diff --git a/.idea/.gitignore b/.idea/.gitignore
new file mode 100644
index 0000000..26d3352
--- /dev/null
+++ b/.idea/.gitignore
@@ -0,0 +1,3 @@
+# Default ignored files
+/shelf/
+/workspace.xml
diff --git a/.idea/foc.iml b/.idea/foc.iml
new file mode 100644
index 0000000..8b8c395
--- /dev/null
+++ b/.idea/foc.iml
@@ -0,0 +1,12 @@
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/.idea/inspectionProfiles/Project_Default.xml b/.idea/inspectionProfiles/Project_Default.xml
new file mode 100644
index 0000000..d2c2a3b
--- /dev/null
+++ b/.idea/inspectionProfiles/Project_Default.xml
@@ -0,0 +1,14 @@
+
+
+
+
+
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+
+
\ No newline at end of file
diff --git a/.idea/inspectionProfiles/profiles_settings.xml b/.idea/inspectionProfiles/profiles_settings.xml
new file mode 100644
index 0000000..105ce2d
--- /dev/null
+++ b/.idea/inspectionProfiles/profiles_settings.xml
@@ -0,0 +1,6 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
new file mode 100644
index 0000000..a2e120d
--- /dev/null
+++ b/.idea/misc.xml
@@ -0,0 +1,4 @@
+
+
+
+
\ No newline at end of file
diff --git a/.idea/modules.xml b/.idea/modules.xml
new file mode 100644
index 0000000..0437867
--- /dev/null
+++ b/.idea/modules.xml
@@ -0,0 +1,8 @@
+
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+
\ No newline at end of file
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
new file mode 100644
index 0000000..94a25f7
--- /dev/null
+++ b/.idea/vcs.xml
@@ -0,0 +1,6 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/README.md b/README.md
index a0953e3..9d9d2ad 100644
--- a/README.md
+++ b/README.md
@@ -1,39 +1,75 @@
-# FocProject
+# 自平衡莱洛三角形可充电版
#### 介绍
-{**以下是 Gitee 平台说明,您可以替换此简介**
-Gitee 是 OSCHINA 推出的基于 Git 的代码托管平台(同时支持 SVN)。专为开发者提供稳定、高效、安全的云端软件开发协作平台
-无论是个人、团队、或是企业,都能够用 Gitee 实现代码托管、项目管理、协作开发。企业项目请看 [https://gitee.com/enterprises](https://gitee.com/enterprises)}
+**在B站[“基于LQR控制器的自平衡莱洛三角形”](https://www.bilibili.com/video/BV19v411n7mN)基础上添加了充电模块**
+主控芯片使用ESP32,并配置了调参上位机,可以很方便的通过wifi无线调参。无刷控制使用灯哥开源FOC。制作出一个方便复刻的自平衡莱洛三角形,在桌面上作为一个摆件还是非常不错的[展示视频]()
-#### 软件架构
-软件架构说明
+#### 1 软件架构
+在原作者的自平衡控制**电压**算法上进行修改,将电压控制改为**速度**控制。使对模型的控制在物理上更加容易理解。并且代码的调参都可以通过连接ESP32的wifi调整。具体特性如下:
+- **基于 Arduino**:运行在 ESP32 Arduino 上
+- **控制模式丰富**:电压控制和速度控制
-#### 安装教程
+![Image text](image/gui_main.jpg)
+#### 2 硬件特性
-1. xxxx
-2. xxxx
-3. xxxx
+| 说明 | 参数 |
+| ---------------- |---------------------- |
+| 莱洛三角形尺寸 | 100*100 mm |
+|动量轮尺寸|80*80 mm|
+| 输入电压 | 3.7v锂电池*3|
+|充电电压| 5V 从Type-C口输入|
+|充电芯片CS5095|5V输入,最大1.2A充电电流|
+|串口芯片CH340C|需要打开开关才能下载|
+| 主控 | ESP-WROOM-32 |
+|电机驱动芯片L6234PD|引脚:32, 33, 25, 22; 22为enable|
+| AS5600 编码器 |SDA-23 SCL-5 |
+| MPU6050六轴传感器 | SDA-19 SCL-18 |
-#### 使用说明
+#### 3 使用说明
-1. xxxx
-2. xxxx
-3. xxxx
+1. 前往灯哥开源[FOCgit](https://gitee.com/ream_d/Deng-s-foc-controller)下载Arduino开发环境(~~也可自行下载Arduino并安装SimpleFOC~~)并打开本项目内的Arduino内的main,烧录程序到ESP32。
+2. 打开本项目内的python_gui内的FOC_gui.exe并连接上WIFI:ESP32。点击设置开始调参。
-#### 参与贡献
+比如让平衡角度为90度,则输入:TA90,并且会存入eeprom的位置0中 注:wifi发送**命令不能过快**,因为每次都会保存进eeprom,K参数没有保存到EEPROM所以可以使用滑条调整。
-1. Fork 本仓库
-2. 新建 Feat_xxx 分支
-3. 提交代码
-4. 新建 Pull Request
+| 参数命令 | 说明 |
+| ---------------- |---------------------- |
+| TA | target_angle平衡角度 例如TA89.3 设置平衡角度89.3|
+| SV | swing_up_voltage摇摆电压 左右摇摆的电压,越大越快到平衡态,但是过大会翻过头|
+|SA|swing_up_angle摇摆角度 离平衡角度还有几度时候,切换到自平衡控制|
+|VP1|速度环的PID的P,1是稳定在平衡角度之前的P值|
+|VI1|速度环的PID的I,1是稳定在平衡角度之前的I值|
+|VP2|速度环的PID的P,2是稳定后的P值|
+|VI2|速度环的PID的I,2是稳定后的I值|
+|K**1**1|**1和2**是电压控制时参数。LQR的参数1*角度差值|
+|K**1**2|**1和2**是电压控制时参数。LQR的参数2*左右倾倒加速度|
+|K**1**3|**1和2**是电压控制时参数,**3和4**是速度控制时参数。LQR的参数3*当前速度|
+#### 4 硬件设计
+使用立创EDA绘制电路原理图,LaserMaker绘制莱洛三角形和动量轮(有激光切割机可以事先切割结构作为参考)。将绘制完的图形导入到立创EDA中可作为PCB的外框。丝印图案分别是**Gawr Gura**、**ouro kronii** ~~helicopter~~
-#### 特技
+LaserMaker绘制的plt在**莱洛三角结构**文件夹内
-1. 使用 Readme\_XXX.md 来支持不同的语言,例如 Readme\_en.md, Readme\_zh.md
