智慧生活科技專業社群

操控說明：
1.打開手機WiFi找到RobotDogXX，XX是編號，每隻樹藝森林靈犬都不一樣。
2.連線，輸入密碼：12345678
3.打開瀏覽器輸入：http://192.168.4.1，即可操作。
程式：
/*
  RobotDog ESP32（離線內建「積木流程」入門版：可拖拉排序、按 Play 才執行）
  - /            按鈕控制台
  - /blockly     離線積木流程頁（自製輕量積木：可拖拉排序、按 Play 播放）
  - POST /api/run   送入流程 JSON
  - POST /api/stop  停止並清空流程
  - GET  /api/status 顯示狀態（含 runner 狀態）

  本版新增積木：
  - 單獨「前進 / 後退 / 左轉 / 右轉」（各自可設定秒數，時間到自動停止）
  - 原本的「移動(前/後/左/右)」仍保留（下拉選方向）

  注意：
  - standUp/getDown/sitDown/stretch/headForward/headBackward 為阻塞函式（入門版可接受）
  - 若你想讓流程播放時網頁依然極順（不中斷 server.handleClient），下一版我會把這些動作改成非阻塞狀態機
*/

#include <Arduino.h>
#include <WiFi.h>
#include <WebServer.h>
#include <ESP32Servo.h>
#include <Adafruit_NeoPixel.h>
#include <Preferences.h>
#include <ArduinoJson.h>

// 資料型別定義
typedef signed char      wex_s8_t;
typedef signed short     wex_s16_t;
typedef signed long      wex_s32_t;
typedef signed long long wex_s64_t;
typedef unsigned char      wex_u8_t;
typedef unsigned short     wex_u16_t;
typedef unsigned long      wex_u32_t;
typedef unsigned long long wex_u64_t;
typedef float  wex_f32_t;
typedef double wex_f64_t;

/* ========== 引腳定義 ========== */
#define WEX_LED_PIN 8
#define EYES_CTRL_PIN 6
#define LEFTHAND_CTRL_PIN 0
#define RIGHTHAND_CTRL_PIN 1
#define LEFTLEG_CTRL_PIN 10
#define RIGHTLEG_CTRL_PIN 7
#define TOUCH_SW_PIN 4
#define EYES_NUM 2
#define THERSHOLD_ANGLE 65

/* ========== 枚舉 ========== */
enum lightModel_t { LIGHT_MODEL_NORMAL=0, LIGHT_MODEL_BREATHING, LIGHT_MODEL_COLORFUL };
enum actionModel_t {
  ACTION_MODEL_NONE=0, ACTION_MODEL_FORWARD, ACTION_MODEL_LEFT, ACTION_MODEL_RIGHT, ACTION_MODEL_BACKWARD,
  ACTION_MODEL_STANDUP, ACTION_MODEL_GETDOWN, ACTION_MODEL_SITDOWN, ACTION_MODEL_STRETCH,
  ACTION_MODEL_HANDSHAKE, ACTION_MODEL_CRAWL, ACTION_MODEL_LEFTRIGHT, ACTION_MODEL_FRONTBACK,
  ACTION_MODEL_HEADFWD, ACTION_MODEL_HEADBACK
};
enum stateModel_t { STATE_MODEL_IDLE=0, STATE_MODEL_MOVING, STATE_MODEL_STANDUP, STATE_MODEL_GETDOWN, STATE_MODEL_SITDOWN };

/* ========== 舵機/狀態變數 ========== */
Servo leftHandServo, rightHandServo, leftLegServo, rightLegServo;
int leftHandAngle=90, rightHandAngle=90, leftLegAngle=90, rightLegAngle=90;
uint8_t actionModel=ACTION_MODEL_NONE;
uint8_t stateModel=STATE_MODEL_IDLE;
uint8_t moveSpeed=6;
uint8_t stepFlag=0;

/* ========== LED 相關 ========== */
Adafruit_NeoPixel strip(EYES_NUM, EYES_CTRL_PIN, NEO_GRB + NEO_KHZ800);
uint8_t lightLevel=0;                 // 0~255
uint8_t lightModel=LIGHT_MODEL_NORMAL;// 0/1/2
uint8_t ledRGB[3] = {255,255,255};

/* ========== 校準 ========== */
Preferences preferences;
int8_t leftHandOffset=0, rightHandOffset=0, leftLegOffset=0, rightLegOffset=0;

/* ========== 電池/版本 ========== */
const char* pcBatteryStatusStr[6]={"未知狀態","電池放電中","低電預警","電量耗盡","電池充電中","電池已充滿"};
uint8_t batteryStatus = 0;
uint32_t firmwareVersion = 0x010101;
uint32_t hardwareVersion = 0x0000;

/* ========== Web 控制 ========== */
WebServer server(80);
bool webCtrlFlag = false; // 網頁正在控制時，忽略觸碰按鍵

/* ========== 函式宣告 ========== */
void updateLED(uint8_t r,uint8_t g,uint8_t b,uint8_t level);
void updateServo(uint8_t lh,uint8_t rh,uint8_t ll,uint8_t rl);
void standUp();
void getDown();
void sitDown();
void stretch();
void headForward();
void headBackward();
void saveOffsetsToFlash();

/* ========== 內建 HTML：按鈕控制台 ========== */
static const char INDEX_HTML[] PROGMEM = R"HTML(
<!doctype html><html lang="zh-Hant"><head>
<meta charset="utf-8"/>
<meta name="viewport" content="width=device-width,initial-scale=1"/>
<title>RobotDog 控制台</title>
<style>
body{font-family:system-ui,-apple-system,"Segoe UI",Arial; margin:16px; background:#f6f7fb;}
.card{background:#fff;border-radius:14px;padding:14px;margin:10px 0;box-shadow:0 2px 10px rgba(0,0,0,.06);}
.row{display:flex;gap:10px;flex-wrap:wrap}
button{border:0;border-radius:12px;padding:14px 16px;font-size:16px;background:#2f6fed;color:#fff;min-width:120px}
button.secondary{background:#555}
button.danger{background:#d94a38}
label{display:block;margin:10px 0 6px}
input[type=range]{width:100%}
.small{color:#666;font-size:13px}
.grid{display:grid;grid-template-columns:repeat(3,minmax(0,1fr));gap:10px}
a{color:#2f6fed;text-decoration:none}
</style></head><body>
<h2>雲林官邸兒童館</h2>
<h2>RobotDog 網頁控制</h2>
<div class="small"><a href="/blockly">切換到：離線積木流程 /blockly</a></div>

<div class="card">
  <div class="small" id="status">讀取狀態中…</div>
</div>

<div class="card">
  <h3>移動</h3>
  <div class="grid">
    <button id="btnF">前進</button>
    <button class="secondary" id="btnS">停止</button>
    <button id="btnB">後退</button>
    <button id="btnL">左轉</button>
    <button id="btnStand">站立</button>
    <button id="btnR">右轉</button>
  </div>
</div>

<div class="card">
  <h3>動作</h3>
  <div class="row">
    <button id="btnDown" class="secondary">趴下</button>
    <button id="btnSit" class="secondary">坐下</button>
    <button id="btnStretch" class="secondary">伸懶腰</button>
    <button id="btnShake" class="secondary">握手(按住)</button>
    <button id="btnCrawl" class="secondary">匍匐(按住)</button>
    <button id="btnLR" class="secondary">左右搖(按住)</button>
    <button id="btnFB" class="secondary">前後搖(按住)</button>
    <button id="btnHF" class="secondary">前頂</button>
    <button id="btnHB" class="secondary">後頂</button>
  </div>
</div>

<div class="card">
  <h3>動作速度</h3>
  <label>速度（1~10）: <span id="spdV">6</span></label>
  <input id="spd" type="range" min="1" max="10" value="6"/>
</div>

