From 3f8700eee30e04666cdb7091e6d10c994bbb07ed Mon Sep 17 00:00:00 2001 From: 45coll <674148718@qq.com> Date: Fri, 15 Oct 2021 09:27:26 +0800 Subject: [PATCH] =?UTF-8?q?=E4=B8=8A=E4=BD=8D=E6=9C=BA=E8=B0=83=E5=8F=82-?= =?UTF-8?q?=E6=BB=91=E6=9D=A1?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- arduino/main/main.ino | 27 +-- python_gui/gui/main.py | 52 +++++- python_gui/gui/main_ui.py | 233 +++++++++++++++++-------- python_gui/gui/main_ui.ui | 345 ++++++++++++++++++++++++++------------ 4 files changed, 462 insertions(+), 195 deletions(-) diff --git a/arduino/main/main.ino b/arduino/main/main.ino index ead87fe..204442b 100644 --- a/arduino/main/main.ino +++ b/arduino/main/main.ino @@ -63,13 +63,13 @@ float LQR_K3_1 = 0.15; // //电机参数 BLDCMotor motor = BLDCMotor(5); BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22); - - -//命令设置 -Command comm; float target_velocity = 0; float target_angle = 90; float target_voltage = 0; + +//命令设置 +Command comm; +bool Motor_enable_flag = 0; void do_K11(char* cmd) { comm.scalar(&LQR_K1, cmd); } void do_K12(char* cmd) { comm.scalar(&LQR_K2, cmd); } void do_K13(char* cmd) { comm.scalar(&LQR_K3, cmd); } @@ -77,6 +77,15 @@ void do_K21(char* cmd) { comm.scalar(&LQR_K1_1, cmd); } void do_K22(char* cmd) { comm.scalar(&LQR_K2_1, cmd); } void do_K23(char* cmd) { comm.scalar(&LQR_K3_1, cmd); } void do_TA(char* cmd) { comm.scalar(&target_angle, cmd); } +void do_START(char* cmd) { wifi_flag = 1; } +void do_MOTOR(char* cmd) +{ + if(Motor_enable_flag) + digitalWrite(22,HIGH); + else + digitalWrite(22,LOW); + Motor_enable_flag = !Motor_enable_flag; +} void onPacketCallBack(AsyncUDPPacket packet) { char* da; @@ -84,10 +93,6 @@ void onPacketCallBack(AsyncUDPPacket packet) Serial.println(da); comm.run(da); -// target_velocity = atoi(); -// Serial.print("数据内容: "); -// Serial.println(target_velocity); - wifi_flag = 1; // packet.print("reply data"); } // instantiate the commander @@ -101,6 +106,8 @@ void setup() { comm.add("K22",do_K22); comm.add("K23",do_K23); comm.add("TA",do_TA); + comm.add("START",do_START); + comm.add("MOTOR",do_MOTOR); // kalman mpu6050 init Wire.begin(19, 18,400000);// Set I2C frequency to 400kHz i2cData[0] = 7; // Set the sample rate to 1000Hz - 8kHz/(7+1) = 1000Hz @@ -192,7 +199,7 @@ void setup() { Serial.println(F("Motor ready.")); Serial.println(F("Set the target velocity using serial terminal:")); -// digitalWrite(22,LOW); + } char buf[255]; @@ -256,7 +263,7 @@ void loop() { #else motor.move(0); #endif -#if 1 +#if 0 //Serial.print(gyroZangle);Serial.print("\t"); Serial.print(kalAngleZ);Serial.print("\t"); diff --git a/python_gui/gui/main.py b/python_gui/gui/main.py index 47c37d2..f4ec752 100644 --- a/python_gui/gui/main.py +++ b/python_gui/gui/main.py @@ -26,7 +26,9 @@ class MyWindow(QMainWindow, Ui_MainWindow): # 设置信号与槽 def CreateSignalSlot(self): - self.velocity_horizontalSlider.valueChanged.connect(self.velocity_horizontalSlider_valueChanged) + self.horizontalSlider_1.valueChanged.connect(self.horizontalSlider_1_valueChanged) + self.horizontalSlider_2.valueChanged.connect(self.horizontalSlider_2_valueChanged) + self.horizontalSlider_3.valueChanged.connect(self.horizontalSlider_3_valueChanged) self.wifi_config_pushButton.clicked.connect(self.wifi_config_pushButton_clicked) self.wifi_command_pushButton_1.clicked.connect(self.wifi_command_pushButton_1_clicked) self.wifi_command_pushButton_2.clicked.connect(self.wifi_command_pushButton_2_clicked) @@ -42,6 +44,7 @@ class MyWindow(QMainWindow, Ui_MainWindow): # self.wifi_IP_lineEdit.setText(self.udp.user_ip) def variable_init(self): # 图表数据变量 + self.wifi_open_flag = 0 self.wifi_recv_flag = 0 self.udp_data = 0 self.target_velocity = 0 @@ -76,11 +79,24 @@ class MyWindow(QMainWindow, Ui_MainWindow): self.gridLayout.addWidget(self.plotWidget) self.tool_layout.addWidget(self.controlPlotWidget) # 滑条绑定 - def velocity_horizontalSlider_valueChanged(self): - self.target_velocity = self.velocity_horizontalSlider.value() - self.velocity_lineEdit.setText(str(self.target_velocity)) - self.udp.send_message(str(self.target_velocity)) - print(str(self.target_velocity)) + def horizontalSlider_1_valueChanged(self): + value = self.horizontalSlider_1.value() + value = float(self.left_lineEdit_1.text())+(value+100)*(float(self.right_lineEdit_1.text())-float(self.left_lineEdit_1.text()))/200 + self.num_lineEdit_1.setText(str(value)) + value = self.command_lineEdit_1.text()+str(value) + self.udp.send_message(str(value)) + def horizontalSlider_2_valueChanged(self): + value = self.horizontalSlider_2.value() + value = float(self.left_lineEdit_2.text())+(value+100)*(float(self.right_lineEdit_2.text())-float(self.left_lineEdit_2.text()))/200 + self.num_lineEdit_2.setText(str(value)) + value = self.command_lineEdit_2.text()+str(value) + self.udp.send_message(str(value)) + def horizontalSlider_3_valueChanged(self): + value = self.horizontalSlider_3.value() + value = float(self.left_lineEdit_3.text())+(value+100)*(float(self.right_lineEdit_3.text())-float(self.left_lineEdit_3.text()))/200 + self.num_lineEdit_3.setText(str(value)) + value = self.command_lineEdit_3.text()+str(value) + self.udp.send_message(str(value)) # command命令发送事件 def wifi_command_pushButton_1_clicked(self): self.udp.send_message(self.wifi_command_lineEdit_1.text()) @@ -96,7 +112,7 @@ class MyWindow(QMainWindow, Ui_MainWindow): print(self.wifi_IP_lineEdit.text(),type(self.wifi_IP_lineEdit.text())) self.udp.udpClientSocket.bind((self.wifi_IP_lineEdit.text(), 2333)) # 第一次接受数据，用于判断项目数， - self.udp.send_message("s") + self.udp.send_message("START") recv_data = self.udp.udpClientSocket.recv(1024) recv_data = recv_data.decode('utf-8') recv_data = recv_data[:-1] @@ -109,6 +125,7 @@ class MyWindow(QMainWindow, Ui_MainWindow): self.plot_init() t1 = threading.Thread(target=self.udp_recv) t1.start() + self.wifi_open_flag = 1 except Exception as e: print(e) QMessageBox.critical(self, "错误", '该请求的地址无效') @@ -143,6 +160,10 @@ class ControlPlotPanel(QtWidgets.QWidget): def __init__(self, parent=None, controllerPlotWidget=None): '''Constructor for ToolsWidget''' super().