def get_mic_dir(): Angle_last=0 AngleX=0 AngleY=0 AngleR=0 Angle=0 AngleAddPi=0 Angle_Z=0 AngleR_Z=0 mic_list=[] img = mic.get_map() imga=img# 获取声音源分布图像 b = mic.get_dir(imga) # 计算、获取声源方向 a = mic.set_led(b,(10,10,0))# 配置 RGB LED 颜色值 for i in range(len(b)): if b[i]>=2: AngleX+= b[i]*math.sin(i*math.pi/6) AngleY+= b[i]*math.cos(i*math.pi/6) AngleX=round(AngleX,6) #计算坐标转换值 AngleY=round(AngleY,6) if AngleY<0:AngleAddPi=180 if AngleX<0 and AngleY > 0:AngleAddPi=360 if AngleX!=0 or AngleY!=0: #参数修正 if AngleY==0: Angle=90 if AngleX>0 else 270 #填补X轴角度 else: AngleAddPi=Kalman_Filter(AngleAddPi) AngleX=Kalman_Filter(AngleX) AngleY=Kalman_Filter(AngleY) Angle=AngleAddPi+round(math.degrees(math.atan(-AngleX/AngleY)),4) #计算角度 if (Angle>-30 and Angle<0)or (Angle>180 and Angle<360): if Angle>180 and Angle<360: #处理330-360的角度值 Angle=Angle-150 Angle=(90-Angle)+65 if Angle>-60 and Angle<0: Angle=Angle+170 AngleR=round(math.sqrt(AngleY*AngleY+AngleX*AngleX),4) #计算强度 AngleR_Z=int(AngleR) Angle_Z=int(Angle) Angle=Kalman_Filter(Angle) if Angle<=-15: Angle=Angle+130 if Angle<=80 and Angle>=30: Angle=Angle+30 return Angle 注释一下

以下是对代码的注释：

def get_mic_dir():
    Angle_last = 0  # 上一次的角度
    AngleX = 0      # X轴坐标值
    AngleY = 0      # Y轴坐标值
    AngleR = 0      # 角度强度
    Angle = 0       # 最终角度
    AngleAddPi = 0  # 填补的π角度
    Angle_Z = 0     # 角度整数值
    AngleR_Z = 0    # 角度强度整数值
    mic_list = []   # 麦克风列表
    img = mic.get_map()
    imga = img      # 获取声音源分布图像
    b = mic.get_dir(imga)   # 计算、获取声源方向
    a = mic.set_led(b, (10, 10, 0))   # 配置 RGB LED 颜色值

    for i in range(len(b)):
        if b[i] >= 2:
            AngleX += b[i] * math.sin(i * math.pi / 6)
            AngleY += b[i] * math.cos(i * math.pi / 6)

    AngleX = round(AngleX, 6)   # 计算坐标转换值
    AngleY = round(AngleY, 6)

    if AngleY < 0:
        AngleAddPi = 180

    if AngleX < 0 and AngleY > 0:
        AngleAddPi = 360

    if AngleX != 0 or AngleY != 0:   # 参数修正
        if AngleY == 0:
            Angle = 90 if AngleX > 0 else 270   # 填补X轴角度
        else:
            AngleAddPi = Kalman_Filter(AngleAddPi)
            AngleX = Kalman_Filter(AngleX)
            AngleY = Kalman_Filter(AngleY)
            Angle = AngleAddPi + round(math.degrees(math.atan(-AngleX / AngleY)), 4)   # 计算角度

        if (Angle > -30 and Angle < 0) or (Angle > 180 and Angle < 360):
            if Angle > 180 and Angle < 360:   # 处理330-360的角度值
                Angle = Angle - 150
                Angle = (90 - Angle) + 65
            if Angle > -60 and Angle < 0:
                Angle = Angle + 170

        AngleR = round(math.sqrt(AngleY * AngleY + AngleX * AngleX), 4)   # 计算强度
        AngleR_Z = int(AngleR)
        Angle_Z = int(Angle)

    Angle = Kalman_Filter(Angle)

    if Angle <= -15:
        Angle = Angle + 130

    if Angle <= 80 and Angle >= 30:
        Angle = Angle + 30

    return Angle

通过注释，对每个变量和代码块进行了解释，帮助理解代码的作用和计算过程。请根据实际需求和代码规范进行进一步调整和完善注释。