<div class="card">
  <h3>舵機角度</h3>
  <label>左手 <span id="lhV">90</span></label><input id="lh" type="range" min="0" max="180" value="90">
  <label>右手 <span id="rhV">90</span></label><input id="rh" type="range" min="0" max="180" value="90">
  <label>左腳 <span id="llV">90</span></label><input id="ll" type="range" min="0" max="180" value="90">
  <label>右腳 <span id="rlV">90</span></label><input id="rl" type="range" min="0" max="180" value="90">
  <div class="small">拖曳會即時送出（建議站立狀態校準/調整）。</div>
</div>

<div class="card">
  <h3>眼睛燈效</h3>
  <label>亮度（0~100）: <span id="lvV">0</span></label>
  <input id="lv" type="range" min="0" max="100" value="0"/>
  <div class="row">
    <button class="secondary" id="m0">正常</button>
    <button class="secondary" id="m1">呼吸</button>
    <button class="secondary" id="m2">彩燈</button>
  </div>
  <label>顏色</label>
  <input id="col" type="color" value="#ffffff"/>
</div>

<div class="card">
  <h3>校準</h3>
  <div class="row">
    <button class="danger" id="calReset">校準重設</button>
    <button id="calSet">校準寫入</button>
  </div>
  <div class="small">校準寫入：需站立且四肢接近 90° 才允許。</div>
</div>

<script>
const qs = o => Object.entries(o).map(([k,v])=>`${k}=${encodeURIComponent(v)}`).join("&");
async function api(path, params){ await fetch(path + "?" + qs(params)); }
function hold(btn, name){
  const down = () => api("/api/cmd",{name, v:1});
  const up   = () => api("/api/cmd",{name, v:0});
  btn.addEventListener("pointerdown", e=>{e.preventDefault(); down();});
  btn.addEventListener("pointerup",   e=>{e.preventDefault(); up();});
  btn.addEventListener("pointercancel",up);
  btn.addEventListener("pointerleave",up);
}
function click(btn, name){ btn.addEventListener("click", ()=>api("/api/cmd",{name, v:1})); }

hold(document.getElementById("btnF"),"forward");
hold(document.getElementById("btnB"),"backward");
hold(document.getElementById("btnL"),"left");
hold(document.getElementById("btnR"),"right");
click(document.getElementById("btnS"),"stop");
click(document.getElementById("btnStand"),"standup");
click(document.getElementById("btnDown"),"getdown");
click(document.getElementById("btnSit"),"sitdown");
click(document.getElementById("btnStretch"),"stretch");
hold(document.getElementById("btnShake"),"handshake");
hold(document.getElementById("btnCrawl"),"crawl");
hold(document.getElementById("btnLR"),"leftright");
hold(document.getElementById("btnFB"),"frontback");
click(document.getElementById("btnHF"),"headfwd");
click(document.getElementById("btnHB"),"headback");

const spd=document.getElementById("spd"), spdV=document.getElementById("spdV");
spd.oninput=()=>{spdV.textContent=spd.value; api("/api/cmd",{name:"speed", v:spd.value});};

const ids=["lh","rh","ll","rl"];
function sendServo(){
  api("/api/servo",{
    lh:document.getElementById("lh").value,
    rh:document.getElementById("rh").value,
    ll:document.getElementById("ll").value,
    rl:document.getElementById("rl").value
  });
}
for(const id of ids){
  const el=document.getElementById(id);
  const out=document.getElementById(id+"V");
  el.oninput=()=>{out.textContent=el.value; sendServo();};
}

const lv=document.getElementById("lv"), lvV=document.getElementById("lvV");
lv.oninput=()=>{lvV.textContent=lv.value; api("/api/eyes",{level:lv.value});};

document.getElementById("m0").onclick=()=>api("/api/eyes",{mode:0});
document.getElementById("m1").onclick=()=>api("/api/eyes",{mode:1});
document.getElementById("m2").onclick=()=>api("/api/eyes",{mode:2});

const col=document.getElementById("col");
col.oninput=()=>{
  const c=col.value;
  const r=parseInt(c.slice(1,3),16), g=parseInt(c.slice(3,5),16), b=parseInt(c.slice(5,7),16);
  api("/api/eyes",{r,g,b});
};

document.getElementById("calReset").onclick=()=>api("/api/calib",{name:"reset",v:1});
document.getElementById("calSet").onclick=()=>api("/api/calib",{name:"set",v:1});

async function poll(){
  try{
    const r=await fetch("/api/status");
    const j=await r.json();
    document.getElementById("status").textContent =
      `FW ${j.fw} / HW ${j.hw}｜電池：${j.battery}｜狀態：${j.state}｜動作：${j.action}｜流程：${j.runner||"idle"}`;
  }catch(e){}
  setTimeout(poll,800);
}
poll();
</script>
</body></html>
)HTML";

/* ========== 內建 HTML：離線積木流程（自製拖拉排序） ========== */
static const char BLOCKLY_HTML[] PROGMEM = R"HTML(
<!doctype html><html lang="zh-Hant"><head>
<meta charset="utf-8"/>
<meta name="viewport" content="width=device-width,initial-scale=1"/>
<title>RobotDog 離線積木流程</title>
<style>
:root{--bg:#f6f7fb;--card:#fff;--shadow:0 2px 10px rgba(0,0,0,.06);--blue:#2f6fed;--gray:#555;}
body{font-family:system-ui,-apple-system,"Segoe UI",Arial;margin:0;background:var(--bg);}
#top{position:sticky;top:0;z-index:10;background:var(--card);box-shadow:var(--shadow);padding:10px 12px;display:flex;gap:10px;align-items:center;flex-wrap:wrap}
button{border:0;border-radius:10px;padding:10px 14px;font-size:15px;background:var(--blue);color:#fff;cursor:pointer}
button.secondary{background:var(--gray)}
button.danger{background:#d94a38}
.small{color:#666;font-size:13px}
a{color:var(--blue);text-decoration:none}
.wrap{padding:12px}
.panel{background:var(--card);border-radius:14px;box-shadow:var(--shadow);padding:12px;margin:10px 0}
.h{font-weight:700;margin:0 0 8px}
.palette{display:flex;gap:8px;flex-wrap:wrap}
.pbtn{background:#eef2ff;color:#183b9b;border:1px solid #dbe5ff}
.pbtn:active{transform:translateY(1px)}
.list{display:flex;flex-direction:column;gap:10px;margin-top:10px}
.block{
  background:#fff;border:1px solid #e7e9f2;border-radius:12px;padding:10px;
  box-shadow:0 1px 6px rgba(0,0,0,.05); display:flex; gap:10px; align-items:flex-start
}
.drag{
  width:34px;height:34px;border-radius:10px;background:#f1f3f8;color:#333;display:flex;align-items:center;justify-content:center;
  user-select:none;cursor:grab;font-weight:700
}
.body{flex:1}
.row{display:flex;gap:8px;flex-wrap:wrap;align-items:center}
.sel,input[type=number],input[type=color]{padding:8px 10px;border-radius:10px;border:1px solid #d9ddea;background:#fff;font-size:14px}
input[type=number]{width:90px}
.badge{display:inline-block;background:#f1f3f8;border-radius:999px;padding:4px 10px;font-size:13px;color:#333}
.x{background:#f7f0f0;color:#b0302a;border:1px solid #f1d1cf;border-radius:10px;padding:6px 10px;cursor:pointer}
.hint{color:#666;font-size:13px;margin-top:6px;line-height:1.4}
.dropHint{border:2px dashed #b9c7ff;background:#f7f9ff}
</style></head><body>
<h2>RobotDog 雲林官邸兒童館</h2>
<h2>RobotDog 積木編程</h2>
<div id="top">
  <button id="btnPlay">Play</button>
  <button class="secondary" id="btnStop">Stop</button>
  <button class="danger" id="btnClear">清空</button>
  <span class="small" id="msg">先用「新增積木」加入步驟，拖拉排序後按 Play</span>
  <span class="small" style="margin-left:auto"><a href="/">回到按鈕控制 /</a></span>
</div>