__init__(parent) + # 变量 + self.MotorEnable_flag = 0 + + # 继承主窗口对象 self.controlledPlot = controllerPlotWidget self.horizontalLayout1 = QtWidgets.QHBoxLayout() @@ -156,6 +177,13 @@ class ControlPlotPanel(QtWidgets.QWidget): self.startStopButton.setIcon(GUIToolKit.getIconByName('start')) self.horizontalLayout1.addWidget(self.startStopButton) + self.MotorEnableButton = QtWidgets.QPushButton(self) + self.MotorEnableButton.setText('Disable') + self.MotorEnableButton.setObjectName('Disable') + self.MotorEnableButton.clicked.connect(self.MotorEnableButton_clicked) + self.MotorEnableButton.setIcon(GUIToolKit.getIconByName('stop')) + self.horizontalLayout1.addWidget(self.MotorEnableButton) + self.zoomAllButton = QtWidgets.QPushButton(self) self.zoomAllButton.setObjectName('zoomAllButton') self.zoomAllButton.setText('View all') @@ -183,6 +211,16 @@ class ControlPlotPanel(QtWidgets.QWidget): else: self.controlledPlot.wifi_recv_flag = 0 self.startStopButton.setText('Start') + def MotorEnableButton_clicked(self): + if self.MotorEnable_flag == 0: + # Motor关闭 + self.MotorEnable_flag = 1 + self.MotorEnableButton.setText('Enable') + self.controlledPlot.udp.send_message("MOTOR") + else: + self.MotorEnable_flag = 0 + self.MotorEnableButton.setText('Disable') + self.controlledPlot.udp.send_message("MOTOR") if __name__ == '__main__': app = QApplication(sys.argv) myWin = MyWindow() diff --git a/python_gui/gui/main_ui.py b/python_gui/gui/main_ui.py index 56f582f..d85f7b3 100644 --- a/python_gui/gui/main_ui.py +++ b/python_gui/gui/main_ui.py @@ -2,7 +2,7 @@ # Form implementation generated from reading ui file 'main_ui.ui' # -# Created by: PyQt5 UI code generator 5.15.4 +# Created by: PyQt5 UI code generator 5.15.2 # # WARNING: Any manual changes made to this file will be lost when pyuic5 is # run again. Do not edit this file unless you know what you are doing. @@ -33,40 +33,8 @@ class Ui_MainWindow(object): self.wifi_config_pushButton = QtWidgets.QPushButton(self.horizontalLayoutWidget) self.wifi_config_pushButton.setObjectName("wifi_config_pushButton") self.horizontalLayout.addWidget(self.wifi_config_pushButton) - self.horizontalLayoutWidget_2 = QtWidgets.QWidget(self.centralwidget) - self.horizontalLayoutWidget_2.setGeometry(QtCore.QRect(590, 480, 104, 31)) - self.horizontalLayoutWidget_2.setObjectName("horizontalLayoutWidget_2") - self.horizontalLayout_2 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_2) - self.horizontalLayout_2.setContentsMargins(0, 0, 0, 0) - self.horizontalLayout_2.setObjectName("horizontalLayout_2") - self.label = QtWidgets.QLabel(self.horizontalLayoutWidget_2) - self.label.setObjectName("label") - self.horizontalLayout_2.addWidget(self.label) - self.velocity_lineEdit = QtWidgets.QLineEdit(self.horizontalLayoutWidget_2) - self.velocity_lineEdit.setObjectName("velocity_lineEdit") - self.horizontalLayout_2.addWidget(self.velocity_lineEdit) - self.velocity_horizontalSlider = QtWidgets.QSlider(self.centralwidget) - self.velocity_horizontalSlider.setGeometry(QtCore.QRect(430, 460, 261, 22)) - self.velocity_horizontalSlider.setMinimum(-150) - self.velocity_horizontalSlider.setMaximum(150) - self.velocity_horizontalSlider.setOrientation(QtCore.Qt.Horizontal) - self.velocity_horizontalSlider.setTickPosition(QtWidgets.QSlider.TicksAbove) - self.velocity_horizontalSlider.setTickInterval(10) - self.velocity_horizontalSlider.setObjectName("velocity_horizontalSlider") - self.horizontalLayoutWidget_3 = QtWidgets.QWidget(self.centralwidget) - self.horizontalLayoutWidget_3.setGeometry(QtCore.QRect(420, 480, 134, 31)) - self.horizontalLayoutWidget_3.setObjectName("horizontalLayoutWidget_3") - self.horizontalLayout_3 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_3) - self.horizontalLayout_3.setContentsMargins(0, 