-2. Gitee 官方博客 [blog.gitee.com](https://blog.gitee.com)
-3. 你可以 [https://gitee.com/explore](https://gitee.com/explore) 这个地址来了解 Gitee 上的优秀开源项目
-4. [GVP](https://gitee.com/gvp) 全称是 Gitee 最有价值开源项目,是综合评定出的优秀开源项目
-5. Gitee 官方提供的使用手册 [https://gitee.com/help](https://gitee.com/help)
-6. Gitee 封面人物是一档用来展示 Gitee 会员风采的栏目 [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/)
+感谢嘉立创的PCB制板,使DIY电路制作变得非常便利
+
+[莱洛三角形PCB](https://lceda.cn/45coll/zi-ping-heng-di-lai-luo-san-jiao_10-10-ban-ben)
+[动量轮]()
+
+具体需要购买的物品在**物料清单.xlsx**中
+
+#### 5 Ctrl+C +V(参考)
+Arduino上的控制算法抄的是原作者的LQR,无刷电机控制是抄灯哥开源的。电机控制引脚定义与传感器定义和灯哥开源FOC控制板2.0版完全一样。
+
+Python的GUI是抄SimpleFOC的SimpleFOCStudio。
+
+充电电路完全抄的是立创广场开源的CS5095充电方案。
+1. 原作者:基于LQR控制器的自平衡莱洛三角形[BV19v411n7mN](https://www.bilibili.com/video/BV19v411n7mN)
+2. 灯哥开源FOC [https://gitee.com/ream_d/Deng-s-foc-controller](https://gitee.com/ream_d/Deng-s-foc-controller)
+3. 充电芯片电路[https://oshwhub.com/Aknice/cs5095e-san-jie-li-dian-chi-sheng-ya-chong-dian-dian-lu](https://oshwhub.com/Aknice/cs5095e-san-jie-li-dian-chi-sheng-ya-chong-dian-dian-lu)
+
+#### 6 有用的地方
+
+1. Arduino的程序中的command.h、command.cpp可以支持任意的字符串输入。在其他项目中一样可以用,无论是wifi接收到的字符串数据或者是串口的字符串数据。
+
+2. GUI上位机可以在其他wifi项目中可以继续使用,用来调参还是很方便。
\ No newline at end of file
diff --git a/arduino/head_file_test/main/Command.cpp b/arduino/head_file_test/main/Command.cpp
deleted file mode 100644
index bc3e296..0000000
--- a/arduino/head_file_test/main/Command.cpp
+++ /dev/null
@@ -1,28 +0,0 @@
-#include "Command.h"
-
-void Command::run(char* str){
- for(int i=0; i < call_count; i++){
- if(isSentinel(call_ids[i],str)){ // case : call_ids = "T2" str = "T215.155"
- call_list[i](str+strlen(call_ids[i])); // get 15.155 input function
- break;
- }
- }
-}
-void Command::add(char* id, CommandCallback onCommand){
- call_list[call_count] = onCommand;
- call_ids[call_count] = id;
- call_count++;
-}
-void Command::scalar(float* value, char* user_cmd){
- *value = atof(user_cmd);
-}
-bool Command::isSentinel(char* ch,char* str)
-{
- char s[strlen(ch)+1];
- strncpy(s,str,strlen(ch));
- s[strlen(ch)] = '\0'; //strncpy need add end '\0'
- if(strcmp(ch, s) == 0)
- return true;
- else
- return false;
-}
diff --git a/arduino/head_file_test/main/Command.h b/arduino/head_file_test/main/Command.h
deleted file mode 100644
index 20e2fe5..0000000
--- a/arduino/head_file_test/main/Command.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#include
-// callback function pointer definiton
-typedef void (* CommandCallback)(char*); //!< command callback function pointer
-class Command
-{
- public:
- void add(char* id , CommandCallback onCommand);
- void run(char* str);
- void scalar(float* value, char* user_cmd);
- bool isSentinel(char* ch,char* str);
- private:
- // Subscribed command callback variables
- CommandCallback call_list[20];//!< array of command callback pointers - 20 is an arbitrary number
- char* call_ids[20]; //!< added callback commands
- int call_count;//!< number callbacks that are subscribed
-
-};
diff --git a/arduino/head_file_test/main/main.ino b/arduino/head_file_test/main/main.ino
deleted file mode 100644
index 24ee643..0000000
--- a/arduino/head_file_test/main/main.ino
+++ /dev/null
@@ -1,19 +0,0 @@
-#include "Command.h"
-
-
-//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/kalman/i2c.ino b/arduino/kalman/i2c.ino
deleted file mode 100644
index 23fa91c..0000000
--- a/arduino/kalman/i2c.ino
+++ /dev/null
@@ -1,63 +0,0 @@
-/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
-
- This software may be distributed and modified under the terms of the GNU
- General Public License version 2 (GPL2) as published by the Free Software
- Foundation and appearing in the file GPL2.TXT included in the packaging of
- this file. Please note that GPL2 Section 2[b] requires that all works based
- on this software must also be made publicly available under the terms of
- the GPL2 ("Copyleft").