<div class="wrap">
  <div class="panel">
    <div class="h">新增積木</div>
    <div class="palette">
      <button class="pbtn" data-add="standup">站立</button>
      <button class="pbtn" data-add="getdown">趴下</button>
      <button class="pbtn" data-add="sitdown">坐下</button>
      <button class="pbtn" data-add="stretch">伸懶腰</button>
      <button class="pbtn" data-add="headfwd">前頂</button>
      <button class="pbtn" data-add="headback">後頂</button>

      <button class="pbtn" data-add="forward">前進</button>
      <button class="pbtn" data-add="backward">後退</button>
      <button class="pbtn" data-add="left">左轉</button>
      <button class="pbtn" data-add="right">右轉</button>

      <button class="pbtn" data-add="move">移動(前/後/左/右)</button>
      <button class="pbtn" data-add="do">互動(握手/匍匐/搖)</button>

      <button class="pbtn" data-add="wait">等待</button>
      <button class="pbtn" data-add="speed">速度</button>
      <button class="pbtn" data-add="eyes">眼睛</button>
    </div>
    <div class="hint">提示：每個積木都可以拖拉排序；刪除請按右側「刪除」。</div>
  </div>

  <div class="panel">
    <div class="h">我的流程（拖拉排序）</div>
    <div id="list" class="list"></div>
    <div class="hint">「前進/後退/左轉/右轉/互動」會依秒數自動停止；「等待」會停留指定秒數；「眼睛」可設定模式/亮度/顏色。</div>
  </div>
</div>

<script>
const list = document.getElementById("list");
const msg  = document.getElementById("msg");

function el(tag, attrs={}, children=[]){
  const e=document.createElement(tag);
  for(const [k,v] of Object.entries(attrs)){
    if(k==="class") e.className=v;
    else if(k==="html") e.innerHTML=v;
    else if(k.startsWith("on")) e.addEventListener(k.slice(2), v);
    else e.setAttribute(k,v);
  }
  for(const c of children) e.appendChild(c);
  return e;
}

function blockTemplate(type){
  const drag = el("div",{class:"drag",draggable:"true",html:"≡"});
  const body = el("div",{class:"body"});
  const del  = el("button",{class:"x",html:"刪除"});
  const wrap = el("div",{class:"block", "data-type": type},[drag, body, del]);

  del.onclick = ()=> wrap.remove();

  wrap.addEventListener("dragover", e=>{
    e.preventDefault();
    wrap.classList.add("dropHint");
  });
  wrap.addEventListener("dragleave", ()=> wrap.classList.remove("dropHint"));
  wrap.addEventListener("drop", e=>{
    e.preventDefault();
    wrap.classList.remove("dropHint");
    const id = e.dataTransfer.getData("text/plain");
    const src = document.querySelector(`.block[data-id="${id}"]`);
    if(src && src!==wrap){
      list.insertBefore(src, wrap);
    }
  });

  drag.addEventListener("dragstart", e=>{
    const id = wrap.getAttribute("data-id");
    e.dataTransfer.setData("text/plain", id);
    e.dataTransfer.effectAllowed = "move";
  });

  return {wrap, body};
}

let uid=0;
function addBlock(type){
  uid++;
  const {wrap, body} = blockTemplate(type);
  wrap.setAttribute("data-id", String(uid));

  const oneLine = (label, cmd)=>{
    body.appendChild(el("div",{class:"row"},[
      el("span",{class:"badge",html:label}),
      el("span",{class:"small",html:`指令：${cmd}`})
    ]));
    wrap.setAttribute("data-cmd", cmd);
  };

  if(type==="standup") oneLine("站立","standup");
  else if(type==="getdown") oneLine("趴下","getdown");
  else if(type==="sitdown") oneLine("坐下","sitdown");
  else if(type==="stretch") oneLine("伸懶腰","stretch");
  else if(type==="headfwd") oneLine("前頂","headfwd");
  else if(type==="headback") oneLine("後頂","headback");

  else if(type==="forward" || type==="backward" || type==="left" || type==="right"){
    wrap.setAttribute("data-cmd", type);
    const names = {forward:"前進", backward:"後退", left:"左轉", right:"右轉"};
    const sec = el("input",{type:"number",min:"0",max:"20",step:"0.5",value:"1"});
    body.appendChild(el("div",{class:"row"},[
      el("span",{class:"badge",html:names[type]}),
      el("span",{class:"small",html:"秒"}),
      sec
    ]));
    wrap._sec = sec;
  }

  else if(type==="wait"){
    wrap.setAttribute("data-cmd","wait");
    const sec = el("input",{type:"number",min:"0",max:"30",step:"0.5",value:"1"});
    body.appendChild(el("div",{class:"row"},[
      el("span",{class:"badge",html:"等待"}),
      el("span",{class:"small",html:"秒數"}),
      sec
    ]));
    wrap._sec = sec;
  }

  else if(type==="speed"){
    wrap.setAttribute("data-cmd","speed");
    const v = el("input",{type:"number",min:"1",max:"10",step:"1",value:"6"});
    body.appendChild(el("div",{class:"row"},[
      el("span",{class:"badge",html:"速度"}),
      el("span",{class:"small",html:"1~10"}),
      v
    ]));
    wrap._v = v;
  }

  else if(type==="move"){
    wrap.setAttribute("data-cmd","move");
    const sel = el("select",{class:"sel"});
    [["前進","forward"],["後退","backward"],["左轉","left"],["右轉","right"]].forEach(([t,val])=>{
      sel.appendChild(el("option",{value:val,html:t}));
    });
    const sec = el("input",{type:"number",min:"0",max:"20",step:"0.5",value:"1"});
    body.appendChild(el("div",{class:"row"},[
      el("span",{class:"badge",html:"移動"}),
      sel,
      el("span",{class:"small",html:"秒"}),
      sec
    ]));
    wrap._sel = sel; wrap._sec = sec;
  }

  else if(type==="do"){
    wrap.setAttribute("data-cmd","do");
    const sel = el("select",{class:"sel"});
    [["握手","handshake"],["匍匐","crawl"],["左右搖","leftright"],["前後搖","frontback"]].forEach(([t,val])=>{
      sel.appendChild(el("option",{value:val,html:t}));
    });
    const sec = el("input",{type:"number",min:"0",max:"20",step:"0.5",value:"1"});
    body.appendChild(el("div",{class:"row"},[
      el("span",{class:"badge",html:"互動"}),
      sel,
      el("span",{class:"small",html:"秒"}),
      sec
    ]));
    wrap._sel = sel; wrap._sec = sec;
  }

  else if(type==="eyes"){
    wrap.setAttribute("data-cmd","eyes");
    const mode = el("select",{class:"sel"});
    [["正常","0"],["呼吸","1"],["彩燈","2"]].forEach(([t,val])=>{
      mode.appendChild(el("option",{value:val,html:t}));
    });
    const lv = el("input",{type:"number",min:"0",max:"100",step:"1",value:"60"});
    const col = el("input",{type:"color",value:"#ffffff"});
    body.appendChild(el("div",{class:"row"},[
      el("span",{class:"badge",html:"眼睛"}),
      el("span",{class:"small",html:"模式"}),
      mode,
      el("span",{class:"small",html:"亮度"}),
      lv,
      el("span",{class:"small",html:"顏色"}),
      col
    ]));
    wrap._mode=mode; wrap._lv=lv; wrap._col=col;
  }