0, 0, 0) - self.horizontalLayout_3.setObjectName("horizontalLayout_3") - self.label_2 = QtWidgets.QLabel(self.horizontalLayoutWidget_3) - self.label_2.setObjectName("label_2") - self.horizontalLayout_3.addWidget(self.label_2) - self.angle_lineEdit = QtWidgets.QLineEdit(self.horizontalLayoutWidget_3) - self.angle_lineEdit.setObjectName("angle_lineEdit") - self.horizontalLayout_3.addWidget(self.angle_lineEdit) self.groupBox_2 = QtWidgets.QGroupBox(self.centralwidget) - self.groupBox_2.setGeometry(QtCore.QRect(370, 10, 811, 431)) + self.groupBox_2.setGeometry(QtCore.QRect(370, 10, 811, 441)) self.groupBox_2.setObjectName("groupBox_2") self.gridLayoutWidget = QtWidgets.QWidget(self.groupBox_2) self.gridLayoutWidget.setGeometry(QtCore.QRect(10, 20, 791, 361)) @@ -75,50 +43,158 @@ class Ui_MainWindow(object): self.gridLayout.setContentsMargins(0, 0, 0, 0) self.gridLayout.setObjectName("gridLayout") self.horizontalLayoutWidget_4 = QtWidgets.QWidget(self.groupBox_2) - self.horizontalLayoutWidget_4.setGeometry(QtCore.QRect(10, 370, 791, 51)) + self.horizontalLayoutWidget_4.setGeometry(QtCore.QRect(10, 380, 791, 51)) self.horizontalLayoutWidget_4.setObjectName("horizontalLayoutWidget_4") self.tool_layout = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_4) self.tool_layout.setContentsMargins(0, 0, 0, 0) self.tool_layout.setObjectName("tool_layout") self.groupBox_3 = QtWidgets.QGroupBox(self.centralwidget) - self.groupBox_3.setGeometry(QtCore.QRect(10, 20, 291, 121)) + self.groupBox_3.setGeometry(QtCore.QRect(10, 10, 291, 321)) self.groupBox_3.setObjectName("groupBox_3") - self.horizontalLayoutWidget_5 = QtWidgets.QWidget(self.groupBox_3) - self.horizontalLayoutWidget_5.setGeometry(QtCore.QRect(10, 20, 271, 31)) - self.horizontalLayoutWidget_5.setObjectName("horizontalLayoutWidget_5") - self.horizontalLayout_4 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_5) - self.horizontalLayout_4.setContentsMargins(0, 0, 0, 0) - self.horizontalLayout_4.setObjectName("horizontalLayout_4") - self.wifi_command_lineEdit_1 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_5) + self.formLayoutWidget = QtWidgets.QWidget(self.groupBox_3) + self.formLayoutWidget.setGeometry(QtCore.QRect(10, 20, 271, 291)) + self.formLayoutWidget.setObjectName("formLayoutWidget") + self.formLayout = QtWidgets.QFormLayout(self.formLayoutWidget) + self.formLayout.setContentsMargins(0, 0, 0, 0) + self.formLayout.setObjectName("formLayout") + self.wifi_command_lineEdit_1 = QtWidgets.QLineEdit(self.formLayoutWidget) self.wifi_command_lineEdit_1.setObjectName("wifi_command_lineEdit_1") - self.horizontalLayout_4.addWidget(self.wifi_command_lineEdit_1) - self.wifi_command_pushButton_1 = QtWidgets.QPushButton(self.horizontalLayoutWidget_5) + self.formLayout.setWidget(0, QtWidgets.QFormLayout.LabelRole, self.wifi_command_lineEdit_1) + self.wifi_command_pushButton_1 = QtWidgets.QPushButton(self.formLayoutWidget) self.wifi_command_pushButton_1.setObjectName("wifi_command_pushButton_1") - self.horizontalLayout_4.addWidget(self.wifi_command_pushButton_1) - self.horizontalLayoutWidget_6 = QtWidgets.QWidget(self.groupBox_3) - self.horizontalLayoutWidget_6.setGeometry(QtCore.QRect(10, 50, 271, 