镜像

agv_app/static/js/setting.js

@@ -865,35 +865,16 @@ createApp({
         body: JSON.stringify({ angles: targetAngles, speed: 500 })
       })
     },
-    async invertAngles() {
+    async mirrorAngles() {
-      // 每个角度取反：10 → -10, -10 → 10
+      // 镜像角度：只取反 J1，其它不变
-      const inverted = this.angleInputs.map(a => -a)
+      const mirrored = [...this.angleInputs]
-      
+      mirrored[0] = -mirrored[0]  // 只取反 J1
-      // 🔍 角度范围检查（myCobot 630 限位）
-      const limits = [
-        [-180, 180],  // J1
-        [-90, 90],     // J2
-        [-90, 90],     // J3
-        [-180, 180],   // J4
-        [-90, 90],     // J5
-        [-180, 180]    // J6
-      ]
-      const outOfRange = []
-      for (let i = 0; i < 6; i++) {
-        if (inverted[i] < limits[i][0] || inverted[i] > limits[i][1]) {
-          outOfRange.push('J' + (i+1) + '=' + inverted[i].toFixed(1) + '° (范围: ' + limits[i][0] + '~' + limits[i][1] + '°)')
-        }
-      }
-      if (outOfRange.length > 0) {
-        alert('⚠️ 角度超出范围:\n' + outOfRange.join('\n'))
-        return  // 不执行反转
-      }
       
       // 应用到机械臂
       try {
-        await this.applyAngles(inverted)
+        await this.applyAngles(mirrored)
-        this.angleInputs = inverted  // 只有在成功后才更新显示
+        this.angleInputs = mirrored  // 只有在成功后才更新显示
-        alert('✅ 角度已反转并应用')
+        alert('✅ 角度已镜像并应用（仅 J1 取反）')
       } catch (e) {
         alert('❌ 应用失败: ' + e.message)
       }

agv_app/templates/setting.html

@@ -510,7 +510,7 @@
               <div class="btn-row">
                 <button class="btn btn-primary" @click="refreshAngles">🔄 刷新角度</button>
                 <button class="btn btn-secondary" @click="applyAngles">✅ 应用角度</button>
-                <button class="btn btn-warning" @click="invertAngles">🔄 反转角度</button>
+                <button class="btn btn-warning" @click="mirrorAngles">🔄 镜像角度</button>
               </div>
             </div>
           </div>
@@ -585,6 +585,6 @@
   </div>
 
   <script src="/static/js/vue3.global.prod.js?v=20260526a"></script>
-  <script src="/static/js/setting.js?v=20260529a"></script>
+  <script src="/static/js/setting.js?v=20260529b"></script>
 </body>
 </html>