us final version

presets.py

@@ -0,0 +1,61 @@
+from config import HOME
+
+# The three moves the old firmware had baked in, rewritten as keyframes.
+# They double as examples for the LLM and as an offline fallback.
+
+PUSH = [
+    ((50, 0, 0, 10), 300),
+    ((50, 120, 60, 10), 300),
+    ((50, 120, 60, 10), 2000),
+    (HOME, 1000),
+]
+
+SPIN = [
+    ((50, 80, 60, 60), 300),
+    ((180, 80, 60, 60), 1000),
+    ((0, 80, 60, 60), 1350),
+    ((180, 80, 60, 60), 1350),
+    ((0, 80, 60, 60), 1350),
+    ((180, 80, 60, 60), 1350),
+    ((50, 80, 60, 60), 1000),
+    ((50, 80, 60, 60), 2000),
+    (HOME, 1000),
+]
+
+PENALTY = [
+    ((50, 0, 0, 10), 300),
+    ((50, 0, 0, 10), 500),
+    ((50, 120, 0, 10), 150),
+    ((50, 120, 0, 10), 2000),
+    (HOME, 1000),
+]
+
+GO_HOME = [(HOME, 1000)]
+
+EXAMPLES = {
+    "push": PUSH,
+    "spin around": SPIN,
+    "penalty kick": PENALTY,
+}
+
+KEYWORDS = [
+    (("push",), "push", PUSH),
+    (("spin", "spend"), "spin", SPIN),
+    (("penalty", "kick"), "penalty", PENALTY),
+    (("home", "reset", "처음", "홈"), "home", GO_HOME),
+]
+
+STOP_WORDS = ("stop", "halt", "freeze", "정지", "멈춰", "스톱")
+
+
+def is_stop(text):
+    t = text.lower()
+    return any(w in t for w in STOP_WORDS)
+
+
+def match_keyword(text):
+    t = text.lower()
+    for words, label, steps in KEYWORDS:
+        if any(w in t for w in words):
+            return label, steps
+    return None