31)) - self.horizontalLayoutWidget_6.setObjectName("horizontalLayoutWidget_6") - self.horizontalLayout_5 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_6) + self.formLayout.setWidget(0, QtWidgets.QFormLayout.FieldRole, self.wifi_command_pushButton_1) + self.wifi_command_lineEdit_2 = QtWidgets.QLineEdit(self.formLayoutWidget) + self.wifi_command_lineEdit_2.setObjectName("wifi_command_lineEdit_2") + self.formLayout.setWidget(1, QtWidgets.QFormLayout.LabelRole, self.wifi_command_lineEdit_2) + self.wifi_command_lineEdit_3 = QtWidgets.QLineEdit(self.formLayoutWidget) + self.wifi_command_lineEdit_3.setObjectName("wifi_command_lineEdit_3") + self.formLayout.setWidget(2, QtWidgets.QFormLayout.LabelRole, self.wifi_command_lineEdit_3) + self.wifi_command_pushButton_2 = QtWidgets.QPushButton(self.formLayoutWidget) + self.wifi_command_pushButton_2.setObjectName("wifi_command_pushButton_2") + self.formLayout.setWidget(1, QtWidgets.QFormLayout.FieldRole, self.wifi_command_pushButton_2) + self.wifi_command_pushButton_3 = QtWidgets.QPushButton(self.formLayoutWidget) + self.wifi_command_pushButton_3.setObjectName("wifi_command_pushButton_3") + self.formLayout.setWidget(2, QtWidgets.QFormLayout.FieldRole, self.wifi_command_pushButton_3) + self.groupBox_4 = QtWidgets.QGroupBox(self.centralwidget) + self.groupBox_4.setGeometry(QtCore.QRect(370, 460, 591, 131)) + self.groupBox_4.setObjectName("groupBox_4") + self.horizontalLayoutWidget_2 = QtWidgets.QWidget(self.groupBox_4) + self.horizontalLayoutWidget_2.setGeometry(QtCore.QRect(10, 20, 571, 31)) + self.horizontalLayoutWidget_2.setObjectName("horizontalLayoutWidget_2") + self.horizontalLayout_2 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_2) + self.horizontalLayout_2.setContentsMargins(0, 0, 0, 0) + self.horizontalLayout_2.setObjectName("horizontalLayout_2") + self.left_lineEdit_1 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_2) + self.left_lineEdit_1.setObjectName("left_lineEdit_1") + self.horizontalLayout_2.addWidget(self.left_lineEdit_1) + self.horizontalSlider_1 = QtWidgets.QSlider(self.horizontalLayoutWidget_2) + self.horizontalSlider_1.setMinimum(-100) + self.horizontalSlider_1.setMaximum(100) + self.horizontalSlider_1.setOrientation(QtCore.Qt.Horizontal) + self.horizontalSlider_1.setTickPosition(QtWidgets.QSlider.TicksAbove) + self.horizontalSlider_1.setTickInterval(10) + self.horizontalSlider_1.setObjectName("horizontalSlider_1") + self.horizontalLayout_2.addWidget(self.horizontalSlider_1) + self.right_lineEdit_1 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_2) + self.right_lineEdit_1.setObjectName("right_lineEdit_1") + self.horizontalLayout_2.addWidget(self.right_lineEdit_1) + self.label = QtWidgets.QLabel(self.horizontalLayoutWidget_2) + self.label.setObjectName("label") + self.horizontalLayout_2.addWidget(self.label) + self.command_lineEdit_1 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_2) + self.command_lineEdit_1.setObjectName("command_lineEdit_1") + self.horizontalLayout_2.addWidget(self.command_lineEdit_1) + self.label_4 = QtWidgets.QLabel(self.horizontalLayoutWidget_2) + self.label_4.setObjectName("label_4") + self.horizontalLayout_2.addWidget(self.label_4) + self.num_lineEdit_1 