-
- Contact information
- -------------------
-
- Kristian Lauszus, TKJ Electronics
- Web : http://www.tkjelectronics.com
- e-mail : kristianl@tkjelectronics.com
- */
-
-const uint8_t IMUAddress = 0x68; // AD0 is logic low on the PCB
-const uint16_t I2C_TIMEOUT = 1000; // Used to check for errors in I2C communication
-
-uint8_t i2cWrite(uint8_t registerAddress, uint8_t data, bool sendStop) {
- return i2cWrite(registerAddress, &data, 1, sendStop); // Returns 0 on success
-}
-
-uint8_t i2cWrite(uint8_t registerAddress, uint8_t *data, uint8_t length, bool sendStop) {
- Wire.beginTransmission(IMUAddress);
- Wire.write(registerAddress);
- Wire.write(data, length);
- uint8_t rcode = Wire.endTransmission(sendStop); // Returns 0 on success
- if (rcode) {
- Serial.print(F("i2cWrite failed: "));
- Serial.println(rcode);
- }
- return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission
-}
-
-uint8_t i2cRead(uint8_t registerAddress, uint8_t *data, uint8_t nbytes) {
- uint32_t timeOutTimer;
- Wire.beginTransmission(IMUAddress);
- Wire.write(registerAddress);
- uint8_t rcode = Wire.endTransmission(false); // Don't release the bus
- if (rcode) {
- Serial.print(F("i2cRead failed: "));
- Serial.println(rcode);
- return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission
- }
- Wire.requestFrom(IMUAddress, nbytes, (uint8_t)true); // Send a repeated start and then release the bus after reading
- for (uint8_t i = 0; i < nbytes; i++) {
- if (Wire.available())
- data[i] = Wire.read();
- else {
- timeOutTimer = micros();
- while (((micros() - timeOutTimer) < I2C_TIMEOUT) && !Wire.available());
- if (Wire.available())
- data[i] = Wire.read();
- else {
- Serial.println(F("i2cRead timeout"));
- return 5; // This error value is not already taken by endTransmission
- }
- }
- }
- return 0; // Success
-}
diff --git a/arduino/kalman/kalman.ino b/arduino/kalman/kalman.ino
deleted file mode 100644
index b50a566..0000000
--- a/arduino/kalman/kalman.ino
+++ /dev/null
@@ -1,111 +0,0 @@
-#include
-#include // Source: https://github.com/TKJElectronics/KalmanFilter
-#define gyroZ_OFF -0.72
-Kalman kalmanZ;
-/* ----IMU Data---- */
-double accX, accY, accZ;
-double gyroX, gyroY, gyroZ;
-int16_t tempRaw;
-
-double gyroZangle; // Angle calculate using the gyro only
-double compAngleZ; // Calculated angle using a complementary filter
-double kalAngleZ; // Calculated angle using a Kalman filter
-
-uint32_t timer;
-uint8_t i2cData[14]; // Buffer for I2C data
-
-/* ----FOC Data---- */
-
-// driver instance
-double acc2rotation(double x, double y);
-void setup() {
- Serial.begin(115200);
- /* ----IMU init---- */
- Wire.begin(19, 18,400000);// Set I2C frequency to 400kHz
- i2cData[0] = 7; // Set the sample rate to 1000Hz - 8kHz/(7+1) = 1000Hz
- i2cData[1] = 0x00; // Disable FSYNC and set 260 Hz Acc filtering, 256 Hz Gyro filtering, 8 KHz sampling
- i2cData[2] = 0x00; // Set Gyro Full Scale Range to ±250deg/s
- i2cData[3] = 0x00; // Set Accelerometer Full Scale Range to ±2g
- while (i2cWrite(0x19, i2cData, 4, false))
- ; // Write to all four registers at once
- while (i2cWrite(0x6B, 0x01, true))
- ; // PLL with X axis gyroscope reference and disable sleep mode
-
- while (i2cRead(0x75, i2cData, 1))
- ;
- if (i2cData[0] != 0x68)
- { // Read "WHO_AM_I" register
- Serial.print(F("Error reading sensor"));
- while (1)
- ;
- }
-
- delay(100); // Wait for sensor to stabilize
-
- /* Set kalman and gyro starting angle */
- while (i2cRead(0x3B, i2cData, 6))
- ;
- accX = (int16_t)((i2cData[0] << 8) | i2cData[1]);
- accY = (int16_t)((i2cData[2] << 8) | i2cData[3]);
- accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]);
- double pitch = acc2rotation(accX, accY);
-
- kalmanZ.setAngle(pitch);
- gyroZangle = pitch;
-
- timer = micros();
- /* ----FOC init---- */
-}
-
-void loop() {
- /*----IMU loop----*/
- while (i2cRead(0x3B, i2cData, 14));
- accX = (int16_t)((i2cData[0] << 8) | i2cData[1]);
- accY = (int16_t)((i2cData[2] << 8) | i2cData[3]);
- accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]);
- tempRaw = (int16_t)((i2cData[6] << 8) | i2cData[7]);
- gyroX = (int16_t)((i2cData[8] << 8) | i2cData[9]);
- gyroY = (int16_t)((i2cData[10] << 8) | i2cData[11]);
- gyroZ = (int16_t)((i2cData[12] << 8) | i2cData[13]);
-
- double dt = (double)(micros() - timer) / 1000000; // Calculate delta time
- timer = micros();
-
- double pitch = acc2rotation(accX, accY);
- double gyroZrate = gyroZ / 131.0; // Convert to deg/s
-
- kalAngleZ = kalmanZ.getAngle(pitch, gyroZrate + gyroZ_OFF, dt);
- gyroZangle += (gyroZrate + gyroZ_OFF) * dt;
- compAngleZ = 0.93 * (compAngleZ + (gyroZrate + gyroZ_OFF) * dt) + 0.07 * pitch;
