diff --git a/arduino/head_file_test/main/Command.cpp b/arduino/head_file_test/main/Command.cpp index 9c54a6b..bc3e296 100644 --- a/arduino/head_file_test/main/Command.cpp +++ b/arduino/head_file_test/main/Command.cpp @@ -2,8 +2,8 @@ void Command::run(char* str){ for(int i=0; i < call_count; i++){ - if(isSentinel(call_ids[i],str)){ // case : call_ids = "T2" str = "T215.15" - call_list[i](str+strlen(call_ids[i])); // get 15.15 input function + if(isSentinel(call_ids[i],str)){ // case : call_ids = "T2" str = "T215.155" + call_list[i](str+strlen(call_ids[i])); // get 15.155 input function break; } } diff --git a/arduino/head_file_test/main/main.ino b/arduino/head_file_test/main/main.ino index 915d5ff..24ee643 100644 --- a/arduino/head_file_test/main/main.ino +++ b/arduino/head_file_test/main/main.ino @@ -1,11 +1,19 @@ #include "Command.h" -Command command;//声明一个自己的该类的对象 + + +//命令设置 +float target_velocity = 0; +Command comm;//声明一个自己的该类的对象 +void doTarget(char* cmd) { comm.scalar(&target_velocity, cmd); } + void setup() { // put your setup code here, to run once: - + Serial.begin(115200); + comm.add("T",doTarget); } void loop() { // put your main code here, to run repeatedly: - + comm.run("T233.2548"); + Serial.println(target_velocity); } diff --git a/arduino/main/main.ino b/arduino/main/main.ino index 14f411d..d047be6 100644 --- a/arduino/main/main.ino +++ b/arduino/main/main.ino @@ -66,15 +66,19 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22); //命令设置 -Command command; +Command comm; double target_velocity = 0; double target_angle = 91; double target_voltage = 0; +void do_K1(char* cmd) { comm.scalar(&LQR_K1, cmd); } + void onPacketCallBack(AsyncUDPPacket packet) { char* da; da= (char*)(packet.data()); Serial.println(da); + comm.run(da); + Serial.println(LQR_K1); // target_velocity = atoi(); // Serial.print("数据内容: "); // Serial.println(target_velocity); @@ -84,7 +88,8 @@ void onPacketCallBack(AsyncUDPPacket packet) // instantiate the commander void setup() { Serial.begin(115200); - + //命令设置 + comm.add("K1",do_K1); // kalman mpu6050 init Wire.begin(19, 18,400000);// Set I2C frequency to 400kHz @@ -261,7 +266,7 @@ void loop() { } #endif -#if 1 +#if 0 Serial.print(kalAngleZ);Serial.print("\t"); diff --git a/python_gui/gui/__pycache__/main_ui.cpython-37.pyc b/python_gui/gui/__pycache__/main_ui.cpython-37.pyc index 7711b02..e77607b 100644 Binary files a/python_gui/gui/__pycache__/main_ui.cpython-37.pyc and b/python_gui/gui/__pycache__/main_ui.cpython-37.pyc differ diff --git a/python_gui/gui/__pycache__/sharedcomponets.cpython-37.pyc b/python_gui/gui/__pycache__/sharedcomponets.cpython-37.pyc index a98fee7..b0b3b14 100644 Binary files a/python_gui/gui/__pycache__/sharedcomponets.cpython-37.pyc and b/python_gui/gui/__pycache__/sharedcomponets.cpython-37.pyc differ diff --git a/python_gui/gui/__pycache__/wifi_udp.cpython-37.pyc b/python_gui/gui/__pycache__/wifi_udp.cpython-37.pyc index 4438c77..0072f51 100644 Binary files a/python_gui/gui/__pycache__/wifi_udp.cpython-37.pyc and b/python_gui/gui/__pycache__/wifi_udp.cpython-37.pyc differ diff --git a/python_gui/gui/udp_test1.py b/python_gui/gui/udp_test1.py index af8aff5..e598b78 100644 --- a/python_gui/gui/udp_test1.py +++ b/python_gui/gui/udp_test1.py @@ -16,7 +16,7 @@ def udp_recv(udp_socket): recv_data = udp_socket.recv(1024) recv_data = recv_data.decode('utf-8') udp_data = recv_data - print('收到信息为:%s'%recv_data) + # print('收到信息为:%s'%recv_data) def main(): udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) #创建套接字 diff --git a/莱洛三角切割/triangle.lcp b/莱洛三角切割/triangle.lcp index 08557b4..3dadd05 100644 Binary files a/莱洛三角切割/triangle.lcp and b/莱洛三角切割/triangle.lcp differ diff --git a/莱洛三角切割/triangle_10.dxf b/莱洛三角切割/triangle_10.dxf new file mode 100644 index 0000000..a187d8a --- /dev/null +++ b/莱洛三角切割/triangle_10.dxf @@ -0,0 +1,6304 @@ +999 +dxflib 3.17.0.0 + 0 +SECTION + 2 +HEADER + 9 +$ACADVER + 1 +AC1015 + 9 +$HANDSEED + 5 +FFFF + 9 +$INSUNITS + 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