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_2) + self.num_lineEdit_1.setObjectName("num_lineEdit_1") + self.horizontalLayout_2.addWidget(self.num_lineEdit_1) + self.horizontalLayout_2.setStretch(0, 1) + self.horizontalLayout_2.setStretch(1, 18) + self.horizontalLayout_2.setStretch(2, 1) + self.horizontalLayout_2.setStretch(3, 1) + self.horizontalLayout_2.setStretch(4, 1) + self.horizontalLayout_2.setStretch(5, 1) + self.horizontalLayout_2.setStretch(6, 1) + self.horizontalLayoutWidget_3 = QtWidgets.QWidget(self.groupBox_4) + self.horizontalLayoutWidget_3.setGeometry(QtCore.QRect(10, 50, 571, 31)) + self.horizontalLayoutWidget_3.setObjectName("horizontalLayoutWidget_3") + self.horizontalLayout_5 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_3) self.horizontalLayout_5.setContentsMargins(0, 0, 0, 0) self.horizontalLayout_5.setObjectName("horizontalLayout_5") - self.wifi_command_lineEdit_2 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_6) - self.wifi_command_lineEdit_2.setObjectName("wifi_command_lineEdit_2") - self.horizontalLayout_5.addWidget(self.wifi_command_lineEdit_2) - self.wifi_command_pushButton_2 = QtWidgets.QPushButton(self.horizontalLayoutWidget_6) - self.wifi_command_pushButton_2.setObjectName("wifi_command_pushButton_2") - self.horizontalLayout_5.addWidget(self.wifi_command_pushButton_2) - self.horizontalLayoutWidget_7 = QtWidgets.QWidget(self.groupBox_3) - self.horizontalLayoutWidget_7.setGeometry(QtCore.QRect(10, 80, 271, 31)) - self.horizontalLayoutWidget_7.setObjectName("horizontalLayoutWidget_7") - self.horizontalLayout_6 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_7) + self.left_lineEdit_2 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_3) + self.left_lineEdit_2.setObjectName("left_lineEdit_2") + self.horizontalLayout_5.addWidget(self.left_lineEdit_2) + self.horizontalSlider_2 = QtWidgets.QSlider(self.horizontalLayoutWidget_3) + self.horizontalSlider_2.setMinimum(-100) + self.horizontalSlider_2.setMaximum(100) + self.horizontalSlider_2.setOrientation(QtCore.Qt.Horizontal) + self.horizontalSlider_2.setTickPosition(QtWidgets.QSlider.TicksAbove) + self.horizontalSlider_2.setTickInterval(10) + self.horizontalSlider_2.setObjectName("horizontalSlider_2") + self.horizontalLayout_5.addWidget(self.horizontalSlider_2) + self.right_lineEdit_2 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_3) + self.right_lineEdit_2.setObjectName("right_lineEdit_2") + self.horizontalLayout_5.addWidget(self.right_lineEdit_2) + self.label_5 = QtWidgets.QLabel(self.horizontalLayoutWidget_3) + self.label_5.setObjectName("label_5") + self.horizontalLayout_5.addWidget(self.label_5) + self.command_lineEdit_2 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_3) + self.command_lineEdit_2.setObjectName("command_lineEdit_2") + self.horizontalLayout_5.addWidget(self.command_lineEdit_2) + self.label_6 = QtWidgets.QLabel(self.horizontalLayoutWidget_3) + self.label_6.setObjectName("label_6") + self.horizontalLayout_5.addWidget(self.label_6) + self.num_lineEdit_2 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_3) + self.num_lineEdit_2.setObjectName("num_lineEdit_2") + self.horizontalLayout_5.addWidget(self.num_lineEdit_2) + self.horizontalLayout_5.setStretch(0, 1) + self.horizontalLayout_5.setStretch(1, 18) + self.horizontalLayout_5.setStretch(2, 