上位机调参-滑条

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");

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):
+    def horizontalSlider_1_valueChanged(self):
-        self.target_velocity = self.velocity_horizontalSlider.value()
+        value = self.horizontalSlider_1.value()
-        self.velocity_lineEdit.setText(str(self.target_velocity))
+        value = float(self.left_lineEdit_1.text())+(value+100)*(float(self.right_lineEdit_1.text())-float(self.left_lineEdit_1.text()))/200
-        self.udp.send_message(str(self.target_velocity))
+        self.num_lineEdit_1.setText(str(value))
-        print(str(self.target_velocity))
+        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()

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.formLayoutWidget = QtWidgets.QWidget(self.groupBox_3)
-        self.horizontalLayoutWidget_5.setGeometry(QtCore.QRect(10, 20, 271, 31))
+        self.formLayoutWidget.setGeometry(QtCore.QRect(10, 20, 271, 291))
-        self.horizontalLayoutWidget_5.setObjectName("horizontalLayoutWidget_5")
+        self.formLayoutWidget.setObjectName("formLayoutWidget")
-        self.horizontalLayout_4 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_5)
+        self.formLayout = QtWidgets.QFormLayout(self.formLayoutWidget)
-        self.horizontalLayout_4.setContentsMargins(0, 0, 0, 0)
+        self.formLayout.setContentsMargins(0, 0, 0, 0)
-        self.horizontalLayout_4.setObjectName("horizontalLayout_4")
+        self.formLayout.setObjectName("formLayout")
-        self.wifi_command_lineEdit_1 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_5)
+        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.formLayout.setWidget(0, QtWidgets.QFormLayout.LabelRole, self.wifi_command_lineEdit_1)
-        self.wifi_command_pushButton_1 = QtWidgets.QPushButton(self.horizontalLayoutWidget_5)
+        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.formLayout.setWidget(0, QtWidgets.QFormLayout.FieldRole, self.wifi_command_pushButton_1)
-        self.horizontalLayoutWidget_6 = QtWidgets.QWidget(self.groupBox_3)
+        self.wifi_command_lineEdit_2 = QtWidgets.QLineEdit(self.formLayoutWidget)
-        self.horizontalLayoutWidget_6.setGeometry(QtCore.QRect(10, 50, 271, 31))
+        self.wifi_command_lineEdit_2.setObjectName("wifi_command_lineEdit_2")
-        self.horizontalLayoutWidget_6.setObjectName("horizontalLayoutWidget_6")
+        self.formLayout.setWidget(1, QtWidgets.QFormLayout.LabelRole, self.wifi_command_lineEdit_2)
-        self.horizontalLayout_5 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_6)
+        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.left_lineEdit_2 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_3)
-        self.wifi_command_lineEdit_2.setObjectName("wifi_command_lineEdit_2")
+        self.left_lineEdit_2.setObjectName("left_lineEdit_2")
-        self.horizontalLayout_5.addWidget(self.wifi_command_lineEdit_2)
+        self.horizontalLayout_5.addWidget(self.left_lineEdit_2)
-        self.wifi_command_pushButton_2 = QtWidgets.QPushButton(self.horizontalLayoutWidget_6)
+        self.horizontalSlider_2 = QtWidgets.QSlider(self.horizontalLayoutWidget_3)
-        self.wifi_command_pushButton_2.setObjectName("wifi_command_pushButton_2")
+        self.horizontalSlider_2.setMinimum(-100)
-        self.horizontalLayout_5.addWidget(self.wifi_command_pushButton_2)
+        self.horizontalSlider_2.setMaximum(100)
-        self.horizontalLayoutWidget_7 = QtWidgets.QWidget(self.groupBox_3)
+        self.horizontalSlider_2.setOrientation(QtCore.Qt.Horizontal)
-        self.horizontalLayoutWidget_7.setGeometry(QtCore.QRect(10, 80, 271, 31))
+        self.horizontalSlider_2.setTickPosition(QtWidgets.QSlider.TicksAbove)
-        self.horizontalLayoutWidget_7.setObjectName("horizontalLayoutWidget_7")
+        self.horizontalSlider_2.setTickInterval(10)
-        self.horizontalLayout_6 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_7)
+        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.left_lineEdit_3 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_5)
-        self.wifi_command_lineEdit_3.setObjectName("wifi_command_lineEdit_3")
+        self.left_lineEdit_3.setObjectName("left_lineEdit_3")
-        self.horizontalLayout_6.addWidget(self.wifi_command_lineEdit_3)
+        self.horizontalLayout_6.addWidget(self.left_lineEdit_3)
-        self.wifi_command_pushButton_3 = QtWidgets.QPushButton(self.horizontalLayoutWidget_7)
+        self.horizontalSlider_3 = QtWidgets.QSlider(self.horizontalLayoutWidget_5)
-        self.wifi_command_pushButton_3.setObjectName("wifi_command_pushButton_3")
+        self.horizontalSlider_3.setMinimum(-100)
-        self.horizontalLayout_6.addWidget(self.wifi_command_pushButton_3)
+        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.groupBox_2.setTitle(_translate("MainWindow", "可视化图表"))
-        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_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"))

