八方向运动控制优化完成

main/CSS/control.css

@@ -91,6 +91,46 @@
     color: white;
 }
 
+.btn-left {
+    background-color: #2196F3;
+    color: white;
+}
+
+.btn-right {
+    background-color: #FF9800;
+    color: white;
+}
+
+.btn-rotate-left {
+    background-color: #9C27B0;
+    color: white;
+}
+
+.btn-rotate-right {
+    background-color: #607D8B;
+    color: white;
+}
+
+.btn-forward-left {
+    background-color: #4CAF50;
+    color: white;
+}
+
+.btn-forward-right {
+    background-color: #4CAF50;
+    color: white;
+}
+
+.btn-backward-left {
+    background-color: #f44336;
+    color: white;
+}
+
+.btn-backward-right {
+    background-color: #f44336;
+    color: white;
+}
+
 .btn:hover {
     transform: translateY(-3px);
     box-shadow: 0 6px 12px rgba(0, 0, 0, 0.15);

main/Javascript/control.js

@@ -1,6 +1,14 @@
 // 获取按钮和状态元素
 const forwardBtn = document.getElementById('forwardBtn');
 const backwardBtn = document.getElementById('backwardBtn');
+const leftBtn = document.getElementById('leftBtn');
+const rightBtn = document.getElementById('rightBtn');
+const rotateLeftBtn = document.getElementById('rotateLeftBtn');
+const rotateRightBtn = document.getElementById('rotateRightBtn');
+const forwardLeftBtn = document.getElementById('forwardLeftBtn');
+const forwardRightBtn = document.getElementById('forwardRightBtn');
+const backwardLeftBtn = document.getElementById('backwardLeftBtn');
+const backwardRightBtn = document.getElementById('backwardRightBtn');
 const status = document.getElementById('status');
 
 // 实际控制函数
@@ -9,7 +17,21 @@ function controlMotor(direction) {
     if (direction === 'stop') {
         status.innerHTML = `<p>正在停止...</p>`;
     } else {
-        status.innerHTML = `<p>正在${direction === 'forward' ? '前进' : '后退'}...</p>`;
+        let actionText = '';
+        switch (direction) {
+            case 'forward': actionText = '前进'; break;
+            case 'backward': actionText = '后退'; break;
+            case 'left': actionText = '左移'; break;
+            case 'right': actionText = '右移'; break;
+            case 'rotate_left': actionText = '左旋转'; break;
+            case 'rotate_right': actionText = '右旋转'; break;
+            case 'forward_left': actionText = '左前移动'; break;
+            case 'forward_right': actionText = '右前移动'; break;
+            case 'backward_left': actionText = '左后移动'; break;
+            case 'backward_right': actionText = '右后移动'; break;
+            default: actionText = '移动'; break;
+        }
+        status.innerHTML = `<p>正在${actionText}...</p>`;
     }
     
     // 记录操作（如果正在录制）
@@ -114,6 +136,287 @@ backwardBtn.addEventListener('touchcancel', (e) => {
     stopMotor();
 });
 
