="down()" class="btn btn-lg btn-primary glyphicon glyphicon-circle-arrow-down" style="margin-left: 56px;"> </button>
+    </div>
 </div>
 
 <script src='/Decoder.js'></script>
@@ -168,9 +185,106 @@
                 },
                 error : function() {
     
+                }
+            });
+        }    function up() {
+            // console.log("132465789891651354684");
+            $.ajax({
+                
+                type: "GET",                  
+                dataType: "json",              
+                url: "/control/up" ,          
+                data: $('#form1').serialize(), //提交的数据
+                success: function (result) {
+                    console.log(result);       //打印服务端返回的数据(调试用)
+                    if (result.resultCode == 200) {
+                    }
+                    ;
+                },
+                error : function() {
+    
+                }
+            });
+        }    function yunleft() {
+            // console.log("132465789891651354684");
+            $.ajax({
+                
+                type: "GET",                  
+                dataType: "json",              
+                url: "/control/yunleft" ,          
+                data: $('#form1').serialize(), //提交的数据
+                success: function (result) {
+                    console.log(result);       //打印服务端返回的数据(调试用)
+                    if (result.resultCode == 200) {
+                    }
+                    ;
+                },
+                error : function() {
+    
+                }
+            });
+            
+        }
+            function yunright() {
+            // console.log("132465789891651354684");
+            $.ajax({
+                
+                type: "GET",                  
+                dataType: "json",              
+                url: "/control/yunright" ,          
+                data: $('#form1').serialize(), //提交的数据
+                success: function (result) {
+                    console.log(result);       //打印服务端返回的数据(调试用)
+                    if (result.resultCode == 200) {
+                    }
+                    ;
+                },
+                error : function() {
+    
+                }
+            });
+            
+        }
+            function down() {
+            // console.log("132465789891651354684");
+            $.ajax({
+                
+                type: "GET",                  
+                dataType: "json",              
+                url: "/control/down" ,          
+                data: $('#form1').serialize(), //提交的数据
+                success: function (result) {
+                    console.log(result);       //打印服务端返回的数据(调试用)
+                    if (result.resultCode == 200) {
+                    }
+                    ;
+                },
+                error : function() {
+    
+                }
+            });
+            
+        }
+            function guiwei() {
+            // console.log("132465789891651354684");
+            $.ajax({
+                
+                type: "GET",                  
+                dataType: "json",              
+                url: "/control/guiwei" ,          
+                data: $('#form1').serialize(), //提交的数据
+                success: function (result) {
+                    console.log(result);       //打印服务端返回的数据(调试用)
+                    if (result.resultCode == 200) {
+                    }
+                    ;
+                },
+                error : function() {
+    
                 }
             });
         }
+        
     </script>
     <script>
         function refreshPage() {