python_gui/gui/main_ui.ui

@@ -56,94 +56,17 @@
      </layout>
     </widget>
    </widget>
-   <widget class="QWidget" name="horizontalLayoutWidget_2">
-    <property name="geometry">
-     <rect>
-      <x>590</x>
-      <y>480</y>
-      <width>104</width>
-      <height>31</height>
-     </rect>
-    </property>
-    <layout class="QHBoxLayout" name="horizontalLayout_2">
-     <item>
-      <widget class="QLabel" name="label">
-       <property name="text">
-        <string>速度：</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QLineEdit" name="velocity_lineEdit">
-       <property name="text">
-        <string>0</string>
-       </property>
-      </widget>
-     </item>
-    </layout>
-   </widget>
-   <widget class="QSlider" name="velocity_horizontalSlider">
-    <property name="geometry">
-     <rect>
-      <x>430</x>
-      <y>460</y>
-      <width>261</width>
-      <height>22</height>
-     </rect>
-    </property>
-    <property name="minimum">
-     <number>-150</number>
-    </property>
-    <property name="maximum">
-     <number>150</number>
-    </property>
-    <property name="orientation">
-     <enum>Qt::Horizontal</enum>
-    </property>
-    <property name="tickPosition">
-     <enum>QSlider::TicksAbove</enum>
-    </property>
-    <property name="tickInterval">
-     <number>10</number>
-    </property>
-   </widget>
-   <widget class="QWidget" name="horizontalLayoutWidget_3">
-    <property name="geometry">
-     <rect>
-      <x>420</x>
-      <y>480</y>
-      <width>134</width>
-      <height>31</height>
-     </rect>
-    </property>
-    <layout class="QHBoxLayout" name="horizontalLayout_3">
-     <item>
-      <widget class="QLabel" name="label_2">
-       <property name="text">
-        <string>目标角度：</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QLineEdit" name="angle_lineEdit">
-       <property name="text">
-        <string>149</string>
-       </property>
-      </widget>
-     </item>
-    </layout>
-   </widget>
    <widget class="QGroupBox" name="groupBox_2">
     <property name="geometry">
      <rect>
       <x>370</x>
       <y>10</y>
       <width>811</width>
-      <height>431</height>
+      <height>441</height>
      </rect>
     </property>
     <property name="title">
-     <string>GroupBox</string>
+     <string>可视化图表</string>
     </property>
     <widget class="QWidget" name="gridLayoutWidget">
      <property name="geometry">
@@ -160,7 +83,7 @@
      <property name="geometry">
       <rect>
        <x>10</x>
-       <y>370</y>
+       <y>380</y>
        <width>791</width>
        <height>51</height>
       </rect>
@@ -172,75 +95,283 @@
     <property name="geometry">
      <rect>
       <x>10</x>
-      <y>20</y>
+      <y>10</y>
       <width>291</width>
-      <height>121</height>
+      <height>321</height>
      </rect>
     </property>
     <property name="title">
      <string>command命令</string>
     </property>
-    <widget class="QWidget" name="horizontalLayoutWidget_5">
+    <widget class="QWidget" name="formLayoutWidget">
      <property name="geometry">
       <rect>
        <x>10</x>
        <y>20</y>
        <width>271</width>
-       <height>31</height>
+       <height>291</height>
       </rect>
      </property>
-     <layout class="QHBoxLayout" name="horizontalLayout_4">
+     <layout class="QFormLayout" name="formLayout">
-      <item>
+      <item row="0" column="0">
        <widget class="QLineEdit" name="wifi_command_lineEdit_1"/>
       </item>
-      <item>
+      <item row="0" column="1">
        <widget class="QPushButton" name="wifi_command_pushButton_1">
         <property name="text">
          <string>发送</string>
         </property>
        </widget>
       </item>
-     </layout>
+      <item row="1" column="0">
-    </widget>
-    <widget class="QWidget" name="horizontalLayoutWidget_6">
-     <property name="geometry">
-      <rect>
-       <x>10</x>
-       <y>50</y>
-       <width>271</width>
-       <height>31</height>
-      </rect>
-     </property>
-     <layout class="QHBoxLayout" name="horizontalLayout_5">
-      <item>
        <widget class="QLineEdit" name="wifi_command_lineEdit_2"/>
       </item>
-      <item>
+      <item row="2" column="0">
+       <widget class="QLineEdit" name="wifi_command_lineEdit_3"/>
+      </item>
+      <item row="1" column="1">
        <widget class="QPushButton" name="wifi_command_pushButton_2">
         <property name="text">
          <string>发送</string>
         </property>
        </widget>
       </item>
+      <item row="2" column="1">
+       <widget class="QPushButton" name="wifi_command_pushButton_3">
+        <property name="text">
+         <string>发送</string>
+        </property>
+       </widget>
+      </item>
      </layout>
     </widget>
-    <widget class="QWidget" name="horizontalLayoutWidget_7">
+   </widget>
+   <widget class="QGroupBox" name="groupBox_4">
+    <property name="geometry">
+     <rect>
+      <x>370</x>
+      <y>460</y>
+      <width>591</width>
+      <height>131</height>
+     </rect>
+    </property>