-
- // Reset the gyro angle when it has drifted too much
- if (gyroZangle < -180 || gyroZangle > 180)
- gyroZangle = kalAngleZ;
-
-#if 1 // Set to 1 to activate
- Serial.print(pitch); Serial.print("\t");
- Serial.print(gyroZangle); Serial.print("\t");
- Serial.print(compAngleZ); Serial.print("\t");
- Serial.print(kalAngleZ); Serial.print("\t");
-#endif
-Serial.print("\r\n");
-delay(2);
-}
-/* mpu6050加速度转换为角度
- acc2rotation(ax, ay)
- acc2rotation(az, ay) */
-double acc2rotation(double x, double y)
-{
- if (y < 0)
- {
- return atan(x / y) / 1.570796 * 90 + 180;
- }
- else if (x < 0)
- {
- return (atan(x / y) / 1.570796 * 90 + 360);
- }
- else
- {
- return (atan(x / y) / 1.570796 * 90);
- }
-}
diff --git a/arduino/main/main.ino b/arduino/main/main.ino
index ee0985d..fa06798 100644
--- a/arduino/main/main.ino
+++ b/arduino/main/main.ino
@@ -13,10 +13,11 @@ AS5600霍尔传感器 SDA-23 SCL-5 MPU6050六轴传感器 SDA-19 SCL-18
#include "Command.h"
#include
#include //引用以使用异步UDP
-#include // Source: https://github.com/TKJElectronics/KalmanFilter
+#include "Kalman.h" // Source: https://github.com/TKJElectronics/KalmanFilter
#include "EEPROM.h"
Kalman kalmanZ;
#define gyroZ_OFF -0.19
+#define FLAG_V 0
/* ----IMU Data---- */
double accX, accY, accZ;
@@ -47,7 +48,7 @@ void wifi_print(char * s,double num);
MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);
TwoWire I2Ctwo = TwoWire(1);
LowPassFilter lpf_throttle{0.00};
-#define FLAG_V 0
+
//倒立摆参数
float LQR_K1_1 = 4; //摇摆到平衡
float LQR_K1_2 = 1.5; //
@@ -73,6 +74,10 @@ float target_angle = 89.3;
float target_voltage = 0;
float swing_up_voltage = 1.8;
float swing_up_angle = 18;
+float v_i_1 = 20;
+float v_p_1 = 0.5;
+float v_i_2 = 10;
+float v_p_2 = 0.2;
//命令设置
Command comm;
bool Motor_enable_flag = 0;
@@ -97,8 +102,10 @@ void do_K21(char* cmd) { comm.scalar(&LQR_K2_1, cmd); }
void do_K22(char* cmd) { comm.scalar(&LQR_K2_2, cmd); }
void do_K23(char* cmd) { comm.scalar(&LQR_K2_3, cmd); }
#else
-void do_vp(char* cmd) { comm.scalar(&motor.PID_velocity.P, cmd); EEPROM.writeFloat(12, motor.PID_velocity.P);}
-void do_vi(char* cmd) { comm.scalar(&motor.PID_velocity.I, cmd);EEPROM.writeFloat(16, motor.PID_velocity.I); }
+void do_vp1(char* cmd) { comm.scalar(&v_p_1, cmd); EEPROM.writeFloat(12, v_p_1);}
+void do_vi1(char* cmd) { comm.scalar(&v_i_1, cmd);EEPROM.writeFloat(16, v_p_1); }
+void do_vp2(char* cmd) { comm.scalar(&v_p_2, cmd); EEPROM.writeFloat(20, v_p_2);}
+void do_vi2(char* cmd) { comm.scalar(&v_i_2, cmd);EEPROM.writeFloat(24, v_i_2); }
void do_tv(char* cmd) { comm.scalar(&target_velocity, cmd); }
void do_K31(char* cmd) { comm.scalar(&LQR_K3_1, cmd); }
void do_K32(char* cmd) { comm.scalar(&LQR_K3_2, cmd); }
@@ -145,8 +152,10 @@ swing_up_angle = EEPROM.readFloat(8);
comm.add("K22",do_K22);
comm.add("K23",do_K23);
#else
- comm.add("VP",do_vp);
- comm.add("VI",do_vi);
+ comm.add("VP1",do_vp1);
+ comm.add("VI1",do_vi1);
+ comm.add("VP2",do_vp2);
+ comm.add("VI2",do_vi2);
comm.add("TV",do_tv);
comm.add("K31",do_K31);
comm.add("K32",do_K32);
@@ -154,8 +163,12 @@ swing_up_angle = EEPROM.readFloat(8);
comm.add("K41",do_K41);
comm.add("K42",do_K42);
comm.add("K43",do_K43);
- motor.PID_velocity.P = EEPROM.readFloat(12);
- motor.PID_velocity.I = EEPROM.readFloat(16);
+ v_p_1 = EEPROM.readFloat(12);
+ v_i_1 = EEPROM.readFloat(16);
+ v_p_2 = EEPROM.readFloat(20);
+ v_i_2 = EEPROM.readFloat(24);
+ motor.PID_velocity.P = v_p_1;
+ motor.PID_velocity.I = v_i_1;
#endif
// kalman mpu6050 init
Wire.begin(19, 18,400000);// Set I2C frequency to 400kHz
@@ -420,10 +433,14 @@ float controllerLQR(float p_angle, float p_vel, float m_vel)
#else
if (!stable)
{
+ motor.PID_velocity.P = v_p_1;
+ motor.PID_velocity.I = v_i_1;
u = LQR_K3_1 * p_angle + LQR_K3_2 * p_vel + LQR_K3_3 * m_vel;
}
else
{
+ motor.PID_velocity.P = v_p_2;
+ motor.PID_velocity.I = v_i_2;
//u = LQR_K1 * p_angle + LQR_K2 * p_vel + LQR_K3 * m_vel;
u = LQR_K4_1 * p_angle + LQR_K4_2 * p_vel + LQR_K4_3 * m_vel;
}
diff --git a/arduino/udp_kalman/i2c.ino b/arduino/udp_kalman/i2c.ino
deleted file mode 100644
index 23fa91c..0000000
--- a/arduino/udp_kalman/i2c.ino
+++ /dev/null
@@ -1,63 +0,0 @@
-/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
-
- This software may be distributed and modified under the terms of the GNU
- General Public License version 2 (GPL2) as published by the Free Software
- Foundation and appearing in the file GPL2.TXT included in the packaging of
- this file. Please note that GPL2 Section 2[b] requires that all works based
- on this software must also be made publicly available under the terms of
- the GPL2 ("Copyleft").