+// 左移按钮 - 支持鼠标和触摸事件
+leftBtn.addEventListener('mousedown', () => {
+    // 发送左移请求
+    controlMotor('left');
+});
+
+leftBtn.addEventListener('mouseup', () => {
+    // 停止电机
+    stopMotor();
+});
+
+leftBtn.addEventListener('mouseleave', () => {
+    // 鼠标离开按钮时也停止
+    stopMotor();
+});
+
+// 左移按钮 - 触摸事件
+leftBtn.addEventListener('touchstart', (e) => {
+    e.preventDefault(); // 防止默认行为
+    // 发送左移请求
+    controlMotor('left');
+});
+
+leftBtn.addEventListener('touchend', (e) => {
+    e.preventDefault(); // 防止默认行为
+    // 停止电机
+    stopMotor();
+});
+
+leftBtn.addEventListener('touchcancel', (e) => {
+    e.preventDefault(); // 防止默认行为
+    // 触摸被取消时停止电机
+    stopMotor();
+});
+
+// 右移按钮 - 支持鼠标和触摸事件
+rightBtn.addEventListener('mousedown', () => {
+    // 发送右移请求
+    controlMotor('right');
+});
+
+rightBtn.addEventListener('mouseup', () => {
+    // 停止电机
+    stopMotor();
+});
+
+rightBtn.addEventListener('mouseleave', () => {
+    // 鼠标离开按钮时也停止
+    stopMotor();
+});
+
+// 右移按钮 - 触摸事件
+rightBtn.addEventListener('touchstart', (e) => {
+    e.preventDefault(); // 防止默认行为
+    // 发送右移请求
+    controlMotor('right');
+});
+
+rightBtn.addEventListener('touchend', (e) => {
+    e.preventDefault(); // 防止默认行为
+    // 停止电机
+    stopMotor();
+});
+
+rightBtn.addEventListener('touchcancel', (e) => {
+    e.preventDefault(); // 防止默认行为
+    // 触摸被取消时停止电机
+    stopMotor();
+});
+
+// 左旋转按钮 - 支持鼠标和触摸事件
+rotateLeftBtn.addEventListener('mousedown', () => {
+    // 发送左旋转请求
+    controlMotor('rotate_left');
+});
+
+rotateLeftBtn.addEventListener('mouseup', () => {
+    // 停止电机
+    stopMotor();
+});
+
+rotateLeftBtn.addEventListener('mouseleave', () => {
+    // 鼠标离开按钮时也停止
+    stopMotor();
+});
+
+// 左旋转按钮 - 触摸事件
+rotateLeftBtn.addEventListener('touchstart', (e) => {
+    e.preventDefault(); // 防止默认行为
+    // 发送左旋转请求
+    controlMotor('rotate_left');
+});
+
+rotateLeftBtn.addEventListener('touchend', (e) => {
+    e.preventDefault(); // 防止默认行为
+    // 停止电机
+    stopMotor();
+});
+
+rotateLeftBtn.addEventListener('touchcancel', (e) => {
+    e.preventDefault(); // 防止默认行为
+    // 触摸被取消时停止电机
+    stopMotor();
+});
+
+// 右旋转按钮 - 支持鼠标和触摸事件
+rotateRightBtn.addEventListener('mousedown', () => {
+    // 发送右旋转请求
+    controlMotor('rotate_right');
+});
+
+rotateRightBtn.addEventListener('mouseup', () => {
+    // 停止电机
+    stopMotor();
+});
+
+rotateRightBtn.addEventListener('mouseleave', () => {
+    // 鼠标离开按钮时也停止
+    stopMotor();
+});
+
+// 右旋转按钮 - 触摸事件
+rotateRightBtn.addEventListener('touchstart', (e) => {
+    e.preventDefault(); // 防止默认行为
+    // 发送右旋转请求
+    controlMotor('rotate_right');
+});
+
+rotateRightBtn.addEventListener('touchend', (e) => {
+    e.preventDefault(); // 防止默认行为
+    // 停止电机
+    stopMotor();
+});
+
+// 右旋转按钮 - 触摸事件
+rotateRightBtn.addEventListener('touchcancel', (e) => {
+    e.preventDefault(); // 防止默认行为
+    // 触摸被取消时停止电机
+    stopMotor();
+});
+
+// 左前按钮 - 支持鼠标和触摸事件
+forwardLeftBtn.addEventListener('mousedown', () => {
+    // 发送左前移动请求
+    controlMotor('forward_left');
+});
+
+forwardLeftBtn.addEventListener('mouseup', () => {
+    // 停止电机
+    stopMotor();
+});
+
+forwardLeftBtn.addEventListener('mouseleave', () => {
+    // 鼠标离开按钮时也停止
+    stopMotor();
+});
+
+// 左前按钮 - 触摸事件
+forwardLeftBtn.addEventListener('touchstart', (e) => {
+    e.preventDefault(); // 防止默认行为
+    // 发送左前移动请求
+    controlMotor('forward_left');
+});
+
+forwardLeftBtn.addEventListener('touchend', (e) => {
+    e.preventDefault(); // 防止默认行为
+    // 停止电机
+    stopMotor();
+});
+
+forwardLeftBtn.addEventListener('touchcancel', (e) => {
+    e.preventDefault(); // 防止默认行为
+    // 触摸被取消时停止电机
+    stopMotor();
+});
+
+// 右前按钮 - 支持鼠标和触摸事件
+forwardRightBtn.addEventListener('mousedown', () => {
+    // 发送右前移动请求
+    controlMotor('forward_right');
+});
+
+forwardRightBtn.addEventListener('mouseup', () => {
+    // 停止电机
+    stopMotor();
+});
+
+forwardRightBtn.addEventListener('mouseleave', () => {
+    // 鼠标离开按钮时也停止
+    stopMotor();
+});
+
+// 右前按钮 - 触摸事件
+forwardRightBtn.addEventListener('touchstart', (e) => {
+    e.preventDefault(); // 防止默认行为
+    // 发送右前移动请求
+    controlMotor('forward_right');
+});
+
+forwardRightBtn.addEventListener('touchend', (e) => {
+    e.preventDefault(); // 防止默认行为
+    // 停止电机
+    stopMotor();
+});
+
+forwardRightBtn.addEventListener('touchcancel', (e) => {
+    e.preventDefault(); // 防止默认行为
+    // 触摸被取消时停止电机
+    stopMotor();
+});
+
+// 左后按钮 - 支持鼠标和触摸事件
+backwardLeftBtn.addEventListener('mousedown', () => {
+    // 发送左后移动请求
+    controlMotor('backward_left');
+});
+
+backwardLeftBtn.addEventListener('mouseup', () => {
+    // 停止电机
+    stopMotor();
+});
+
+backwardLeftBtn.addEventListener('mouseleave', () => {
+    // 鼠标离开按钮时也停止
+    stopMotor();
+});
+
+// 左后按钮 - 触摸事件
+backwardLeftBtn.addEventListener('touchstart', (e) => {
+    e.preventDefault(); // 防止默认行为
+    // 发送左后移动请求
+    controlMotor('backward_left');
+});
+
+backwardLeftBtn.addEventListener('touchend', (e) => {
+    e.preventDefault(); // 防止默认行为
+    // 停止电机
+    stopMotor();
+});
+
+backwardLeftBtn.addEventListener('touchcancel', (e) => {
+    e.preventDefault(); // 防止默认行为
+    // 触摸被取消时停止电机
+    stopMotor();
+});
+
+// 右后按钮 - 支持鼠标和触摸事件
+backwardRightBtn.addEventListener('mousedown', () => {
+    // 发送右后移动请求
+    controlMotor('backward_right');
+});
+
+backwardRightBtn.addEventListener('mouseup', () => {
+    // 停止电机
+    stopMotor();
+});
+
+backwardRightBtn.addEventListener('mouseleave', () => {
+    // 鼠标离开按钮时也停止
+    stopMotor();
+});
+
+// 右后按钮 - 触摸事件
+backwardRightBtn.addEventListener('touchstart', (e) => {
+    e.preventDefault(); // 防止默认行为
+    // 发送右后移动请求
+    controlMotor('backward_right');
+});
+
+backwardRightBtn.addEventListener('touchend', (e) => {
+    e.preventDefault(); // 防止默认行为
+    // 停止电机
+    stopMotor();
+});
+
+backwardRightBtn.addEventListener('touchcancel', (e) => {
+    e.preventDefault(); // 防止默认行为
+    // 触摸被取消时停止电机
+    stopMotor();
+});
+
 // 停止电机函数
 function stopMotor() {
     // 记录操作（如果正在录制）