  list.appendChild(wrap);
}

document.querySelectorAll("[data-add]").forEach(b=>{
  b.addEventListener("click", ()=> addBlock(b.getAttribute("data-add")));
});

async function postJSON(url, obj){
  const r = await fetch(url,{method:"POST",headers:{"Content-Type":"application/json"},body:JSON.stringify(obj)});
  const t = await r.text();
  return {ok:r.ok, text:t};
}

function buildSteps(){
  const blocks = [...document.querySelectorAll(".block")];
  const steps = [];
  for(const b of blocks){
    const type = b.getAttribute("data-type");
    const cmd0 = b.getAttribute("data-cmd");

    if(cmd0==="wait"){
      const s = Number(b._sec.value||0);
      steps.push({cmd:"wait", ms: Math.round(s*1000)});
      continue;
    }
    if(cmd0==="speed"){
      const v = Number(b._v.value||6);
      steps.push({cmd:"speed", v: v});
      continue;
    }

    if(cmd0==="forward" || cmd0==="backward" || cmd0==="left" || cmd0==="right"){
      const s = Number(b._sec.value||0);
      steps.push({cmd: cmd0, ms: Math.round(s*1000)});
      steps.push({cmd:"wait", ms: 80});
      continue;
    }

    if(cmd0==="move"){
      const cmd = b._sel.value;
      const s = Number(b._sec.value||0);
      steps.push({cmd: cmd, ms: Math.round(s*1000)});
      steps.push({cmd:"wait", ms: 80});
      continue;
    }
    if(cmd0==="do"){
      const cmd = b._sel.value;
      const s = Number(b._sec.value||0);
      steps.push({cmd: cmd, ms: Math.round(s*1000)});
      steps.push({cmd:"wait", ms: 80});
      continue;
    }
    if(cmd0==="eyes"){
      const mode = Number(b._mode.value||0);
      const lv = Number(b._lv.value||0);
      const color = b._col.value||"#ffffff";
      steps.push({cmd:"eyes", v: mode, ms: lv, color});
      continue;
    }

    const mapOnce = {
      "standup":"standup","getdown":"getdown","sitdown":"sitdown",
      "stretch":"stretch","headfwd":"headfwd","headback":"headback"
    };
    const once = mapOnce[type];
    if(once) steps.push({cmd: once});
  }
  return steps;
}

document.getElementById("btnPlay").onclick = async ()=>{
  const steps = buildSteps();
  if(!steps.length){ msg.textContent="沒有積木"; return; }
  const res = await postJSON("/api/run",{steps});
  msg.textContent = res.ok ? "已送出，開始播放" : ("送出失敗："+res.text);
};

document.getElementById("btnStop").onclick = async ()=>{
  const r = await fetch("/api/stop",{method:"POST"});
  msg.textContent = r.ok ? "已停止" : "停止失敗";
};

document.getElementById("btnClear").onclick = ()=>{
  list.innerHTML="";
  msg.textContent="已清空";
};

// 預設示例流程
addBlock("standup");
addBlock("speed");
addBlock("forward");
addBlock("do");
addBlock("getdown");
</script>
</body></html>
)HTML";

/* ========== Web API handlers ========== */
String verToStr(uint32_t v){
  char s[16]; sprintf(s,"V%d.%d.%d",(v>>16)&0xFF,(v>>8)&0xFF,v&0xFF);
  return String(s);
}
String hwToStr(uint32_t v){
  char s[16]; sprintf(s,"V%d.%d",(v>>8)&0xFF,v&0xFF);
  return String(s);
}

void handleRoot(){ server.send(200, "text/html; charset=utf-8", INDEX_HTML); }
void handleBlockly(){ server.send(200, "text/html; charset=utf-8", BLOCKLY_HTML); }

void handleCmd(){
  String name = server.arg("name");
  int v = server.arg("v").toInt();
  webCtrlFlag = true;

  if(name=="stop"){
    actionModel = ACTION_MODEL_NONE;
    webCtrlFlag = false;
    stepFlag = 0;
  }else if(name=="speed"){
    moveSpeed = constrain(v,1,10) * 2;
  }else if(name=="forward"){
    if(v){ standUp(); actionModel=ACTION_MODEL_FORWARD; }
    else { actionModel=ACTION_MODEL_NONE; webCtrlFlag=false; }
  }else if(name=="backward"){
    if(v){ standUp(); actionModel=ACTION_MODEL_BACKWARD; }
    else { actionModel=ACTION_MODEL_NONE; webCtrlFlag=false; }
  }else if(name=="left"){
    if(v){ standUp(); actionModel=ACTION_MODEL_LEFT; }
    else { actionModel=ACTION_MODEL_NONE; webCtrlFlag=false; }
  }else if(name=="right"){
    if(v){ standUp(); actionModel=ACTION_MODEL_RIGHT; }
    else { actionModel=ACTION_MODEL_NONE; webCtrlFlag=false; }
  }else if(name=="standup"){
    actionModel = ACTION_MODEL_STANDUP;
  }else if(name=="getdown"){
    actionModel = ACTION_MODEL_GETDOWN;
  }else if(name=="sitdown"){
    actionModel = ACTION_MODEL_SITDOWN;
  }else if(name=="stretch"){
    actionModel = ACTION_MODEL_STRETCH;
  }else if(name=="handshake"){
    if(v){ sitDown(); actionModel=ACTION_MODEL_HANDSHAKE; }
    else { actionModel=ACTION_MODEL_NONE; webCtrlFlag=false; }
  }else if(name=="crawl"){
    if(v){ sitDown(); actionModel=ACTION_MODEL_CRAWL; }
    else { actionModel=ACTION_MODEL_NONE; webCtrlFlag=false; }
  }else if(name=="leftright"){
    if(v){ standUp(); actionModel=ACTION_MODEL_LEFTRIGHT; }
    else { actionModel=ACTION_MODEL_NONE; webCtrlFlag=false; }
  }else if(name=="frontback"){
    if(v){ standUp(); actionModel=ACTION_MODEL_FRONTBACK; }
    else { actionModel=ACTION_MODEL_NONE; webCtrlFlag=false; }
  }else if(name=="headfwd"){
    actionModel = ACTION_MODEL_HEADFWD;
  }else if(name=="headback"){
    actionModel = ACTION_MODEL_HEADBACK;
  }

  server.send(200,"text/plain","OK");
}

void handleServo(){
  leftHandAngle  = constrain(server.arg("lh").toInt(),0,180);
  rightHandAngle = constrain(server.arg("rh").toInt(),0,180);
  leftLegAngle   = constrain(server.arg("ll").toInt(),0,180);
  rightLegAngle  = constrain(server.arg("rl").toInt(),0,180);
  updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
  server.send(200,"text/plain","OK");
}

void handleEyes(){
  if(server.hasArg("level")){
    int lv = constrain(server.arg("level").toInt(),0,100);
    lightLevel = map(lv,0,100,0,255);
  }
  if(server.hasArg("mode")){
    lightModel = constrain(server.arg("mode").toInt(),0,2);
  }
  if(server.hasArg("r") && server.hasArg("g") && server.hasArg("b")){
    ledRGB[0]=constrain(server.arg("r").toInt(),0,255);
    ledRGB[1]=constrain(server.arg("g").toInt(),0,255);
    ledRGB[2]=constrain(server.arg("b").toInt(),0,255);
  }
  if(lightLevel==0) updateLED(0,0,0,0);
  else updateLED(ledRGB[0],ledRGB[1],ledRGB[2],lightLevel);
  server.send(200,"text/plain","OK");
}

void handleCalib(){
  String name = server.arg("name");
  if(name=="reset"){
    leftHandOffset=rightHandOffset=leftLegOffset=rightLegOffset=0;
    saveOffsetsToFlash();
    server.send(200,"text/plain","RESET_OK");
    return;
  }
  if(name=="set"){
    if(stateModel != STATE_MODEL_STANDUP){
      server.send(400,"text/plain","ERR_NOT_STANDUP");
      return;
    }
    if(abs(leftHandAngle-90)>15 || abs(rightHandAngle-90)>15 || abs(leftLegAngle-90)>15 || abs(rightLegAngle-90)>15){
      server.send(400,"text/plain","ERR_TOO_MUCH_OFFSET");
      return;
    }
    leftHandOffset  += (leftHandAngle-90);
    rightHandOffset += (rightHandAngle-90);
    leftLegOffset   += (leftLegAngle-90);
    rightLegOffset  += (rightLegAngle-90);
    saveOffsetsToFlash();
    leftHandAngle=rightHandAngle=leftLegAngle=rightLegAngle=90;
    updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
    server.send(200,"text/plain","SET_OK");
    return;
  }
  server.send(400,"text/plain","ERR_BAD_REQ");
}