-
- Contact information
- -------------------
-
- Kristian Lauszus, TKJ Electronics
- Web : http://www.tkjelectronics.com
- e-mail : kristianl@tkjelectronics.com
- */
-
-const uint8_t IMUAddress = 0x68; // AD0 is logic low on the PCB
-const uint16_t I2C_TIMEOUT = 1000; // Used to check for errors in I2C communication
-
-uint8_t i2cWrite(uint8_t registerAddress, uint8_t data, bool sendStop) {
- return i2cWrite(registerAddress, &data, 1, sendStop); // Returns 0 on success
-}
-
-uint8_t i2cWrite(uint8_t registerAddress, uint8_t *data, uint8_t length, bool sendStop) {
- Wire.beginTransmission(IMUAddress);
- Wire.write(registerAddress);
- Wire.write(data, length);
- uint8_t rcode = Wire.endTransmission(sendStop); // Returns 0 on success
- if (rcode) {
- Serial.print(F("i2cWrite failed: "));
- Serial.println(rcode);
- }
- return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission
-}
-
-uint8_t i2cRead(uint8_t registerAddress, uint8_t *data, uint8_t nbytes) {
- uint32_t timeOutTimer;
- Wire.beginTransmission(IMUAddress);
- Wire.write(registerAddress);
- uint8_t rcode = Wire.endTransmission(false); // Don't release the bus
- if (rcode) {
- Serial.print(F("i2cRead failed: "));
- Serial.println(rcode);
- return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission
- }
- Wire.requestFrom(IMUAddress, nbytes, (uint8_t)true); // Send a repeated start and then release the bus after reading
- for (uint8_t i = 0; i < nbytes; i++) {
- if (Wire.available())
- data[i] = Wire.read();
- else {
- timeOutTimer = micros();
- while (((micros() - timeOutTimer) < I2C_TIMEOUT) && !Wire.available());
- if (Wire.available())
- data[i] = Wire.read();
- else {
- Serial.println(F("i2cRead timeout"));
- return 5; // This error value is not already taken by endTransmission
- }
- }
- }
- return 0; // Success
-}
diff --git a/arduino/udp_kalman/kalman.ino b/arduino/udp_kalman/kalman.ino
deleted file mode 100644
index 8c74f7d..0000000
--- a/arduino/udp_kalman/kalman.ino
+++ /dev/null
@@ -1,98 +0,0 @@
-#include
-#include // Source: https://github.com/TKJElectronics/KalmanFilter
-#define gyroZ_OFF -0.72
-Kalman kalmanZ;
-/* ----IMU Data---- */
-double accX, accY, accZ;
-double gyroX, gyroY, gyroZ;
-int16_t tempRaw;
-
-double gyroZangle; // Angle calculate using the gyro only
-double compAngleZ; // Calculated angle using a complementary filter
-double kalAngleZ; // Calculated angle using a Kalman filter
-
-uint32_t timer;
-uint8_t i2cData[14]; // Buffer for I2C data
-
-/* ----FOC Data---- */
-
-// driver instance
-double acc2rotation(double x, double y);
-void kalman_init(){
- Wire.begin(19, 18,400000);// Set I2C frequency to 400kHz
- i2cData[0] = 7; // Set the sample rate to 1000Hz - 8kHz/(7+1) = 1000Hz
- i2cData[1] = 0x00; // Disable FSYNC and set 260 Hz Acc filtering, 256 Hz Gyro filtering, 8 KHz sampling
- i2cData[2] = 0x00; // Set Gyro Full Scale Range to ±250deg/s
- i2cData[3] = 0x00; // Set Accelerometer Full Scale Range to ±2g
- while (i2cWrite(0x19, i2cData, 4, false))
- ; // Write to all four registers at once
- while (i2cWrite(0x6B, 0x01, true))
- ; // PLL with X axis gyroscope reference and disable sleep mode
-
- while (i2cRead(0x75, i2cData, 1))
- ;
- if (i2cData[0] != 0x68)
- { // Read "WHO_AM_I" register
- Serial.print(F("Error reading sensor"));
- while (1)
- ;
- }
-
- delay(100); // Wait for sensor to stabilize
-
- /* Set kalman and gyro starting angle */
- while (i2cRead(0x3B, i2cData, 6))
- ;
- accX = (int16_t)((i2cData[0] << 8) | i2cData[1]);
- accY = (int16_t)((i2cData[2] << 8) | i2cData[3]);
- accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]);
- double pitch = acc2rotation(accX, accY);
-
- kalmanZ.setAngle(pitch);
- gyroZangle = pitch;
-
- timer = micros();
-}
-double kalman_read(){
- while (i2cRead(0x3B, i2cData, 14));
- accX = (int16_t)((i2cData[0] << 8) | i2cData[1]);
- accY = (int16_t)((i2cData[2] << 8) | i2cData[3]);
- accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]);
- tempRaw = (int16_t)((i2cData[6] << 8) | i2cData[7]);
- gyroX = (int16_t)((i2cData[8] << 8) | i2cData[9]);
- gyroY = (int16_t)((i2cData[10] << 8) | i2cData[11]);
- gyroZ = (int16_t)((i2cData[12] << 8) | i2cData[13]);
-
- double dt = (double)(micros() - timer) / 1000000; // Calculate delta time
- timer = micros();
-
- double pitch = acc2rotation(accX, accY);
- double gyroZrate = gyroZ / 131.0; // Convert to deg/s
-
- kalAngleZ = kalmanZ.getAngle(pitch, gyroZrate + gyroZ_OFF, dt);
- gyroZangle += (gyroZrate + gyroZ_OFF) * dt;
- compAngleZ = 0.93 * (compAngleZ + (gyroZrate + gyroZ_OFF) * dt) + 0.07 * pitch;
-
- // Reset the gyro angle when it has drifted too much
- if (gyroZangle < -180 || gyroZangle > 180)
- gyroZangle = kalAngleZ;
- return kalAngleZ;
- }
-/* mpu6050加速度转换为角度
- acc2rotation(ax, ay)
- acc2rotation(az, ay) */
-double acc2rotation(double x, double y)
-{
- if (y < 0)
- {
- return atan(x / y) / 1.570796 * 90 + 180;
- }
- else if (x < 0)
- {
- return (atan(x / y) / 1.570796 * 90 + 360);
- }
- else
- {
- return (atan(x / y) / 1.570796 * 90);
- }
-}
diff --git a/arduino/udp_kalman/udp_kalman.ino b/arduino/udp_kalman/udp_kalman.ino
deleted file mode 100644
index 2179b9b..0000000
--- a/arduino/udp_kalman/udp_kalman.ino
+++ /dev/null
@@ -1,68 +0,0 @@
-#include
-#include //引用以使用异步UDP
-#include
-
-const char *ssid = "esp32";
-const char *password = "12345678";
-
-double kalZ;
-AsyncUDP udp; //创建UDP对象
-unsigned int localUdpPort = 2333; //本地端口号
-
-
-unsigned int broadcastPort = localUdpPort;