+    <property name="title">
+     <string>滑条command命令</string>
+    </property>
+    <widget class="QWidget" name="horizontalLayoutWidget_2">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>20</y>
+       <width>571</width>
+       <height>31</height>
+      </rect>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout_2" stretch="1,18,1,1,1,1,1">
+      <item>
+       <widget class="QLineEdit" name="left_lineEdit_1">
+        <property name="text">
+         <string>0</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QSlider" name="horizontalSlider_1">
+        <property name="minimum">
+         <number>-100</number>
+        </property>
+        <property name="maximum">
+         <number>100</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="tickPosition">
+         <enum>QSlider::TicksAbove</enum>
+        </property>
+        <property name="tickInterval">
+         <number>10</number>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLineEdit" name="right_lineEdit_1">
+        <property name="text">
+         <string>15</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label">
+        <property name="text">
+         <string>command:</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLineEdit" name="command_lineEdit_1">
+        <property name="text">
+         <string>K11</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_4">
+        <property name="text">
+         <string>num:</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLineEdit" name="num_lineEdit_1">
+        <property name="text">
+         <string>0</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+    <widget class="QWidget" name="horizontalLayoutWidget_3">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>50</y>
+       <width>571</width>
+       <height>31</height>
+      </rect>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout_5" stretch="1,18,1,1,1,1,1">
+      <item>
+       <widget class="QLineEdit" name="left_lineEdit_2">
+        <property name="text">
+         <string>0</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QSlider" name="horizontalSlider_2">
+        <property name="minimum">
+         <number>-100</number>
+        </property>
+        <property name="maximum">
+         <number>100</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="tickPosition">
+         <enum>QSlider::TicksAbove</enum>
+        </property>
+        <property name="tickInterval">
+         <number>10</number>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLineEdit" name="right_lineEdit_2">
+        <property name="text">
+         <string>3</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_5">
+        <property name="text">
+         <string>command:</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLineEdit" name="command_lineEdit_2">
+        <property name="text">
+         <string>K12</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_6">
+        <property name="text">
+         <string>num:</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLineEdit" name="num_lineEdit_2">
+        <property name="text">
+         <string>0</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+    <widget class="QWidget" name="horizontalLayoutWidget_5">
      <property name="geometry">
       <rect>
        <x>10</x>
        <y>80</y>
-       <width>271</width>
+       <width>571</width>
        <height>31</height>
       </rect>
      </property>
-     <layout class="QHBoxLayout" name="horizontalLayout_6">
+     <layout class="QHBoxLayout" name="horizontalLayout_6" stretch="1,18,1,1,1,1,1">
       <item>
-       <widget class="QLineEdit" name="wifi_command_lineEdit_3"/>
+       <widget class="QLineEdit" name="left_lineEdit_3">
+        <property name="text">
+         <string>0</string>
+        </property>
+       </widget>
       </item>
       <item>
-       <widget class="QPushButton" name="wifi_command_pushButton_3">
+       <widget class="QSlider" name="horizontalSlider_3">
+        <property name="minimum">
+         <number>-100</number>
+        </property>
+        <property name="maximum">
+         <number>100</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="tickPosition">
+         <enum>QSlider::TicksAbove</enum>
+        </property>
+        <property name="tickInterval">
+         <number>10</number>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLineEdit" name="right_lineEdit_3">
         <property name="text">
-         <string>发送</string>
+         <string>1.5</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_7">
+        <property name="text">
+         <string>command:</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLineEdit" name="command_lineEdit_3">
+        <property name="text">
+         <string>K13</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_8">
+        <property name="text">
+         <string>num:</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLineEdit" name="num_lineEdit_3">
+        <property name="text">
+         <string>0</string>
         </property>
        </widget>
       </item>