/* ====== Script Runner（入門版）====== */
struct Step {
  char cmd[12];
  int  v;
  int  ms;      // wait: ms；eyes: 亮度(0~100)；持續型：ms
  int  r,g,b;
  bool hasRGB;
};

static const int MAX_STEPS = 40;
Step steps[MAX_STEPS];
int stepCount = 0;

bool runnerRunning = false;
int  runnerIdx = 0;
uint32_t stepEndAt = 0;

String runnerStateStr(){
  if(!runnerRunning) return "idle";
  return "running " + String(runnerIdx) + "/" + String(stepCount);
}

void runnerStop(){
  runnerRunning = false;
  runnerIdx = 0;
  stepCount = 0;
  stepEndAt = 0;
  actionModel = ACTION_MODEL_NONE;
  webCtrlFlag = false;
  stepFlag = 0;
}

String readBody(){
  if(server.hasArg("plain")) return server.arg("plain");
  if(server.hasArg("data")) return server.arg("data");
  return "";
}

bool loadStepsFromJson(const String& body){
  StaticJsonDocument<4096> doc;
  DeserializationError err = deserializeJson(doc, body);
  if(err) return false;

  JsonArray arr = doc["steps"].as<JsonArray>();
  if(arr.isNull()) return false;

  stepCount = 0;
  for(JsonObject o : arr){
    if(stepCount >= MAX_STEPS) break;

    const char* c = o["cmd"] | "";
    if(!c || !c[0]) continue;

    Step &s = steps[stepCount++];
    strncpy(s.cmd, c, sizeof(s.cmd)-1);
    s.cmd[sizeof(s.cmd)-1] = '\0';

    s.v  = o["v"]  | 0;
    s.ms = o["ms"] | 0;

    s.hasRGB = false;
    if(o.containsKey("color")){
      const char* hx = o["color"];
      if(hx && hx[0]=='#' && strlen(hx)==7){
        char rr[3]={hx[1],hx[2],0}, gg[3]={hx[3],hx[4],0}, bb[3]={hx[5],hx[6],0};
        s.r = strtol(rr, nullptr, 16);
        s.g = strtol(gg, nullptr, 16);
        s.b = strtol(bb, nullptr, 16);
        s.hasRGB = true;
      }
    }else if(o.containsKey("r") && o.containsKey("g") && o.containsKey("b")){
      s.r = (int)o["r"]; s.g = (int)o["g"]; s.b = (int)o["b"];
      s.hasRGB = true;
    }
  }
  return stepCount > 0;
}

void handleRun(){
  webCtrlFlag = true;
  String body = readBody();
  if(body.length()==0){
    server.send(400,"text/plain","ERR_NO_BODY");
    return;
  }
  if(!loadStepsFromJson(body)){
    server.send(400,"text/plain","ERR_BAD_JSON");
    return;
  }
  runnerRunning = true;
  runnerIdx = 0;
  stepEndAt = 0;
  server.send(200,"text/plain","RUN_OK");
}

void handleStop(){
  runnerStop();
  server.send(200,"text/plain","STOP_OK");
}

int cmdToAction(const char* cmd){
  if(strcmp(cmd,"forward")==0)   return ACTION_MODEL_FORWARD;
  if(strcmp(cmd,"backward")==0)  return ACTION_MODEL_BACKWARD;
  if(strcmp(cmd,"left")==0)      return ACTION_MODEL_LEFT;
  if(strcmp(cmd,"right")==0)     return ACTION_MODEL_RIGHT;
  if(strcmp(cmd,"handshake")==0) return ACTION_MODEL_HANDSHAKE;
  if(strcmp(cmd,"crawl")==0)     return ACTION_MODEL_CRAWL;
  if(strcmp(cmd,"leftright")==0) return ACTION_MODEL_LEFTRIGHT;
  if(strcmp(cmd,"frontback")==0) return ACTION_MODEL_FRONTBACK;
  return ACTION_MODEL_NONE;
}

void runOnceCmd(const char* cmd){
  if(strcmp(cmd,"standup")==0){ standUp(); stateModel=STATE_MODEL_STANDUP; }
  else if(strcmp(cmd,"getdown")==0){ getDown(); stateModel=STATE_MODEL_GETDOWN; }
  else if(strcmp(cmd,"sitdown")==0){ sitDown(); stateModel=STATE_MODEL_SITDOWN; }
  else if(strcmp(cmd,"stretch")==0){ stretch(); stateModel=STATE_MODEL_STANDUP; }
  else if(strcmp(cmd,"headfwd")==0){ headForward(); stateModel=STATE_MODEL_STANDUP; }
  else if(strcmp(cmd,"headback")==0){ headBackward(); stateModel=STATE_MODEL_STANDUP; }
}

void runnerTick(){
  if(!runnerRunning) return;

  if(runnerIdx >= stepCount){
    runnerStop();
    return;
  }

  uint32_t now = millis();
  if(stepEndAt != 0 && now < stepEndAt){
    return;
  }

  stepEndAt = 0;
  actionModel = ACTION_MODEL_NONE;
  stepFlag = 0;

  Step &s = steps[runnerIdx++];

  if(strcmp(s.cmd,"wait")==0){
    stepEndAt = now + (uint32_t)max(0, s.ms);
    return;
  }

  if(strcmp(s.cmd,"speed")==0){
    int vv = constrain(s.v,1,10);
    moveSpeed = vv * 2;
    return;
  }

  if(strcmp(s.cmd,"eyes")==0){
    int mode = constrain(s.v,0,2);
    int lv100 = constrain(s.ms,0,100);
    lightModel = mode;
    lightLevel = map(lv100,0,100,0,255);

    if(s.hasRGB){
      ledRGB[0]=constrain(s.r,0,255);
      ledRGB[1]=constrain(s.g,0,255);
      ledRGB[2]=constrain(s.b,0,255);
    }
    if(lightLevel==0) updateLED(0,0,0,0);
    else updateLED(ledRGB[0],ledRGB[1],ledRGB[2],lightLevel);
    return;
  }

  if(strcmp(s.cmd,"standup")==0 || strcmp(s.cmd,"getdown")==0 || strcmp(s.cmd,"sitdown")==0 ||
     strcmp(s.cmd,"stretch")==0 || strcmp(s.cmd,"headfwd")==0 || strcmp(s.cmd,"headback")==0){
    runOnceCmd(s.cmd);
    return;
  }

  int act = cmdToAction(s.cmd);
  if(act != ACTION_MODEL_NONE){
    if(act==ACTION_MODEL_HANDSHAKE || act==ACTION_MODEL_CRAWL) sitDown();
    else standUp();
    actionModel = act;
    stepEndAt = now + (uint32_t)max(0, s.ms);
    return;
  }
}

void handleStatus(){
  String json = "{";
  json += "\"fw\":\""+verToStr(firmwareVersion)+"\",";
  json += "\"hw\":\""+hwToStr(hardwareVersion)+"\",";
  json += "\"battery\":\""+String(pcBatteryStatusStr[batteryStatus])+"\",";
  json += "\"state\":"+String(stateModel)+",";
  json += "\"action\":"+String(actionModel)+",";
  json += "\"runner\":\""+runnerStateStr()+"\"";
  json += "}";
  server.send(200,"application/json",json);
}