-//const char *broadcastData = "broadcast data";
- const uint8_t broadcastData[] = {"broadcast data"};
-
-void onPacketCallBack(AsyncUDPPacket packet)
-{
- Serial.print("UDP数据包来源类型: ");
- Serial.println(packet.isBroadcast() ? "广播数据" : (packet.isMulticast() ? "组播" : "单播"));
- Serial.print("远端地址及端口号: ");
- Serial.print(packet.remoteIP());
- Serial.print(":");
- Serial.println(packet.remotePort());
- Serial.print("目标地址及端口号: ");
- Serial.print(packet.localIP());
- Serial.print(":");
- Serial.println(packet.localPort());
- Serial.print("数据长度: ");
- Serial.println(packet.length());
- Serial.print("数据内容: ");
- Serial.write(packet.data(), packet.length());
- Serial.println();
-
-// packet.print("reply data");
-// broadcastPort = packet.remotePort();
-}
-
-void setup()
-{
- Serial.begin(115200);
- // kalman mpu6050 init
- kalman_init();
-
- //wifi初始化
- WiFi.mode(WIFI_AP);
- while(!WiFi.softAP(ssid, password)){}; //启动AP
- Serial.println("AP启动成功");
- while (!udp.listen(localUdpPort)) //等待udp监听设置成功
- {
- }
- udp.onPacket(onPacketCallBack); //注册收到数据包事件
-}
-char s[255];
-void loop()
-{
- kalZ = kalman_read();
- Serial.print(kalZ);Serial.print("\t");
- sprintf(s, "%.2f", kalZ); //将100转为16进制表示的字符串
-// Serial.println(strlen(s));
-
- delay(10);
-
-// udp.broadcastTo(broadcastData, broadcastPort); //可以使用该方法广播信息
-
- IPAddress broadcastAddr((~(uint32_t)WiFi.subnetMask())|((uint32_t)WiFi.localIP())); //计算广播地址
- udp.writeTo((const unsigned char*)s, strlen(s), broadcastAddr, localUdpPort); //广播数据
-}
diff --git a/arduino/udp_test1/udp_test1.ino b/arduino/udp_test1/udp_test1.ino
deleted file mode 100644
index a9187c3..0000000
--- a/arduino/udp_test1/udp_test1.ino
+++ /dev/null
@@ -1,92 +0,0 @@
-#include
-#include //引用以使用异步UDP
-#include
-
-const char *ssid = "esp32";
-const char *password = "12345678";
-
-const int MPU_addr=0x68; // I2C address of the MPU-6050
-int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
-
-AsyncUDP udp; //创建UDP对象
-unsigned int localUdpPort = 2333; //本地端口号
-
-
-unsigned int broadcastPort = localUdpPort;
-//const char *broadcastData = "broadcast data";
- const uint8_t broadcastData[] = {"broadcast data"};
-
-void onPacketCallBack(AsyncUDPPacket packet)
-{
- Serial.print("UDP数据包来源类型: ");
- Serial.println(packet.isBroadcast() ? "广播数据" : (packet.isMulticast() ? "组播" : "单播"));
- Serial.print("远端地址及端口号: ");
- Serial.print(packet.remoteIP());
- Serial.print(":");
- Serial.println(packet.remotePort());
- Serial.print("目标地址及端口号: ");
- Serial.print(packet.localIP());
- Serial.print(":");
- Serial.println(packet.localPort());
- Serial.print("数据长度: ");
- Serial.println(packet.length());
- Serial.print("数据内容: ");
- Serial.write(packet.data(), packet.length());
- Serial.println();
-
-// packet.print("reply data");
-// broadcastPort = packet.remotePort();
-}
-
-void setup()
-{
- Serial.begin(115200);
- // mpu6050初始化
- Wire.begin(19, 18, 400000);
- Wire.beginTransmission(MPU_addr);
- Wire.write(0x6B); // PWR_MGMT_1 register
- Wire.write(0); // set to zero (wakes up the MPU-6050)
- Wire.endTransmission(true);
-
- //wifi初始化
- WiFi.mode(WIFI_AP);
- while(!WiFi.softAP(ssid, password)){}; //启动AP
- Serial.println("AP启动成功");
- while (!udp.listen(localUdpPort)) //等待udp监听设置成功
- {
- }
- udp.onPacket(onPacketCallBack); //注册收到数据包事件
-}
-char s[255];
-void loop()
-{
- Wire.beginTransmission(MPU_addr);
- Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
- Wire.endTransmission(false);
- Wire.requestFrom(MPU_addr,14,true); // request a total of 14 registers
-// AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
- AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
-// AcZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
-// Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
-// GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
-// GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
-// GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
-
-// Serial.print("AcX = "); Serial.print(AcX);
- Serial.print(" | AcY = "); Serial.println(AcY);
-// itoa(AcY,s,10);
-
- sprintf(s, "%d", AcY); //将100转为16进制表示的字符串
- Serial.println(strlen(s));
-// Serial.print(" | AcZ = "); Serial.print(AcZ);
-// Serial.print(" | Tmp = "); Serial.print(Tmp/340.00+36.53); //equation for temperature in degrees C from datasheet
-// Serial.print(" | GyX = "); Serial.print(GyX);
-// Serial.print(" | GyY = "); Serial.print(GyY);
-// Serial.print(" | GyZ = "); Serial.println(GyZ);
- delay(10);
-
-// udp.broadcastTo(broadcastData, broadcastPort); //可以使用该方法广播信息
-
- IPAddress broadcastAddr((~(uint32_t)WiFi.subnetMask())|((uint32_t)WiFi.localIP())); //计算广播地址
- udp.writeTo((const unsigned char*)s, strlen(s), broadcastAddr, localUdpPort); //广播数据
-}
diff --git a/arduino/wifi_test/wifi_test.ino b/arduino/wifi_test/wifi_test.ino
deleted file mode 100644
index 9e2e861..0000000
--- a/arduino/wifi_test/wifi_test.ino
+++ /dev/null
@@ -1,58 +0,0 @@
-#include
-#include //引用以使用异步UDP
-
-const char *ssid = "esp32";
-const char *password = "12345678";
-
-AsyncUDP udp; //创建UDP对象
-unsigned int localUdpPort = 2333; //本地端口号
-
-unsigned int broadcastPort = localUdpPort;
-const char *broadcastData = "broadcast data";
-// const uint8_t broadcastData[] = {"broadcast data"};
-
-void onPacketCallBack(AsyncUDPPacket packet)
-{
-// Serial.print("UDP数据包来源类型: ");
-// Serial.println(packet.isBroadcast() ? "广播数据" : (packet.isMulticast() ? "组播" : "单播"));
-// Serial.print("远端地址及端口号: ");
-// Serial.print(packet.remoteIP());
