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update arduino/Betas/RGB_V1.1.1/main/data/index.html.

master
慕炎 2022-01-04 07:40:19 +00:00 committed by Gitee
parent 22db9b46cc
commit 90ea3f6b25
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GPG Key ID: 173E9B9CA92EEF8F
1 changed files with 405 additions and 416 deletions
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arduino/Betas/RGB_V1.1.1/main/data/index.html
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@ -4,40 +4,44 @@ HW:Ver 1.5
FW:Ver 1.2 FW:Ver 1.2
--> -->
<html lang="zh-cn"> <html lang="zh-cn">
<head> <head>
<title>自平衡莱洛三角形</title> <title>自平衡莱洛三角形</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8" /> <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
<meta http-equiv="X-UA-Compatible" content="ie=edge"> <meta http-equiv="X-UA-Compatible" content="ie=edge">
<meta http-equiv="Cache-Control" content="max-age=7200" /> <meta http-equiv="Cache-Control" content="max-age=7200" />
<meta content="width=device-width, initial-scale=1.0, minimum-scale=1.0, maximum-scale=1.0, user-scalable=no" name="viewport"> <meta content="width=device-width, initial-scale=1.0, minimum-scale=1.0, maximum-scale=1.0, user-scalable=no" name="viewport">
<style> <style>
/*input框*/ /*input框*/
input, button { input,
button {
border: none; border: none;
outline: none; outline: none;
} }
.tl-input{
.tl-input {
width: 100%; width: 100%;
border: 1px solid #ccc; border: 1px solid #ccc;
padding: 7px 0; padding: 7px 0;
background: #F4F4F7; background: #F4F4F7;
text-align: center; text-align: center;
border-radius: 3px; border-radius: 3px;
padding-left:5px; padding-left: 5px;
-webkit-box-shadow: inset 0 1px 1px rgba(0,0,0,.075); -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, .075);
box-shadow: inset 0 1px 1px rgba(0,0,0,.075); box-shadow: inset 0 1px 1px rgba(0, 0, 0, .075);
-webkit-transition: border-color ease-in-out .15s,-webkit-box-shadow ease-in-out .15s; -webkit-transition: border-color ease-in-out .15s, -webkit-box-shadow ease-in-out .15s;
-o-transition: border-color ease-in-out .15s,box-shadow ease-in-out .15s; -o-transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
transition: border-color ease-in-out .15s,box-shadow ease-in-out .15s transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s
} }
.tl-input:focus{
.tl-input:focus {
border-color: #66afe9; border-color: #66afe9;
outline: 0; outline: 0;
-webkit-box-shadow: inset 0 1px 1px rgba(0,0,0,.075),0 0 8px rgba(102,175,233,.6); -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, .075), 0 0 8px rgba(102, 175, 233, .6);
box-shadow: inset 0 1px 1px rgba(0,0,0,.075),0 0 8px rgba(102,175,233,.6) box-shadow: inset 0 1px 1px rgba(0, 0, 0, .075), 0 0 8px rgba(102, 175, 233, .6)
} }
.ant-btn { .ant-btn {
line-height: 1.499; line-height: 1.499;
position: relative; position: relative;
display: inline-block; display: inline-block;
@ -46,8 +50,8 @@ input, button {
text-align: center; text-align: center;
background-image: none; background-image: none;
border: 1px solid transparent; border: 1px solid transparent;
-webkit-box-shadow: 0 2px 0 rgba(0,0,0,0.015); -webkit-box-shadow: 0 2px 0 rgba(0, 0, 0, 0.015);
box-shadow: 0 2px 0 rgba(0,0,0,0.015); box-shadow: 0 2px 0 rgba(0, 0, 0, 0.015);
cursor: pointer; cursor: pointer;
-webkit-transition: all .3s cubic-bezier(.645, .045, .355, 1); -webkit-transition: all .3s cubic-bezier(.645, .045, .355, 1);
transition: all .3s cubic-bezier(.645, .045, .355, 1); transition: all .3s cubic-bezier(.645, .045, .355, 1);
@ -61,46 +65,47 @@ input, button {
padding: 0 15px; padding: 0 15px;
font-size: 14px; font-size: 14px;
border-radius: 4px; border-radius: 4px;
color: rgba(0,0,0,0.65); color: rgba(0, 0, 0, 0.65);
background-color: #fff; background-color: #fff;
border-color: #d9d9d9; border-color: #d9d9d9;
} }
.ant-btn-primary { .ant-btn-primary {
color: #fff; color: #fff;
background-color: #1890ff; background-color: #1890ff;
border-color: #1890ff; border-color: #1890ff;