1) + self.horizontalLayout_5.setStretch(3, 1) + self.horizontalLayout_5.setStretch(4, 1) + self.horizontalLayout_5.setStretch(5, 1) + self.horizontalLayout_5.setStretch(6, 1) + self.horizontalLayoutWidget_5 = QtWidgets.QWidget(self.groupBox_4) + self.horizontalLayoutWidget_5.setGeometry(QtCore.QRect(10, 80, 571, 31)) + self.horizontalLayoutWidget_5.setObjectName("horizontalLayoutWidget_5") + self.horizontalLayout_6 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_5) self.horizontalLayout_6.setContentsMargins(0, 0, 0, 0) self.horizontalLayout_6.setObjectName("horizontalLayout_6") - self.wifi_command_lineEdit_3 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_7) - self.wifi_command_lineEdit_3.setObjectName("wifi_command_lineEdit_3") - self.horizontalLayout_6.addWidget(self.wifi_command_lineEdit_3) - self.wifi_command_pushButton_3 = QtWidgets.QPushButton(self.horizontalLayoutWidget_7) - self.wifi_command_pushButton_3.setObjectName("wifi_command_pushButton_3") - self.horizontalLayout_6.addWidget(self.wifi_command_pushButton_3) + self.left_lineEdit_3 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_5) + self.left_lineEdit_3.setObjectName("left_lineEdit_3") + self.horizontalLayout_6.addWidget(self.left_lineEdit_3) + self.horizontalSlider_3 = QtWidgets.QSlider(self.horizontalLayoutWidget_5) + self.horizontalSlider_3.setMinimum(-100) + self.horizontalSlider_3.setMaximum(100) + self.horizontalSlider_3.setOrientation(QtCore.Qt.Horizontal) + self.horizontalSlider_3.setTickPosition(QtWidgets.QSlider.TicksAbove) + self.horizontalSlider_3.setTickInterval(10) + self.horizontalSlider_3.setObjectName("horizontalSlider_3") + self.horizontalLayout_6.addWidget(self.horizontalSlider_3) + self.right_lineEdit_3 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_5) + self.right_lineEdit_3.setObjectName("right_lineEdit_3") + self.horizontalLayout_6.addWidget(self.right_lineEdit_3) + self.label_7 = QtWidgets.QLabel(self.horizontalLayoutWidget_5) + self.label_7.setObjectName("label_7") + self.horizontalLayout_6.addWidget(self.label_7) + self.command_lineEdit_3 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_5) + self.command_lineEdit_3.setObjectName("command_lineEdit_3") + self.horizontalLayout_6.addWidget(self.command_lineEdit_3) + self.label_8 = QtWidgets.QLabel(self.horizontalLayoutWidget_5) + self.label_8.setObjectName("label_8") + self.horizontalLayout_6.addWidget(self.label_8) + self.num_lineEdit_3 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_5) + self.num_lineEdit_3.setObjectName("num_lineEdit_3") + self.horizontalLayout_6.addWidget(self.num_lineEdit_3) + self.horizontalLayout_6.setStretch(0, 1) + self.horizontalLayout_6.setStretch(1, 18) + self.horizontalLayout_6.setStretch(2, 1) + self.horizontalLayout_6.setStretch(3, 1) + self.horizontalLayout_6.setStretch(4, 1) + self.horizontalLayout_6.setStretch(5, 1) + self.horizontalLayout_6.setStretch(6, 1) MainWindow.setCentralWidget(self.centralwidget) self.menubar = QtWidgets.QMenuBar(MainWindow) self.menubar.setGeometry(QtCore.QRect(0, 0, 1187, 26)) @@ -137,12 +213,27 @@ class