-// Serial.print(":");
-// Serial.println(packet.remotePort());
-// Serial.print("目标地址及端口号: ");
-// Serial.print(packet.localIP());
-// Serial.print(":");
-// Serial.println(packet.localPort());
-// Serial.print("数据长度: ");
-// Serial.println(packet.length());
- Serial.print("数据内容: ");
-// Serial.write(packet.data(), packet.length());
- Serial.println(atoi( (char*)(packet.data())));
-
-// packet.print("reply data");
-// broadcastPort = packet.remotePort();
-}
-
-void setup()
-{
- Serial.begin(115200);
- Serial.println();
-
- WiFi.mode(WIFI_AP);
- while(!WiFi.softAP(ssid, password)){}; //启动AP
- Serial.println("AP启动成功");
- while (!udp.listen(localUdpPort)) //等待udp监听设置成功
- {
- }
- udp.onPacket(onPacketCallBack); //注册收到数据包事件
-}
-
-void loop()
-{
-// delay(5000);
-//
-// udp.broadcastTo(broadcastData, broadcastPort); //可以使用该方法广播信息
-
- // IPAddress broadcastAddr((~(uint32_t)WiFi.subnetMask())|((uint32_t)WiFi.localIP())); //计算广播地址
- // udp.writeTo(broadcastData, sizeof(broadcastData), broadcastAddr, localUdpPort); //广播数据
-}
diff --git a/ctest/Command.cpp b/ctest/Command.cpp
deleted file mode 100644
index 3933a55..0000000
--- a/ctest/Command.cpp
+++ /dev/null
@@ -1,30 +0,0 @@
-#include "Command.h"
-#include
-#include
-#include
-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
- break;
- }
- }
-}
-void Command::add(char* id, CommandCallback onCommand){
- call_list[call_count] = onCommand;
- call_ids[call_count] = id;
- call_count++;
-}
-void Command::scalar(float* value, char* user_cmd){
- *value = atof(user_cmd);
-}
-bool Command::isSentinel(char* ch,char* str)
-{
- char s[strlen(ch)+1];
- strncpy(s,str,strlen(ch));
- s[strlen(ch)] = '\0'; //strncpy need add end '\0'
- if(strcmp(ch, s) == 0)
- return true;
- else
- return false;
-}
diff --git a/ctest/Command.h b/ctest/Command.h
deleted file mode 100644
index ff73c50..0000000
--- a/ctest/Command.h
+++ /dev/null
@@ -1,16 +0,0 @@
-// callback function pointer definiton
-typedef void (* CommandCallback)(char*); //!< command callback function pointer
-class Command
-{
- public:
- void add(char* id , CommandCallback onCommand);
- void run(char* str);
- void scalar(float* value, char* user_cmd);
- bool isSentinel(char* ch,char* str);
- private:
- // Subscribed command callback variables
- CommandCallback call_list[20];//!< array of command callback pointers - 20 is an arbitrary number
- char* call_ids[20]; //!< added callback commands
- int call_count;//!< number callbacks that are subscribed
-
-};
diff --git a/ctest/Command.o b/ctest/Command.o
deleted file mode 100644
index e26f4f9..0000000
Binary files a/ctest/Command.o and /dev/null differ
diff --git a/ctest/Makefile.win b/ctest/Makefile.win
deleted file mode 100644
index 4d27c4d..0000000
--- a/ctest/Makefile.win
+++ /dev/null
@@ -1,31 +0,0 @@
-# Project: Ŀ2
-# Makefile created by Dev-C++ 5.11
-
-CPP = g++.exe
-CC = gcc.exe
-WINDRES = windres.exe
-OBJ = main.o Command.o
-LINKOBJ = main.o Command.o
-LIBS = -L"C:/Program Files (x86)/Dev-Cpp/MinGW64/lib" -L"C:/Program Files (x86)/Dev-Cpp/MinGW64/x86_64-w64-mingw32/lib" -static-libgcc
-INCS = -I"C:/Program Files (x86)/Dev-Cpp/MinGW64/include" -I"C:/Program Files (x86)/Dev-Cpp/MinGW64/x86_64-w64-mingw32/include" -I"C:/Program Files (x86)/Dev-Cpp/MinGW64/lib/gcc/x86_64-w64-mingw32/4.9.2/include"
-CXXINCS = -I"C:/Program Files (x86)/Dev-Cpp/MinGW64/include" -I"C:/Program Files (x86)/Dev-Cpp/MinGW64/x86_64-w64-mingw32/include" -I"C:/Program Files (x86)/Dev-Cpp/MinGW64/lib/gcc/x86_64-w64-mingw32/4.9.2/include" -I"C:/Program Files (x86)/Dev-Cpp/MinGW64/lib/gcc/x86_64-w64-mingw32/4.9.2/include/c++"
-BIN = Ŀ2.exe
-CXXFLAGS = $(CXXINCS)
-CFLAGS = $(INCS)
-RM = rm.exe -f
-
-.PHONY: all all-before all-after clean clean-custom
-
-all: all-before $(BIN) all-after
-
-clean: clean-custom
- ${RM} $(OBJ) $(BIN)
-
-$(BIN): $(OBJ)
- $(CPP) $(LINKOBJ) -o $(BIN) $(LIBS)
-
-main.o: main.cpp
- $(CPP) -c main.cpp -o main.o $(CXXFLAGS)
-
-Command.o: Command.cpp
- $(CPP) -c Command.cpp -o Command.o $(CXXFLAGS)
diff --git a/ctest/ctest1.cpp b/ctest/ctest1.cpp
deleted file mode 100644
index c159322..0000000
--- a/ctest/ctest1.cpp
+++ /dev/null
@@ -1,26 +0,0 @@
-#include
-#include
-#include
-#include "Command.h"
-Command command;
-char buf[255];
-void wifi_print(char * s,double num)
-{
- char str[255];
- char n[255];
- sprintf(n, "%.2f",num);
- strcpy(str,s);
- strcat(str, n);
- strcat(buf+strlen(buf), str);
- strcat(buf, ",");
-}
-float v = 0.1;
-void re_command(float *num)
-{
- *num = *num + 1;
-}
-//void doTarget(char* cmd) { command.scalar(&v, cmd); }
-main()
-{
-command.run();
-}
diff --git a/ctest/main.cpp b/ctest/main.cpp
deleted file mode 100644
index b23785b..0000000
--- a/ctest/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-#include
-#include
-#include
-#include "Command.h"
-Command command;
-char buf[255];
-void wifi_print(char * s,double num)
-{
- char str[255];
- char n[255];
- sprintf(n, "%.2f",num);
- strcpy(str,s);
- strcat(str, n);
- strcat(buf+strlen(buf), str);
- strcat(buf, ",");
-}
-float v = 0;
-float a = 0;
-void re_command(float *num)
-{
- *num = *num + 1;
-}
-void doTarget_v(char* cmd) { command.scalar(&v, cmd); }
-void doTarget_a(char* cmd) { command.scalar(&a, cmd); }
-main()
-{
- command.add("T", doTarget_v);
- command.add("A", doTarget_a);
- command.run("A2233");
- printf("%.2f",v);
- printf("%.2f",a);
-}
diff --git a/ctest/main.o b/ctest/main.o
deleted file mode 100644
index 6bcc5b4..0000000
Binary files a/ctest/main.o and /dev/null differ