main/index.html

@@ -16,10 +16,20 @@
             <!-- 移动控制区域 -->
             <div class="movement-controls">
                 <div class="movement-row">
+                    <button class="btn btn-forward-left" id="forwardLeftBtn"><span>左前</span></button>
                     <button class="btn btn-forward" id="forwardBtn"><span>前进</span></button>
+                    <button class="btn btn-forward-right" id="forwardRightBtn"><span>右前</span></button>
                 </div>
                 <div class="movement-row">
+                    <button class="btn btn-left" id="leftBtn"><span>左移</span></button>
                     <button class="btn btn-backward" id="backwardBtn"><span>后退</span></button>
+                    <button class="btn btn-right" id="rightBtn"><span>右移</span></button>
+                </div>
+                <div class="movement-row">
+                    <button class="btn btn-backward-left" id="backwardLeftBtn"><span>左后</span></button>
+                    <button class="btn btn-rotate-left" id="rotateLeftBtn"><span>左旋转</span></button>
+                    <button class="btn btn-rotate-right" id="rotateRightBtn"><span>右旋转</span></button>
+                    <button class="btn btn-backward-right" id="backwardRightBtn"><span>右后</span></button>
                 </div>
             </div>
             

main/motor.py

@@ -19,35 +19,28 @@ signal.signal(signal.SIGINT, signal_handler)
 bus = SMBus(1) 
 addr = 0x60 
 