Ui_MainWindow(object): self.groupBox.setTitle(_translate("MainWindow", "wifi_IP")) self.wifi_IP_lineEdit.setText(_translate("MainWindow", "192.168.4.2")) self.wifi_config_pushButton.setText(_translate("MainWindow", "设置")) - self.label.setText(_translate("MainWindow", "速度：")) - self.velocity_lineEdit.setText(_translate("MainWindow", "0")) - self.label_2.setText(_translate("MainWindow", "目标角度：")) - self.angle_lineEdit.setText(_translate("MainWindow", "149")) - self.groupBox_2.setTitle(_translate("MainWindow", "GroupBox")) + self.groupBox_2.setTitle(_translate("MainWindow", "可视化图表")) self.groupBox_3.setTitle(_translate("MainWindow", "command命令")) self.wifi_command_pushButton_1.setText(_translate("MainWindow", "发送")) self.wifi_command_pushButton_2.setText(_translate("MainWindow", "发送")) self.wifi_command_pushButton_3.setText(_translate("MainWindow", "发送")) + self.groupBox_4.setTitle(_translate("MainWindow", "滑条command命令")) + self.left_lineEdit_1.setText(_translate("MainWindow", "0")) + self.right_lineEdit_1.setText(_translate("MainWindow", "15")) + self.label.setText(_translate("MainWindow", "command:")) + self.command_lineEdit_1.setText(_translate("MainWindow", "K11")) + self.label_4.setText(_translate("MainWindow", "num:")) + self.num_lineEdit_1.setText(_translate("MainWindow", "0")) + self.left_lineEdit_2.setText(_translate("MainWindow", "0")) + self.right_lineEdit_2.setText(_translate("MainWindow", "3")) + self.label_5.setText(_translate("MainWindow", "command:")) + self.command_lineEdit_2.setText(_translate("MainWindow", "K12")) + self.label_6.setText(_translate("MainWindow", "num:")) + self.num_lineEdit_2.setText(_translate("MainWindow", "0")) + self.left_lineEdit_3.setText(_translate("MainWindow", "0")) + self.right_lineEdit_3.setText(_translate("MainWindow", "1.5")) + self.label_7.setText(_translate("MainWindow", "command:")) + self.command_lineEdit_3.setText(_translate("MainWindow", "K13")) + self.label_8.setText(_translate("MainWindow", "num:")) + self.num_lineEdit_3.setText(_translate("MainWindow", "0")) diff --git a/python_gui/gui/main_ui.ui b/python_gui/gui/main_ui.ui index 84d2a29..075eced 100644 --- a/python_gui/gui/main_ui.ui +++ b/python_gui/gui/main_ui.ui @@ -56,94 +56,17 @@ - - - - 590 - 480 - 104 - 31 - - - - - - - 速度： - - - - - - - 0 - - - - - - - - - 430 - 460 - 261 - 22 - - - - -150 - - - 150 - - - Qt::Horizontal - - - QSlider::TicksAbove - - - 10 - - - - - - 420 - 480 - 134 - 31 - - - - - - - 目标角度： - - - - - - - 149 - - - - - 370 10 811 - 431 + 441 - GroupBox + 可视化图表 @@ -160,7 +83,7 @@ 10 - 370 + 380 791 51 @@ -172,75 +95,283 @@ 10 - 20 + 10 291 - 121 + 321 command命令 - + 10 20 271 - 31 + 291 - - + + - + 发送 - - - - - - 10 - 50 - 271 - 31 - - - - + - + + + + 发送 + + + + 发送 + + + - + + + + + 370 + 460 + 591 + 131 + + + + 滑条command命令 + + + + + 10 + 20 + 571 + 31 + + + + + + + 0 + + + + + + + -100 + + + 100 + + + Qt::Horizontal + + + QSlider::TicksAbove + + + 10 + + + + + + + 15 + + + + + + + command: + + + + + + + K11 + + + + + + + num: + + + + + + + 0 + + + + + + + + + 10 + 50 + 571 + 31 + + + + + + + 0 + + + + + + + -100 + + + 100 + + + Qt::Horizontal + + + QSlider::TicksAbove + + + 10 + + + + + + + 3 + + + + + + + command: + + + + + + + K12 + + + + + + + num: + + + + + + + 0 + + + + + + 10 80 - 271 + 571 31 - + - + + + 0 + + - + + + -100 + + + 100 + + + Qt::Horizontal + + + QSlider::TicksAbove + + + 10 + + + + + - 发送 + 1.5 + + + + + + + command: + + + + + + + K13 + + + + + + + num: + + + + + + + 0