/* ========== setup / loop ========== */
void setup(){
  setCpuFrequencyMhz(80);
  delay(500);
  Serial.begin(115200);

  pinMode(WEX_LED_PIN, OUTPUT);
  digitalWrite(WEX_LED_PIN, LOW);

  leftHandServo.setPeriodHertz(50);
  rightHandServo.setPeriodHertz(50);
  leftLegServo.setPeriodHertz(50);
  rightLegServo.setPeriodHertz(50);
  leftHandServo.attach(LEFTHAND_CTRL_PIN, 500, 2500);
  rightHandServo.attach(RIGHTHAND_CTRL_PIN, 500, 2500);
  leftLegServo.attach(LEFTLEG_CTRL_PIN, 500, 2500);
  rightLegServo.attach(RIGHTLEG_CTRL_PIN, 500, 2500);

  preferences.begin("servo", false);
  leftHandOffset  = preferences.getInt("leftHandOffset",0);
  rightHandOffset = preferences.getInt("rightHandOffset",0);
  leftLegOffset   = preferences.getInt("leftLegOffset",0);
  rightLegOffset  = preferences.getInt("rightLegOffset",0);
  preferences.end();

  updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);

  strip.begin();
  strip.setBrightness(lightLevel);
  strip.show();

  pinMode(TOUCH_SW_PIN, INPUT_PULLDOWN);

  pinMode(20, INPUT_PULLUP);
  pinMode(21, INPUT_PULLUP);
  delay(100);
  uint8_t pin20Value1 = digitalRead(20);
  uint8_t pin21Value1 = digitalRead(21);
  pinMode(20, INPUT_PULLDOWN);
  pinMode(21, INPUT_PULLDOWN);
  delay(100);
  uint8_t pin20Value2 = digitalRead(20);
  uint8_t pin21Value2 = digitalRead(21);
  if(pin20Value1==HIGH && pin21Value1==HIGH && pin20Value2==LOW && pin21Value2==LOW) hardwareVersion=0x0100;
  else hardwareVersion=0x0101;

  uint64_t chipid = ESP.getEfuseMac();
  char ssid[32];
  sprintf(ssid, "RobotDog30-%02X%02X%02X", (uint8_t)(chipid>>16), (uint8_t)(chipid>>8), (uint8_t)chipid);
  WiFi.mode(WIFI_AP);
  WiFi.softAP(ssid, "12345678");
  IPAddress ip = WiFi.softAPIP();
  Serial.printf("AP SSID: %s\n", ssid);
  Serial.printf("Open: http://%s/\n", ip.toString().c_str());
  Serial.printf("Blocks: http://%s/blockly\n", ip.toString().c_str());

  server.on("/", handleRoot);
  server.on("/blockly", handleBlockly);

  server.on("/api/cmd", handleCmd);
  server.on("/api/servo", handleServo);
  server.on("/api/eyes", handleEyes);
  server.on("/api/calib", handleCalib);
  server.on("/api/status", handleStatus);

  server.on("/api/run", HTTP_POST, handleRun);
  server.on("/api/stop", HTTP_POST, handleStop);

  server.begin();
}

void loop(){
  server.handleClient();
  runnerTick();

  delay(20);

  // 觸碰按鍵：非 web 控制、非流程播放時才啟用
  if(webCtrlFlag == false && runnerRunning == false){
    int SW = digitalRead(TOUCH_SW_PIN);
    if(SW == HIGH){
      wex_u32_t i = 0;
      delay(30);

      while(digitalRead(TOUCH_SW_PIN) == HIGH){
        i++; delay(10);
      }
      if(i < 50){
        while(i < 50){
          delay(10);
          if(digitalRead(TOUCH_SW_PIN) == HIGH) break;
          i++;
        }
      }
      if(i < 50){
        if(leftLegAngle >= 70) actionModel = ACTION_MODEL_GETDOWN;
        else actionModel = ACTION_MODEL_STANDUP;
        delay(500);
      }else{
        lightLevel = lightLevel == 0 ? 128 : 0;
        if(lightLevel == 0) updateLED(0,0,0,0);
        else updateLED(ledRGB[0], ledRGB[1], ledRGB[2], lightLevel);
      }
    }
  }

  // 眼睛燈效
  if(lightLevel){
    if(lightModel==LIGHT_MODEL_NORMAL){
      static uint32_t cnt=0; cnt++;
      if(cnt>=10){ cnt=0; updateLED(ledRGB[0],ledRGB[1],ledRGB[2],lightLevel); }
    }else if(lightModel==LIGHT_MODEL_BREATHING){
      static uint8_t level=0, dir=0; static float s=0.0f;
      float v = (float)lightLevel/50.0f;
      if(dir){
        if(level>=lightLevel){ dir=0; s=(float)lightLevel; }
        else { s+=v; level = s<(float)lightLevel ? (uint8_t)s : lightLevel; }
      }else{
        if(level==0){ dir=1; s=0.0f; }
        else { s-=v; level = s>0.0f ? (uint8_t)s : 0; }
      }
      updateLED(ledRGB[0],ledRGB[1],ledRGB[2],level);
    }else if(lightModel==LIGHT_MODEL_COLORFUL){
      static long firstPixelHue=0;
      firstPixelHue += 256;
      if(firstPixelHue>=65536) firstPixelHue=0;
      for(int i=0;i<strip.numPixels();i++){
        int pixelHue = firstPixelHue + (i * 65536L / strip.numPixels());
        strip.setPixelColor(i, strip.gamma32(strip.ColorHSV(pixelHue)));
      }
      strip.show();
    }
  }

  // 動作狀態機
  switch(actionModel){
    case ACTION_MODEL_FORWARD:{
      if(stepFlag==0){
        leftHandAngle -= moveSpeed;
        rightLegAngle -= moveSpeed;
        if(leftHandAngle <= THERSHOLD_ANGLE) stepFlag = 1;
      }else if(stepFlag==1){
        rightHandAngle += moveSpeed;
        leftLegAngle += moveSpeed;
        if(rightHandAngle >= (180-THERSHOLD_ANGLE)) stepFlag = 2;
      }else if(stepFlag==2){
        leftHandAngle += moveSpeed;
        rightLegAngle += moveSpeed;
        if(leftHandAngle >= 90) stepFlag = 3;
      }else if(stepFlag==3){
        rightHandAngle -= moveSpeed;
        leftLegAngle -= moveSpeed;
        if(rightHandAngle <= THERSHOLD_ANGLE) stepFlag = 4;
      }else if(stepFlag==4){
        leftHandAngle += moveSpeed;
        rightLegAngle += moveSpeed;
        if(leftHandAngle >= (180-THERSHOLD_ANGLE)) stepFlag = 5;
      }else if(stepFlag==5){
        rightHandAngle += moveSpeed;
        leftLegAngle += moveSpeed;
        if(rightHandAngle >= 90) stepFlag = 6;
      }else if(stepFlag==6){
        leftHandAngle -= moveSpeed;
        rightLegAngle -= moveSpeed;
        if(leftHandAngle <= 90) stepFlag = 0;
      }
      updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
      stateModel = STATE_MODEL_MOVING;
    } break;