-MODE1 = 0x00 
+bus.write_byte_data(addr, 0x00, 0x00) 
-PRESCALE = 0xFE 
+bus.write_byte_data(addr, 0xFE, 60) 
-
-bus.write_byte_data(addr, MODE1, 0x00) 
-bus.write_byte_data(addr, PRESCALE, 60) 
 
 # ====================== 
-# 电机通道映射（每个电机 IN1 / IN2） 
+# 电机定义 
 # ====================== 
 MOTOR = { 
-    "M1": (0, 1),   # 前左 
+    "M1": (0, 1), 
-    "M2": (2, 3),   # 前右 
+    "M2": (2, 3), 
-    "M3": (4, 5),   # 后左 
+    "M3": (4, 5), 
-    "M4": (6, 7),   # 后右 
+    "M4": (6, 7), 
 } 
 
-# ====================== 
-# 方向修正（麦克纳姆关键） 
-# 根据你 / \ + \ / 结构校正 
-# ====================== 
 DIR = { 
     "M1": 1, 
-    "M2": -1, 
+    "M2": 1, 
-    "M3": -1, 
+    "M3": 1, 
     "M4": 1, 
 } 
 
 # ====================== 
-# PWM输出函数 
+# PWM输出 
 # ====================== 
 def set_pwm(ch, value): 
     value = max(0, min(4095, value)) 
@@ -58,7 +51,6 @@ def set_pwm(ch, value):
 
 # ====================== 
 # 单电机控制 
-# speed: -1 ~ 1 
 # ====================== 
 def motor_drive(name, speed): 
     in1, in2 = MOTOR[name] 
@@ -69,34 +61,29 @@ def motor_drive(name, speed):
     if speed > 0: 
         set_pwm(in1, pwm) 
         set_pwm(in2, 0) 
-
     elif speed < 0: 
         set_pwm(in1, 0) 
         set_pwm(in2, pwm) 
-
     else: 
-        # 刹车（关键，不是0！） 
+        # 刹车 
         set_pwm(in1, 4095) 
         set_pwm(in2, 4095) 
 
 # ====================== 
-# 基础运动控制 
+# 基础移动 
 # ====================== 
 def forward(speed=0.6): 
-    motor_drive("M1", speed) 
+    motor_drive("M1", -speed) 
-    motor_drive("M2", speed) 
+    motor_drive("M2", -speed) 
     motor_drive("M3", speed) 
     motor_drive("M4", speed) 
 
 def backward(speed=0.6): 
-    motor_drive("M1", -speed) 
+    motor_drive("M1", speed) 
-    motor_drive("M2", -speed) 
+    motor_drive("M2", speed) 
     motor_drive("M3", -speed) 
     motor_drive("M4", -speed) 
 
-# ====================== 
-# 麦克纳姆左右移动 
-# ====================== 
 def move_left(speed=0.6): 
     motor_drive("M1", -speed) 
     motor_drive("M2", speed) 
@@ -110,7 +97,49 @@ def move_right(speed=0.6):
     motor_drive("M4", speed) 
 
 # ====================== 
-# 停止（刹车模式） 
+# 旋转 
+# ====================== 
+def rotate_left(speed=0.6): 
+    motor_drive("M1", -speed) 
+    motor_drive("M2", -speed) 
+    motor_drive("M3", -speed) 
+    motor_drive("M4", -speed) 
+
+def rotate_right(speed=0.6): 
+    motor_drive("M1", speed) 
+    motor_drive("M2", speed) 
+    motor_drive("M3", speed) 
+    motor_drive("M4", speed) 
+
+# ====================== 
+# 斜向移动 
+# ====================== 
+def move_left_forward(speed=0.6): 
+    motor_drive("M1", 0) 
+    motor_drive("M2", speed) 
+    motor_drive("M3", 0) 
+    motor_drive("M4", -speed) 
+
+def move_right_forward(speed=0.6): 
+    motor_drive("M1", speed) 
+    motor_drive("M2", 0) 
+    motor_drive("M3", -speed) 
+    motor_drive("M4", 0) 
+
+def move_left_backward(speed=0.6): 
+    motor_drive("M1", -speed) 
+    motor_drive("M2", 0) 
+    motor_drive("M3", speed) 
+    motor_drive("M4", 0) 
+
+def move_right_backward(speed=0.6): 
+    motor_drive("M1", 0) 
+    motor_drive("M2", -speed) 
+    motor_drive("M3", 0) 
+    motor_drive("M4", speed) 
+
+# ====================== 
+# 停止 
 # ====================== 
 def stop(): 
     motor_drive("M1", 0) 
@@ -123,21 +152,24 @@ def stop():
 # ====================== 
 if __name__ == "__main__": 
 