diff --git a/ctest/项目1.layout b/ctest/项目1.layout
deleted file mode 100644
index 50e629d..0000000
--- a/ctest/项目1.layout
+++ /dev/null
@@ -1,8 +0,0 @@
-[Editors]
-Order=0
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-[Editor_0]
-CursorCol=17
-CursorRow=14
-TopLine=8
-LeftChar=1
diff --git a/ctest/项目2.dev b/ctest/项目2.dev
deleted file mode 100644
index db0fa83..0000000
--- a/ctest/项目2.dev
+++ /dev/null
@@ -1,82 +0,0 @@
-[Project]
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-Name=Ŀ2
-Type=1
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-[VersionInfo]
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-
-[Unit1]
-FileName=main.cpp
-CompileCpp=1
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-
-[Unit2]
-FileName=Command.cpp
-CompileCpp=1
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-
-[Unit3]
-FileName=Command.h
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-
diff --git a/ctest/项目2.exe b/ctest/项目2.exe
deleted file mode 100644
index f6b1c6d..0000000
Binary files a/ctest/项目2.exe and /dev/null differ
diff --git a/ctest/项目2.layout b/ctest/项目2.layout
deleted file mode 100644
index 3842228..0000000
--- a/ctest/项目2.layout
+++ /dev/null
@@ -1,8 +0,0 @@
-[Editors]
-Order=0
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diff --git a/python_gui/gui/test1.py b/python_gui/gui/test1.py
deleted file mode 100644
index 0e68103..0000000
--- a/python_gui/gui/test1.py
+++ /dev/null
@@ -1,47 +0,0 @@
-# -*- coding: utf-8 -*-
-"""
-Demonstrates basic use of LegendItem
-
-"""
-# import initExample ## Add path to library (just for examples; you do not need this)
-
-import pyqtgraph as pg
-from pyqtgraph.Qt import QtCore, QtGui
-import numpy as np
-
-win = pg.plot()
-win.setWindowTitle('pyqtgraph example: BarGraphItem')
-
-# # option1: only for .plot(), following c1,c2 for example-----------------------
-# win.addLegend(frame=False, rowCount=1, colCount=2)
-
-# bar graph
-x = np.arange(10)
-y = np.sin(x+2) * 3
-bg1 = pg.BarGraphItem(x=x, height=y, width=0.3, brush='b', pen='w', name='bar')
-win.addItem(bg1)
-
-# curve
-c1 = win.plot([np.random.randint(0,8) for i in range(10)], pen='r', symbol='t', symbolPen='r', symbolBrush='g', name='curve1')
-c2 = win.plot([2,1,4,3,1,3,2,4,3,2], pen='g', fillLevel=0, fillBrush=(255,255,255,30), name='curve2')
-
-# scatter plot
-s1 = pg.ScatterPlotItem(size=10, pen=pg.mkPen(None), brush=pg.mkBrush(255, 255, 255, 120), name='scatter')
-spots = [{'pos': [i, np.random.randint(-3, 3)], 'data': 1} for i in range(10)]
-s1.addPoints(spots)
-win.addItem(s1)
-
-# # option2: generic method------------------------------------------------
-legend = pg.LegendItem((80,60), offset=(70,20))
-legend.setParentItem(win.graphicsItem())
-legend.addItem(bg1, 'bar')
-legend.addItem(c1, 'curve1')
-legend.addItem(c2, 'curve2')
-legend.addItem(s1, 'scatter')
-
-
-## Start Qt event loop unless running in interactive mode or using pyside.
-if __name__ == '__main__':
- import sys
- if (sys.flags.interactive != 1) or not hasattr(QtCore, 'PYQT_VERSION'):
- QtGui.QApplication.instance().exec_()
diff --git a/python_gui/gui/test2.py b/python_gui/gui/test2.py
deleted file mode 100644
index 8e884b7..0000000
--- a/python_gui/gui/test2.py
+++ /dev/null
@@ -1,36 +0,0 @@
-from PyQt5.QtWidgets import *
-from PyQt5.QtCore import *
-from PyQt5.QtGui import *
-import sys
-
-'''pyqt5动态添加删除控件'''
-
-
-class DynAddObject(QDialog):
- def __init__(self, parent=None):
- super(DynAddObject, self).__init__(parent)
- self.widgetList = []
- addButton = QPushButton(u"添加控件")
- delBUtton = QPushButton(u"删除控件")
- self.layout = QGridLayout()
- self.layout.addWidget(addButton, 1, 0)
- self.layout.addWidget(delBUtton, 2, 0)
- self.setLayout(self.layout)
- addButton.clicked.connect(self.add)
- delBUtton.clicked.connect(self.delete)
-
- def add(self):
- btncont = self.layout.count()
- widget = QPushButton(str(btncont - 1), self)
- self.layout.addWidget(widget)
-
- def delete(self):
- for i in range(self.layout.count())[2:]:
- self.layout.itemAt(i).widget().deleteLater()
-
-
-if __name__ == "__main__":
- app = QApplication(sys.argv)
- form = DynAddObject()
- form.show()
- app.exec_()
diff --git a/python_gui/gui/udp_test1.py b/python_gui/gui/udp_test1.py
deleted file mode 100644
index af8aff5..0000000
--- a/python_gui/gui/udp_test1.py
+++ /dev/null
@@ -1,34 +0,0 @@
-import socket #引入套接字
-import threading #引入并行
-udp_data = None
-def udp_send(udp_socket):
-
- while True:
- num1 = '192.168.4.1'
- num2 = 2333
- send_data = input('请输入要发送的数据:')
- send_data = send_data.encode('utf-8')
- udp_socket.sendto(send_data,(num1,num2)) #sendto(发送数据,发送地址)
-
-def udp_recv(udp_socket):
- global udp_data
- while True:
- 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)
-
-def main():
- udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) #创建套接字
- ip = '192.168.4.2' #服务器ip和端口
- port = 2333
- udp_socket.bind(("192.168.4.2",2333)) #服务器绑定ip和端口
- #发送数据
- t=threading.Thread(target=udp_send,args=(udp_socket,)) # Thread函数用于并行
- #接收数据
- t1=threading.Thread(target=udp_recv,args=(udp_socket,))
- t.start() #并行开始
- t1.start()
-
-if __name__ == '__main__':
- main()
\ No newline at end of file
diff --git a/莱洛三角切割/base.dxf b/莱洛三角切割/base.dxf
deleted file mode 100644
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diff --git a/莱洛三角切割/triangle_new.lcp b/莱洛三角切割/triangle_new.lcp
deleted file mode 100644
index 8c41f5f..0000000
Binary files a/莱洛三角切割/triangle_new.lcp and /dev/null differ