text-shadow: 0 -1px 0 rgba(0,0,0,0.12); text-shadow: 0 -1px 0 rgba(0, 0, 0, 0.12);
-webkit-box-shadow: 0 2px 0 rgba(0,0,0,0.045); -webkit-box-shadow: 0 2px 0 rgba(0, 0, 0, 0.045);
box-shadow: 0 2px 0 rgba(0,0,0,0.045); box-shadow: 0 2px 0 rgba(0, 0, 0, 0.045);
} }
.ant-btn-red {
.ant-btn-red {
color: #fff; color: #fff;
background-color: #FF5A44; background-color: #FF5A44;
border-color: #FF5A44; border-color: #FF5A44;
text-shadow: 0 -1px 0 rgba(0,0,0,0.12); text-shadow: 0 -1px 0 rgba(0, 0, 0, 0.12);
-webkit-box-shadow: 0 2px 0 rgba(0,0,0,0.045); -webkit-box-shadow: 0 2px 0 rgba(0, 0, 0, 0.045);
box-shadow: 0 2px 0 rgba(0,0,0,0.045); box-shadow: 0 2px 0 rgba(0, 0, 0, 0.045);
} }
/* 这里不考虑浏览器的兼容性 */ /* 这里不考虑浏览器的兼容性 */
#control input { #control input {
border: none; border: none;
background-color: transparent; background-color: transparent;
margin: 20px 0; margin: 20px 0;
outline: none; outline: none;
} }
#control input[type="text"] { #control input[type="text"] {
width: 100%; width: 100%;
font-size: 25px; font-size: 25px;
appearance: none; appearance: none;
padding-bottom: 5px; padding-bottom: 5px;
border-bottom: 3px solid #ededed; border-bottom: 3px solid #ededed;
color: #ededed; color: #ededed;
} }
#control input[type="range"] { #control input[type="range"] {
width: 100%; width: 100%;
-webkit-appearance: none; -webkit-appearance: none;
/* background-color: silver; */ /* background-color: silver; */
@ -108,30 +113,31 @@ input, button {
border-radius: 4px; border-radius: 4px;
background: -webkit-linear-gradient(#ffa200, #ffa200) no-repeat white; background: -webkit-linear-gradient(#ffa200, #ffa200) no-repeat white;
background-size: 50% 100%; background-size: 50% 100%;
} }
#control input[type="range"]::-webkit-slider-thumb { #control input[type="range"]::-webkit-slider-thumb {
-webkit-appearance: none; -webkit-appearance: none;
background-color: #aaa; background-color: #aaa;
width: 8px; width: 8px;
height: 20px; height: 20px;
border-radius: 4px; border-radius: 4px;
cursor: pointer; cursor: pointer;
} }
#control input[type="range"]::-webkit-slider-thumb:hover { #control input[type="range"]::-webkit-slider-thumb:hover {
background: #666; background: #666;
} }
#control #voltage { #control #voltage {
background-size: 0% 100%; background-size: 0% 100%;
} }
#control #speed { #control #speed {
background: linear-gradient(to right, #ffa200, white 0%, white); background: linear-gradient(to right, #ffa200, white 0%, white);
background-size: 100% 100%; background-size: 100% 100%;
} }
#control input[type="button"] {
#control input[type="button"] {
padding: 5px; padding: 5px;
margin: 5px 0; margin: 5px 0;
background: linear-gradient(to bottom right, red 10%, white 90%); background: linear-gradient(to bottom right, red 10%, white 90%);
@ -139,58 +145,47 @@ input, button {
width: 100%; width: 100%;
color: white; color: white;
font-weight: white; font-weight: white;
} }
</style> </style>
<script type="text/javascript" src="jquery.js"></script> <script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="highcharts.js"></script> <script type="text/javascript" src="highcharts.js"></script>
<script type="text/javascript"> <script type="text/javascript">
var ShaftVelocity; var HighchartsData = new Array(8);
$(function () { $(function () {
$(document).ready(function() { $(document).ready(function () {
Highcharts.setOptions({global: {useUTC: false} }); Highcharts.setOptions({ global: { useUTC: false } });
var chart; var chart, time = new Date().getTime();
$('#container').highcharts({ $("#container").highcharts({
chart: {type: 'spline', animation: Highcharts.svg, marginRight: 10, events: { chart: { type: "spline", animation: Highcharts.svg, marginRight: 10, events: { load: function () {
load: function() { var series = this.series;
// set up the updating of the chart each second setInterval(function () {
var series = this.series[0]; var x = new Date().getTime();
setInterval(function() { for(i=0; i<HighchartsData.length;i++){