-    print("前进") 
+    actions = [
-    forward(0.5) 
+        ("前进", forward),
-    time.sleep(1) 
+        ("后退", backward),
+        ("左移", move_left),
+        ("右移", move_right),
+        ("左前", move_left_forward),
+        ("右前", move_right_forward),
+        ("左后", move_left_backward),
+        ("右后", move_right_backward),
+        ("左旋", rotate_left),
+        ("右旋", rotate_right),
+    ]
 
-    print("停止") 
+    for name, func in actions:
-    stop() 
+        print(name)
-    time.sleep(1) 
+        func()
+        time.sleep(1)
+        stop()
+        time.sleep(2)
 
-    print("后退") 
+    print("完成")
-    backward(0.5) 
-    time.sleep(1) 
-
-    print("停止") 
-    stop() 
-    time.sleep(1) 
-
-    print("停止") 
-    stop()

main/motor_test.py

@@ -26,13 +26,12 @@ bus.write_byte_data(addr, 0xFE, 60)
 # 电机定义
 # ======================
 MOTOR = {
-    "M1": (0, 1),   # 前左（Y轴）
+    "M1": (0, 1),
-    "M2": (2, 3),   # 前右（Y轴）
+    "M2": (2, 3),
-    "M3": (4, 5),   # 后左（X轴）
+    "M3": (4, 5),
-    "M4": (6, 7),   # 后右（X轴）
+    "M4": (6, 7),
 }
 
-# ⚠️ 需要你微调方向（如果反了就改 ±1）
 DIR = {
     "M1": 1,
     "M2": 1,
@@ -71,46 +70,77 @@ def motor_drive(name, speed):
         set_pwm(in2, 4095)
 
 # ======================
-# ⭐ 全向轮核心控制（重点）
+# 基础移动
-# vx: 左右 (-1~1)
-# vy: 前后 (-1~1)
-# w : 旋转 (-1~1)
-# ======================
-def move(vx, vy, w):
-    m1 = vy + w
-    m2 = vy - w
-    m3 = vx + w
-    m4 = vx - w
-
-    # 归一化（防止超限）
-    max_val = max(abs(m1), abs(m2), abs(m3), abs(m4), 1)
-
-    motor_drive("M1", m1 / max_val)
-    motor_drive("M2", m2 / max_val)
-    motor_drive("M3", m3 / max_val)
-    motor_drive("M4", m4 / max_val)
-
-# ======================
-# 基础动作（封装）
 # ======================
 def forward(speed=0.6):
-    move(0, speed, 0)
+    motor_drive("M1", speed)
+    motor_drive("M2", speed)
+    motor_drive("M3", -speed)
+    motor_drive("M4", -speed)
 
 def backward(speed=0.6):
-    move(0, -speed, 0)
+    motor_drive("M1", -speed)
+    motor_drive("M2", -speed)
+    motor_drive("M3", speed)
+    motor_drive("M4", speed)
 
-def left(speed=0.6):
+def move_left(speed=0.6):
-    move(-speed, 0, 0)
+    motor_drive("M1", -speed)
+    motor_drive("M2", speed)
+    motor_drive("M3", speed)
+    motor_drive("M4", -speed)
 
-def right(speed=0.6):
+def move_right(speed=0.6):
-    move(speed, 0, 0)
+    motor_drive("M1", speed)
+    motor_drive("M2", -speed)
+    motor_drive("M3", -speed)
+    motor_drive("M4", speed)
 
+# ======================
+# ⭐ 旋转
+# ======================
 def rotate_left(speed=0.6):
-    move(0, 0, speed)
+    motor_drive("M1", -speed)
+    motor_drive("M2", -speed)
+    motor_drive("M3", -speed)
+    motor_drive("M4", -speed)
 
 def rotate_right(speed=0.6):
-    move(0, 0, -speed)
+    motor_drive("M1", speed)
+    motor_drive("M2", speed)
+    motor_drive("M3", speed)
+    motor_drive("M4", speed)
 