    case ACTION_MODEL_LEFT:{
      if(stepFlag==0){
        rightHandAngle -= moveSpeed;
        leftLegAngle += moveSpeed;
        if(rightHandAngle <= THERSHOLD_ANGLE) stepFlag = 1;
      }else if(stepFlag==1){
        rightLegAngle += moveSpeed;
        leftHandAngle -= moveSpeed;
        if(rightLegAngle >= (180-THERSHOLD_ANGLE)) stepFlag = 2;
      }else if(stepFlag==2){
        rightHandAngle += moveSpeed;
        leftLegAngle -= moveSpeed;
        if(rightHandAngle >= 90) stepFlag = 3;
      }else if(stepFlag==3){
        rightLegAngle -= moveSpeed;
        leftHandAngle += moveSpeed;
        if(rightLegAngle <= 90) stepFlag = 0;
      }
      updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
      stateModel = STATE_MODEL_MOVING;
    } break;

    case ACTION_MODEL_RIGHT:{
      if(stepFlag==0){
        leftHandAngle -= moveSpeed;
        rightLegAngle += moveSpeed;
        if(leftHandAngle <= THERSHOLD_ANGLE) stepFlag = 1;
      }else if(stepFlag==1){
        leftLegAngle += moveSpeed;
        rightHandAngle -= moveSpeed;
        if(leftLegAngle >= (180-THERSHOLD_ANGLE)) stepFlag = 2;
      }else if(stepFlag==2){
        leftHandAngle += moveSpeed;
        rightLegAngle -= moveSpeed;
        if(leftHandAngle >= 90) stepFlag = 3;
      }else if(stepFlag==3){
        leftLegAngle -= moveSpeed;
        rightHandAngle += moveSpeed;
        if(leftLegAngle <= 90) stepFlag = 0;
      }
      updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
      stateModel = STATE_MODEL_MOVING;
    } break;

    case ACTION_MODEL_BACKWARD:{
      if(stepFlag==0){
        leftHandAngle += moveSpeed;
        rightLegAngle += moveSpeed;
        if(leftHandAngle >= (180-THERSHOLD_ANGLE)) stepFlag = 1;
      }else if(stepFlag==1){
        rightHandAngle -= moveSpeed;
        leftLegAngle -= moveSpeed;
        if(rightHandAngle <= THERSHOLD_ANGLE) stepFlag = 2;
      }else if(stepFlag==2){
        leftHandAngle -= moveSpeed;
        rightLegAngle -= moveSpeed;
        if(leftHandAngle <= 90) stepFlag = 3;
      }else if(stepFlag==3){
        rightHandAngle += moveSpeed;
        leftLegAngle += moveSpeed;
        if(rightHandAngle >= (180-THERSHOLD_ANGLE)) stepFlag = 4;
      }else if(stepFlag==4){
        leftHandAngle -= moveSpeed;
        rightLegAngle -= moveSpeed;
        if(leftHandAngle <= THERSHOLD_ANGLE) stepFlag = 5;
      }else if(stepFlag==5){
        rightHandAngle -= moveSpeed;
        leftLegAngle -= moveSpeed;
        if(rightHandAngle <= 90) stepFlag = 6;
      }else if(stepFlag==6){
        leftHandAngle += moveSpeed;
        rightLegAngle += moveSpeed;
        if(leftHandAngle >= 90) stepFlag = 0;
      }
      updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
      stateModel = STATE_MODEL_MOVING;
    } break;

    case ACTION_MODEL_STANDUP:
      standUp(); actionModel=ACTION_MODEL_NONE; stateModel=STATE_MODEL_STANDUP; break;
    case ACTION_MODEL_GETDOWN:
      getDown(); actionModel=ACTION_MODEL_NONE; stateModel=STATE_MODEL_GETDOWN; break;
    case ACTION_MODEL_SITDOWN:
      sitDown(); actionModel=ACTION_MODEL_NONE; stateModel=STATE_MODEL_SITDOWN; break;
    case ACTION_MODEL_STRETCH:
      stretch(); actionModel=ACTION_MODEL_NONE; stateModel=STATE_MODEL_STANDUP; break;

    case ACTION_MODEL_HANDSHAKE:{
      if(stepFlag==0){
        rightHandAngle -= moveSpeed;
        if(rightHandAngle <= 15) stepFlag = 1;
      }else{
        rightHandAngle += moveSpeed;
        if(rightHandAngle >= 50) stepFlag = 0;
      }
      updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
      stateModel = STATE_MODEL_MOVING;
    } break;

    case ACTION_MODEL_CRAWL:{
      if(stepFlag==0){
        leftHandAngle -= moveSpeed;
        if(leftHandAngle <= 60) stepFlag = 1;
      }else if(stepFlag==1){
        rightHandAngle += moveSpeed;
        if(rightHandAngle >= 140) stepFlag = 2;
      }else if(stepFlag==2){
        leftHandAngle += moveSpeed;
        if(leftHandAngle >= 100) stepFlag = 3;
      }else if(stepFlag==3){
        rightHandAngle -= moveSpeed;
        if(rightHandAngle <= 60) stepFlag = 4;
      }else if(stepFlag==4){
        leftHandAngle += moveSpeed;
        if(leftHandAngle >= 140) stepFlag = 5;
      }else if(stepFlag==5){
        rightHandAngle += moveSpeed;
        if(rightHandAngle >= 100) stepFlag = 0;
      }
      updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
      stateModel = STATE_MODEL_MOVING;
    } break;

    case ACTION_MODEL_LEFTRIGHT:{
      if(stepFlag==0){
        while((abs(rightHandAngle-20)>moveSpeed) || (abs(rightLegAngle-20)>moveSpeed)){
          if(rightHandAngle < 20) rightHandAngle += moveSpeed;
          else if(rightHandAngle > 20) rightHandAngle -= moveSpeed;
          if(rightLegAngle < 20) rightLegAngle += moveSpeed;
          else if(rightLegAngle > 20) rightLegAngle -= moveSpeed;
          delay(10);
          updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
        }
        stepFlag = 1;
      }else if(stepFlag==1){
        leftHandAngle  -= moveSpeed;
        rightHandAngle += moveSpeed;
        leftLegAngle   -= moveSpeed;
        rightLegAngle  += moveSpeed;
        if(leftHandAngle <= 20) stepFlag = 2;
      }else if(stepFlag==2){
        leftHandAngle  += moveSpeed;
        rightHandAngle -= moveSpeed;
        leftLegAngle   += moveSpeed;
        rightLegAngle  -= moveSpeed;
        if(leftHandAngle >= 90) stepFlag = 0;
      }
      updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
      stateModel = STATE_MODEL_MOVING;
    } break;

    case ACTION_MODEL_FRONTBACK:{
      if(stepFlag==0){
        while((abs(leftLegAngle-160)>moveSpeed) || (abs(rightLegAngle-160)>moveSpeed)){
          if(leftLegAngle > 160) leftLegAngle -= moveSpeed;
          else if(leftLegAngle < 160) leftLegAngle += moveSpeed;
          if(rightLegAngle > 160) rightLegAngle -= moveSpeed;
          else if(rightLegAngle < 160) rightLegAngle += moveSpeed;
          delay(10);
          updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
        }
        stepFlag = 1;
      }else if(stepFlag==1){
        leftHandAngle  -= moveSpeed;
        rightHandAngle -= moveSpeed;
        leftLegAngle   -= moveSpeed;
        rightLegAngle  -= moveSpeed;
        if(leftHandAngle <= 20) stepFlag = 2;
      }else if(stepFlag==2){
        leftHandAngle  += moveSpeed;
        rightHandAngle += moveSpeed;
        leftLegAngle   += moveSpeed;
        rightLegAngle  += moveSpeed;
        if(leftHandAngle >= 90) stepFlag = 0;
      }
      updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
      stateModel = STATE_MODEL_MOVING;
    } break;

    case ACTION_MODEL_HEADFWD:
      headForward(); actionModel=ACTION_MODEL_NONE; stateModel=STATE_MODEL_STANDUP; break;
    case ACTION_MODEL_HEADBACK:
      headBackward(); actionModel=ACTION_MODEL_NONE; stateModel=STATE_MODEL_STANDUP; break;

    default:
      stepFlag = 0;
      break;
  }
}

/* ======= LED 顏色、亮度更新 ======= */
void updateLED(wex_u8_t ucRed, wex_u8_t ucGreen, wex_u8_t ucBlue, wex_u8_t ucLevel){
  for(int i=0;i<EYES_NUM;i++){
    strip.setPixelColor(i, strip.Color(ucRed, ucGreen, ucBlue));
  }
  strip.setBrightness(ucLevel);
  strip.show();
}