var x = (new Date()).getTime(), y = parseFloat(ShaftVelocity); series[i].addPoint([x, HighchartsData[i]], true, true);
series.addPoint([x, y], true, true); }
}, 1000); }, 1000);
} }
} }
}, },
title: {text: '动态走势图' }, title: { text: "自平衡莱洛三角形" }, xAxis: { type: "datetime", tickPixelInterval: 100 }, yAxis: { title: { text: "Value" }, plotLines: [{ value: 0, width: 1, color: "#808080" }] },
xAxis: {type: 'datetime', tickPixelInterval: 100 }, tooltip: { formatter: function () { return ( "<b>" + this.series.name + "</b><br/>" + Highcharts.dateFormat("%Y-%m-%d %H:%M:%S", this.x) + "<br/>" + Highcharts.numberFormat(this.y, 2) ); } },
yAxis: {title: {text: '动态走势图' }, plotLines: [{value: 0, width: 1, color: '#808080' }] }, legend: { enabled: true },
tooltip: { exporting: { enabled: false },
formatter: function() { plotOptions: { spline: { marker: { radius: 4, lineColor: "#666666", lineWidth: 1} } },
return '<b>'+ this.series.name +'</b><br/>'+ series: [
Highcharts.dateFormat('%Y-%m-%d %H:%M:%S', this.x) +'<br/>'+ {name: "轴速度",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
Highcharts.numberFormat(this.y, 2); {name: "电机电压",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
} {name: "目标速度",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
}, {name: "摆角",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
legend: { enabled: false }, {name: "目标角",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
exporting: { enabled: false}, {name: "pitch",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
series: [{name: 'ShaftVelocity', {name: "kalAngleZ",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()},
data: (function() { {name: "回旋速率",data: (function () {var data = [], i; for (i = -30; i <= 0; i++) { data.push({x: time + i * 1000, y: 0});}return data;})()}
// generate an array of random data ]
var data = [], time = (new Date()).getTime(), i;
for (i = -30; i <= 0; i++) {
data.push({
x: time + i * 1000,
y: 0
}); });
}
return data;
})()
}]
}); });
}); });
});
</script> </script>
<script> <script>
function loadXMLDoc(path,element) function loadXMLDoc(path,element)
@ -220,14 +215,9 @@ function loadXMLDoc(path,element)
function UpdateInfo() function UpdateInfo()
{ {
var xmlhttp; var xmlhttp;
if (window.XMLHttpRequest) if (window.XMLHttpRequest){ // IE7+, Firefox, Chrome, Opera, Safari 浏览器执行代码
{
// IE7+, Firefox, Chrome, Opera, Safari 浏览器执行代码
xmlhttp=new XMLHttpRequest(); xmlhttp=new XMLHttpRequest();
} } else { // IE6, IE5 浏览器执行代码
else
{
// IE6, IE5 浏览器执行代码
xmlhttp=new ActiveXObject("Microsoft.XMLHTTP"); xmlhttp=new ActiveXObject("Microsoft.XMLHTTP");
} }
xmlhttp.onreadystatechange=function() xmlhttp.onreadystatechange=function()
@ -235,7 +225,6 @@ function UpdateInfo()
if (xmlhttp.readyState==4 && xmlhttp.status==200) if (xmlhttp.readyState==4 && xmlhttp.status==200)
{ {
var arr=xmlhttp.responseText.split(","); var arr=xmlhttp.responseText.split(",");
document.getElementById('TimeDiv').innerHTML=arr[0]; document.getElementById('TimeDiv').innerHTML=arr[0];
document.getElementById('CurrentMillis').innerHTML=arr[1]; document.getElementById('CurrentMillis').innerHTML=arr[1];
document.getElementById('log_control').value=arr[2]; document.getElementById('log_control').value=arr[2];
@ -270,7 +259,9 @@ function UpdateInfo()
if(document.getElementById('v_p_22').value=="") document.getElementById('v_p_22').value=arr[12]; if(document.getElementById('v_p_22').value=="") document.getElementById('v_p_22').value=arr[12];
if(document.getElementById('log_control').value=="1" && arr[13]!=""){ if(document.getElementById('log_control').value=="1" && arr[13]!=""){
ShaftVelocity = arr[13]; for(i=0; i<HighchartsData.length;i++){
HighchartsData[i] = parseFloat(arr[i+13]);
}
document.getElementById('Shaft_Velocity').innerHTML =arr[13]+"<br>"+document.getElementById('Shaft_Velocity').innerHTML; document.getElementById('Shaft_Velocity').innerHTML =arr[13]+"<br>"+document.getElementById('Shaft_Velocity').innerHTML;