+# ======================
+# ⭐ 斜向移动（新增）
+# ======================
+def move_left_forward(speed=0.6):
+    motor_drive("M1", 0)
+    motor_drive("M2", speed)
+    motor_drive("M3", 0)
+    motor_drive("M4", -speed)
+
+def move_right_forward(speed=0.6):
+    motor_drive("M1", speed)
+    motor_drive("M2", 0)
+    motor_drive("M3", -speed)
+    motor_drive("M4", 0)
+
+def move_left_backward(speed=0.6):
+    motor_drive("M1", -speed)
+    motor_drive("M2", 0)
+    motor_drive("M3", speed)
+    motor_drive("M4", 0)
+
+def move_right_backward(speed=0.6):
+    motor_drive("M1", 0)
+    motor_drive("M2", -speed)
+    motor_drive("M3", 0)
+    motor_drive("M4", speed)
+
+# ======================
+# 停止
+# ======================
 def stop():
     motor_drive("M1", 0)
     motor_drive("M2", 0)
@@ -122,25 +152,24 @@ def stop():
 # ======================
 if __name__ == "__main__":
 
-    print("前进")
+    actions = [
-    forward()
+        ("前进", forward),
-    time.sleep(1)
+        ("后退", backward),
+        ("左移", move_left),
+        ("右移", move_right),
+        ("左前", move_left_forward),
+        ("右前", move_right_forward),
+        ("左后", move_left_backward),
+        ("右后", move_right_backward),
+        ("左旋", rotate_left),
+        ("右旋", rotate_right),
+    ]
 
-    print("后退")
+    for name, func in actions:
-    backward()
+        print(name)
-    time.sleep(1)
+        func()
+        time.sleep(1)
+        stop()
+        time.sleep(2)
 
-    print("左移")
+    print("完成")
-    left()
-    time.sleep(1)
-
-    print("右移")
-    right()
-    time.sleep(1)
-
-    print("左旋转")
-    rotate_left()
-    time.sleep(1)
-
-    print("停止")
-    stop()

main/server.py

@@ -37,6 +37,46 @@ def control():
             motor.forward(speed=0.6)
             # 不使用time.sleep，让电机持续运行
             return jsonify({'status': 'success', 'message': '后退中'})
+        elif direction == 'left':
+            print("控制垃圾桶左移")
+            motor.move_left(speed=0.6)
+            # 不使用time.sleep，让电机持续运行
+            return jsonify({'status': 'success', 'message': '左移中'})
+        elif direction == 'right':
+            print("控制垃圾桶右移")
+            motor.move_right(speed=0.6)
+            # 不使用time.sleep，让电机持续运行
+            return jsonify({'status': 'success', 'message': '右移中'})
+        elif direction == 'rotate_left':
+            print("控制垃圾桶左旋转")
+            motor.rotate_left(speed=0.6)
+            # 不使用time.sleep，让电机持续运行
+            return jsonify({'status': 'success', 'message': '左旋转中'})
+        elif direction == 'rotate_right':
+            print("控制垃圾桶右旋转")
+            motor.rotate_right(speed=0.6)
+            # 不使用time.sleep，让电机持续运行
+            return jsonify({'status': 'success', 'message': '右旋转中'})
+        elif direction == 'forward_left':
+            print("控制垃圾桶左前移动")
+            motor.move_left_forward(speed=0.6)
+            # 不使用time.sleep，让电机持续运行
+            return jsonify({'status': 'success', 'message': '左前移动中'})
+        elif direction == 'forward_right':
+            print("控制垃圾桶右前移动")
+            motor.move_right_forward(speed=0.6)
+            # 不使用time.sleep，让电机持续运行
+            return jsonify({'status': 'success', 'message': '右前移动中'})
+        elif direction == 'backward_left':
+            print("控制垃圾桶左后移动")
+            motor.move_left_backward(speed=0.6)
+            # 不使用time.sleep，让电机持续运行
+            return jsonify({'status': 'success', 'message': '左后移动中'})
+        elif direction == 'backward_right':
+            print("控制垃圾桶右后移动")
+            motor.move_right_backward(speed=0.6)
+            # 不使用time.sleep，让电机持续运行
+            return jsonify({'status': 'success', 'message': '右后移动中'})
         elif direction == 'stop':
             print("停止垃圾桶")
             motor.stop()