/* ======= 將舵機偏移量儲存到Flash ======= */
void saveOffsetsToFlash(){
  preferences.begin("servo", false);
  preferences.putInt("leftHandOffset", leftHandOffset);
  preferences.putInt("rightHandOffset", rightHandOffset);
  preferences.putInt("leftLegOffset", leftLegOffset);
  preferences.putInt("rightLegOffset", rightLegOffset);
  preferences.end();
}

/* ======= 舵機更新 ======= */
void updateServo(wex_u8_t ucLeftHand, wex_u8_t ucRightHand, wex_u8_t ucLeftLeg, wex_u8_t ucRightLeg){
  int leftHand  = ucLeftHand  + leftHandOffset;
  int rightHand = ucRightHand + rightHandOffset;
  int leftLeg   = ucLeftLeg   + leftLegOffset;
  int rightLeg  = ucRightLeg  + rightLegOffset;

  leftHand  = constrain(leftHand,  0, 180);
  rightHand = constrain(rightHand, 0, 180);
  leftLeg   = constrain(leftLeg,   0, 180);
  rightLeg  = constrain(rightLeg,  0, 180);

  rightHand = 180 - rightHand;
  rightLeg  = 180 - rightLeg;

  leftHandServo.write(leftHand);
  rightHandServo.write(rightHand);
  leftLegServo.write(leftLeg);
  rightLegServo.write(rightLeg);
}

/* ======= 站立 ======= */
void standUp(){
  while((abs(leftLegAngle-90)>5) || (abs(rightLegAngle-90)>5)){
    if(leftLegAngle>90) leftLegAngle -= 3;
    else if(leftLegAngle<90) leftLegAngle += 3;

    if(rightLegAngle>90) rightLegAngle -= 3;
    else if(rightLegAngle<90) rightLegAngle += 3;

    delay(20);
    updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
  }
  leftLegAngle=90; rightLegAngle=90;
  updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);

  while((abs(leftHandAngle-90)>5) || (abs(rightHandAngle-90)>5)){
    if(leftHandAngle>90) leftHandAngle -= 5;
    else if(leftHandAngle<90) leftHandAngle += 5;

    if(rightHandAngle>90) rightHandAngle -= 5;
    else if(rightHandAngle<90) rightHandAngle += 5;

    delay(20);
    updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
  }
  leftHandAngle=90; rightHandAngle=90;
  updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
}

/* ======= 趴下 ======= */
void getDown(){
  while((abs(leftLegAngle-15)>5) || (abs(rightLegAngle-15)>5)){
    if(leftLegAngle>15) leftLegAngle -= 5;
    else if(leftLegAngle<15) leftLegAngle += 5;

    if(rightLegAngle>15) rightLegAngle -= 5;
    else if(rightLegAngle<15) rightLegAngle += 5;

    delay(20);
    updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
  }
  leftLegAngle=15; rightLegAngle=15;
  updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);

  while((abs(leftHandAngle-15)>5) || (abs(rightHandAngle-15)>5)){
    if(leftHandAngle>15) leftHandAngle -= 5;
    else if(leftHandAngle<15) leftHandAngle += 5;

    if(rightHandAngle>15) rightHandAngle -= 5;
    else if(rightHandAngle<15) rightHandAngle += 5;

    delay(20);
    updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
  }
  leftHandAngle=15; rightHandAngle=15;
  updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
}

/* ======= 坐下 ======= */
void sitDown(){
  while((abs(leftLegAngle-40)>5) || (abs(rightLegAngle-40)>5)){
    if(leftLegAngle>40) leftLegAngle -= 3;
    else if(leftLegAngle<40) leftLegAngle += 3;

    if(rightLegAngle>40) rightLegAngle -= 3;
    else if(rightLegAngle<40) rightLegAngle += 3;

    delay(20);
    updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
  }
  leftLegAngle=40; rightLegAngle=40;
  updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);

  while((abs(leftHandAngle-100)>5) || (abs(rightHandAngle-100)>5)){
    if(leftHandAngle>100) leftHandAngle -= 5;
    else if(leftHandAngle<100) leftHandAngle += 5;

    if(rightHandAngle>100) rightHandAngle -= 5;
    else if(rightHandAngle<100) rightHandAngle += 5;

    delay(20);
    updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
  }
  leftHandAngle=100; rightHandAngle=100;
  updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
}

/* ======= 伸懶腰 ======= */
void stretch(){
  standUp();

  while(leftHandAngle >= 15){
    leftHandAngle -= 3;
    rightHandAngle -= 3;
    leftLegAngle -= 1;
    rightLegAngle -= 1;
    delay(20);
    updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
  }

  int n=2;
  while(n--){
    while(leftHandAngle <= 25){
      leftHandAngle += 1;
      rightHandAngle += 1;
      delay(20);
      updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
    }
    while(leftHandAngle >= 15){
      leftHandAngle -= 2;
      rightHandAngle -= 2;
      delay(20);
      updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
    }
  }

  while(leftLegAngle <= 165){
    leftHandAngle += 3;
    rightHandAngle += 3;
    leftLegAngle += 3;
    rightLegAngle += 3;
    delay(20);
    updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
  }

  n=2;
  while(n--){
    while(leftLegAngle >= 155){
      leftLegAngle -= 1;
      rightLegAngle -= 1;
      delay(20);
      updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
    }
    while(leftLegAngle <= 165){
      leftLegAngle += 2;
      rightLegAngle += 2;
      delay(20);
      updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
    }
  }

  while(leftHandAngle >= 90){
    leftHandAngle -= 1;
    rightHandAngle -= 1;
    delay(20);
    updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
  }

  while(leftLegAngle >= 90){
    leftLegAngle -= 3;
    rightLegAngle -= 3;
    delay(20);
    updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
  }

  actionModel = ACTION_MODEL_NONE;
}

/* ======= 前頂 ======= */
void headForward(){
  standUp();
  leftHandAngle=140; rightHandAngle=140;
  leftLegAngle=150; rightLegAngle=150;
  updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
  delay(200);

  leftHandAngle=90; rightHandAngle=90;
  updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
  delay(100);

  leftLegAngle=90; rightLegAngle=90;
  updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
  delay(100);
}

/* ======= 後頂 ======= */
void headBackward(){
  standUp();
  leftHandAngle=30; rightHandAngle=30;
  leftLegAngle=40; rightLegAngle=40;
  updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
  delay(200);

  leftLegAngle=90; rightLegAngle=90;
  updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
  delay(100);

  leftHandAngle=90; rightHandAngle=90;
  updateServo(leftHandAngle,rightHandAngle,leftLegAngle,rightLegAngle);
  delay(100);
}
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2026年6月25日星期四

樹藝森林靈犬操作與程式

2026年6月25日 星期四

樹藝森林靈犬操作與程式

2026年6月25日星期四