document.getElementById('motor_voltage_q').innerHTML=arr[14]+"<br>"+document.getElementById('motor_voltage_q').innerHTML; document.getElementById('motor_voltage_q').innerHTML=arr[14]+"<br>"+document.getElementById('motor_voltage_q').innerHTML;
document.getElementById('target_velocity').innerHTML=arr[15]+"<br>"+document.getElementById('target_velocity').innerHTML; document.getElementById('target_velocity').innerHTML=arr[15]+"<br>"+document.getElementById('target_velocity').innerHTML;
@ -291,53 +282,48 @@ function UpdateInfo()
xmlhttp.send(); xmlhttp.send();
} }
function MyAutoRun() function MyAutoRun() {
{
UpdateInfo(); UpdateInfo();
} }
setInterval("MyAutoRun()",1000); setInterval("MyAutoRun()", 1000);
function clearLog() function clearLog() {
{ document.getElementById("Shaft_Velocity").innerHTML = "";
document.getElementById('Shaft_Velocity').innerHTML =""; document.getElementById("motor_voltage_q").innerHTML = "";
document.getElementById('motor_voltage_q').innerHTML =""; document.getElementById("target_velocity").innerHTML = "";
document.getElementById('target_velocity').innerHTML =""; document.getElementById("pendulum_angle").innerHTML = "";
document.getElementById('pendulum_angle').innerHTML =""; document.getElementById("target_angle").innerHTML = "";
document.getElementById('target_angle').innerHTML =""; document.getElementById("pitch").innerHTML = "";
document.getElementById('pitch').innerHTML =""; document.getElementById("kalAngleZ").innerHTML = "";
document.getElementById('kalAngleZ').innerHTML =""; document.getElementById("gyroZrate").innerHTML = "";
document.getElementById('gyroZrate').innerHTML =""; }
} function clearDebugLog() {
function clearDebugLog() document.getElementById("debug_log").value = "";
{ }
document.getElementById('debug_log').value ="";
}
function checkNum(obj) { function checkNum(obj) {
//检查是否是非数字值 if (isNaN(obj.value)) { //检查是否是非数字值
if (isNaN(obj.value)) {
obj.value = ""; obj.value = "";
} }
if (obj != null) { if (obj != null) { //检查小数点后是否对于两位
//检查小数点后是否对于两位 if (
if (obj.value.toString().split(".").length > 1 && obj.value.toString().split(".")[1].length > 2) { obj.value.toString().split(".").length > 1 &&
//alert("小数点后多于两位！"); obj.value.toString().split(".")[1].length > 2
) { //alert("小数点后多于两位！");
obj.value = Number(obj.value).toPrecision(2); obj.value = Number(obj.value).toPrecision(2);
} }
} }
}; }
</script> </script>
</head> </head>
<body style="background-color:black;color:white"> <body style="background-color:black;color:white">
<font size="6" onclick="(document.getElementById('debug_hidden').value%6==5)?(document.getElementById('debug_show').style.display='block'):document.getElementById('debug_hidden').value++;">自平衡莱洛三角形
<font size=6 onclick="(document.getElementById('debug_hidden').value%6==5)?(document.getElementById('debug_show').style.display='block'):document.getElementById('debug_hidden').value++;">自平衡莱洛三角形
<input id="debug_hidden" hidden> <input id="debug_hidden" hidden>
<span id="TimeDiv" hidden>datetime</Span> <span id="TimeDiv" hidden>datetime</Span>
</font> </font>
</div> </div>
<table border="0"> <table border="0">
<tr> <tr>
<td height="50">已启动：<span id=CurrentMillis></span> <td height="50">已启动：<span id=CurrentMillis></span>
@ -359,58 +345,59 @@ function checkNum(obj) {
<td align="left"> <td align="left">
<table border="1" cellspacing="0" cellpadding="0"> <table border="1" cellspacing="0" cellpadding="0">
<tr> <tr>
<td align="center"><span style="color:#398ad9;">期望角度TA</span></td> <td align="center"><span style="color:#398ad9;">期望角度TA</span></td>
<td align="center"><span style="color:#5bec8d;">摇摆电压SV</span></td> <td align="center"><span style="color:#5bec8d;">摇摆电压SV</span></td>
<td align="center"><span style="color:#fd42ac;">摇摆角度SA</span></td> <td align="center"><span style="color:#fd42ac;">摇摆角度SA</span></td>
<td align="center"><span style="color:#4b8200;">速度环P1</span></td> <td align="center"><span style="color:#4b8200;">速度环P1</span></td>
