otto

apps/tuya.ai/your_otto_robot/app_default.config

@@ -1,6 +1,7 @@
 CONFIG_PROJECT_VERSION="1.0.2"
-CONFIG_APP_UI_EYES_240_240=y
+CONFIG_TUYA_PRODUCT_ID="b05nl7xoijx4fwae"
+CONFIG_APP_UI_EYES_160_160=y
 CONFIG_BOARD_CHOICE_T5AI=y
 CONFIG_BOARD_CHOICE_T5AI_OTTO=y
-CONFIG_T5AI_OTTO_EX_MODULE_ST7789=y
+CONFIG_T5AI_OTTO_EX_MODULE_GC9D01=y
 CONFIG_ENABLE_LIBLVGL=y

apps/tuya.ai/your_otto_robot/src/otto/oscillator.c

@@ -101,7 +101,7 @@ void oscillator_attach(int idx, int pin, bool rev)
     osc->rev = rev;
     osc->pwm_channel = (TUYA_PWM_NUM_E)pin; 
 
-    // 打印初始化信息
+    // Print initialization information
     PR_DEBUG("oscillator_attach: idx=%d, pin=%d, pwm_channel=%d, rev=%s", 
               idx, pin, osc->pwm_channel, rev ? "true" : "false");
 
@@ -277,13 +277,13 @@ void oscillator_write(int idx, int position)
 
     angle = MIN(MAX(angle, 0), 180);
 
-    // 计算占空比
+    // Calculate duty cycle
     uint32_t duty = (uint32_t)((0.5 + angle / 180.0 * 2.0) * 10000 / 20);
 
-    // 计算占空比百分比 (duty/10000 * 100)
+    // Calculate duty cycle percentage (duty/10000 * 100)
     //float duty_percent = (float)duty / 100.0f;
 
-    // 合并的占空比打印信息 - 显示百分比
+    // Combined duty cycle print information - display percentage
    // PR_DEBUG("oscillator_write: idx=%d, pin=%d, pwm_channel=%d, pos=%d->angle=%d(trim:%d), duty=%d, duty_percent=%.1f%%", 
      //         idx, osc->pin, osc->pwm_channel, position, angle, osc->trim, duty, duty_percent);
 

apps/tuya.ai/your_otto_robot/src/otto/otto_movements.c

@@ -23,8 +23,8 @@ static unsigned long millis()
 }
 
 /**
- * @brief 重置所有振荡器相位到初始状态
- * 解决相位累积导致的不协调问题
+ * @brief Reset all oscillator phases to initial state
+ * Resolves coordination issues caused by phase accumulation
  */
 static void otto_reset_all_oscillators(void)
 {
@@ -246,7 +246,7 @@ void otto_execute(int amplitude[SERVO_COUNT], int offset[SERVO_COUNT], int perio
         g_otto.is_otto_resting = false;
     }
 
-    // 关键修复：在开始执行前重置所有振荡器相位，确保每次运动都从相同初始状态开始
+    // Critical fix: Reset all oscillator phases before starting execution to ensure each movement starts from the same initial state
     otto_reset_all_oscillators();
 
     int cycles = (int)steps;
@@ -269,7 +269,7 @@ void otto_home(bool hands_down)
 
     // if (g_otto.is_otto_resting == false) { // Go to rest position only if necessary
 
-        // 关键修复：在回到home位置前，先重置所有振荡器相位，确保状态完全重置
+        // Critical fix: Reset all oscillator phases before returning to home position to ensure complete state reset
         otto_reset_all_oscillators();
 
         int homes[SERVO_COUNT];