<td align="center"><span style="color:#ff33ff;">速度环I1</span></td> <td align="center"><span style="color:#ff33ff;">速度环I1</span></td>
<td align="center"><span style="color:#4b8200;">速度环P2</span></td> <td align="center"><span style="color:#4b8200;">速度环P2</span></td>
<td align="center"><span style="color:#ff33ff;">速度环I2</span></td> <td align="center"><span style="color:#ff33ff;">速度环I2</span></td>
</tr> </tr>
<tr> <tr>
<td align="center"><span style="color:#ff5c5c;" id="target_angle_ROM"></span></td> <td align="center"><span style="color:#ff5c5c;" id="target_angle_ROM"></span></td>
<td align="center"><span style="color:#5bec8d;" id="swing_up_voltage"></span></td> <td align="center"><span style="color:#5bec8d;" id="swing_up_voltage"></span></td>
<td align="center"><span style="color:#fd42ac;" id="swing_up_angle"></span></td> <td align="center"><span style="color:#fd42ac;" id="swing_up_angle"></span></td>
<td align="center"><span style="color:#4b8200;" id="v_p_1"></span></td> <td align="center"><span style="color:#4b8200;" id="v_p_1"></span></td>
<td align="center"><span style="color:#ff33ff;" id="v_i_1"></span></td> <td align="center"><span style="color:#ff33ff;" id="v_i_1"></span></td>
<td align="center"><span style="color:#4b8200;" id="v_p_2"></span></td> <td align="center"><span style="color:#4b8200;" id="v_p_2"></span></td>
<td align="center"><span style="color:#ff33ff;" id="v_i_2"></span></td> <td align="center"><span style="color:#ff33ff;" id="v_i_2"></span></td>
</tr> </tr>
<tr> <tr>
<td align="center"> <td align="center">
<div style="width: 90px;float: left"><input class="tl-input" type="text" name="target_angle_ROM" id="target_angle_ROM2" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('target_angle_ROM2').value=Number(document.getElementById('target_angle_ROM2').value)+0.5;">+</button> <div style="width: 90px;float: left"><input class="tl-input" type="text" name="target_angle_ROM" id="target_angle_ROM2" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('target_angle_ROM2').value=Number(document.getElementById('target_angle_ROM2').value)+0.5;">+</button>
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('target_angle_ROM2').value=Number(document.getElementById('target_angle_ROM2').value)-0.5;">-</button><br> <button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('target_angle_ROM2').value=Number(document.getElementById('target_angle_ROM2').value)-0.5;">-</button><br>
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=0&Operation='+document.getElementById('target_angle_ROM2').value,'OperationHit')">发送</button></td> <button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=0&Operation='+document.getElementById('target_angle_ROM2').value,'OperationHit')">发送</button>
<td align="center"> </td>
<div style="width: 90px;float: left"><input class="tl-input" name="swing_up_voltage" id="swing_up_voltage2" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_voltage2').value=Number(Number(document.getElementById('swing_up_voltage2').value)+0.10).toPrecision(2);">+</button> <td align="center">
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_voltage2').value=Number(Number(document.getElementById('swing_up_voltage2').value)-0.10).toPrecision(2);">-</button><br> <div style="width: 90px;float: left"><input class="tl-input" name="swing_up_voltage" id="swing_up_voltage2" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_voltage2').value=Number(Number(document.getElementById('swing_up_voltage2').value)+0.10).toPrecision(2);">+</button>
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=1&Operation='+document.getElementById('swing_up_voltage2').value,'OperationHit')">发送</button> <button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_voltage2').value=Number(Number(document.getElementById('swing_up_voltage2').value)-0.10).toPrecision(2);">-</button><br>
</td> <button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=1&Operation='+document.getElementById('swing_up_voltage2').value,'OperationHit')">发送</button>
<td align="center"> </td>
<div style="width: 90px;float: left"><input class="tl-input" name="swing_up_angle" id="swing_up_angle2" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_angle2').value=Number(document.getElementById('swing_up_angle2').value)+1;">+</button> <td align="center">
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_angle2').value=Number(document.getElementById('swing_up_angle2').value)-1;">-</button><br> <div style="width: 90px;float: left"><input class="tl-input" name="swing_up_angle" id="swing_up_angle2" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_angle2').value=Number(document.getElementById('swing_up_angle2').value)+1;">+</button>
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=2&Operation='+document.getElementById('swing_up_angle2').value,'OperationHit')">发送</button> <button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('swing_up_angle2').value=Number(document.getElementById('swing_up_angle2').value)-1;">-</button><br>
</td> <button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=2&Operation='+document.getElementById('swing_up_angle2').value,'OperationHit')">发送</button>
<td align="center"> </td>
<div style="width: 90px;float: left"><input class="tl-input" name="v_p_1" id="v_p_12" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_12').value=Number(Number(document.getElementById('v_p_12').value)+0.1).toPrecision(2);">+</button> <td align="center">
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_12').value=Number(Number(document.getElementById('v_p_12').value)-0.1).toPrecision(2);">-</button><br> <div style="width: 90px;float: left"><input class="tl-input" name="v_p_1" id="v_p_12" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_12').value=Number(Number(document.getElementById('v_p_12').value)+0.1).toPrecision(2);">+</button>
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=3&Operation='+document.getElementById('v_p_12').value,'OperationHit')">发送</button> <button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_12').value=Number(Number(document.getElementById('v_p_12').value)-0.1).toPrecision(2);">-</button><br>
</td> <button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=3&Operation='+document.getElementById('v_p_12').value,'OperationHit')">发送</button>
<td align="center"> </td>
<div style="width: 90px;float: left"><input class="tl-input" name="v_i_1" id="v_i_12" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_12').value=Number(document.getElementById('v_i_12').value)+0.5;">+</button> <td align="center">
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_12').value=Number(document.getElementById('v_i_12').value)-0.5;">-</button><br> <div style="width: 90px;float: left"><input class="tl-input" name="v_i_1" id="v_i_12" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_12').value=Number(document.getElementById('v_i_12').value)+0.5;">+</button>
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=4&Operation='+document.getElementById('v_i_12').value,'OperationHit')">发送</button> <button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_12').value=Number(document.getElementById('v_i_12').value)-0.5;">-</button><br>
</td> <button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=4&Operation='+document.getElementById('v_i_12').value,'OperationHit')">发送</button>
<td align="center"> </td>
<div style="width: 90px;float: left"><input class="tl-input" name="v_p_2" id="v_p_22" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_22').value=Number(Number(document.getElementById('v_p_22').value)+0.1).toPrecision(2);">+</button> <td align="center">
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_22').value=Number(Number(document.getElementById('v_p_22').value)-0.1).toPrecision(2);">-</button><br> <div style="width: 90px;float: left"><input class="tl-input" name="v_p_2" id="v_p_22" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_22').value=Number(Number(document.getElementById('v_p_22').value)+0.1).toPrecision(2);">+</button>
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=5&Operation='+document.getElementById('v_p_22').value,'OperationHit')">发送</button> <button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_p_22').value=Number(Number(document.getElementById('v_p_22').value)-0.1).toPrecision(2);">-</button><br>
</td> <button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=5&Operation='+document.getElementById('v_p_22').value,'OperationHit')">发送</button>
<td align="center"> </td>
<div style="width: 90px;float: left"><input class="tl-input" name="v_i_2" id="v_i_22" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_22').value=Number(document.getElementById('v_i_22').value)+0.5;">+</button> <td align="center">
<button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_22').value=Number(document.getElementById('v_i_22').value)-0.5;">-</button><br> <div style="width: 90px;float: left"><input class="tl-input" name="v_i_2" id="v_i_22" size="2" onchange="checkNum(this)"><button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_22').value=Number(document.getElementById('v_i_22').value)+0.5;">+</button>
<button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=6&Operation='+document.getElementById('v_i_22').value,'OperationHit')">发送</button> <button type="button" class="ant-btn ant-btn-primary" onclick="document.getElementById('v_i_22').value=Number(document.getElementById('v_i_22').value)-0.5;">-</button><br>
</td> <button type="button" class="ant-btn ant-btn-red" onclick="loadXMLDoc('/Control?Type=1&Index=6&Operation='+document.getElementById('v_i_22').value,'OperationHit')">发送</button>
</td>
</tr> </tr>
</table> </table>
</td> </td>
@ -467,8 +454,10 @@ function checkNum(obj) {
<td align="left"> <td align="left">
<table border="1" cellspacing="0" cellpadding="0" ID="logchart" width="100%"> <table border="1" cellspacing="0" cellpadding="0" ID="logchart" width="100%">
<tr> <tr>
<td align="center"><div id="container" style="width:700px;height:400px;margin:0 auto;"></div> <td align="center">
<div style="text-align:center;clear:both;"></td> <div id="container" style="width:700px;height:400px;margin:0 auto;"></div>
<div style="text-align:center;clear:both;">
</td>
</tr> </tr>
</table> </table>
</td> </td>
@ -487,14 +476,14 @@ function checkNum(obj) {
<td align="center"><span style="color:#4b8200;">gyroZrate</span></td> <td align="center"><span style="color:#4b8200;">gyroZrate</span></td>
</tr> </tr>
<tr> <tr>
<td align="center"><span style="color:#ff5c5c;" id="Shaft_Velocity"></span></td> <td align="center"><span style="color:#ff5c5c;" id="Shaft_Velocity"></span></td>
<td align="center"><span style="color:#398ad9;" id="motor_voltage_q"></span></td> <td align="center"><span style="color:#398ad9;" id="motor_voltage_q"></span></td>
<td align="center"><span style="color:#ff5c5c;" id="target_velocity"></span></td> <td align="center"><span style="color:#ff5c5c;" id="target_velocity"></span></td>
<td align="center"><span style="color:#5bec8d;" id="pendulum_angle"></span></td> <td align="center"><span style="color:#5bec8d;" id="pendulum_angle"></span></td>
<td align="center"><span style="color:#fd42ac;" id="target_angle"></span></td> <td align="center"><span style="color:#fd42ac;" id="target_angle"></span></td>
<td align="center"><span style="color:#4b8200;" id="pitch"></span></td> <td align="center"><span style="color:#4b8200;" id="pitch"></span></td>
<td align="center"><span style="color:#ff33ff;" id="kalAngleZ"></span></td> <td align="center"><span style="color:#ff33ff;" id="kalAngleZ"></span></td>
<td align="center"><span style="color:#4b8200;" id="gyroZrate"></span></td> <td align="center"><span style="color:#4b8200;" id="gyroZrate"></span></td>
</tr> </tr>
</table> </table>
</td> </td>
@ -502,31 +491,31 @@ function checkNum(obj) {
</table> </table>
<script> <script>
const voltage = document.getElementById('voltage'); const voltage = document.getElementById('voltage');
const speed = document.getElementById('speed'); const speed = document.getElementById('speed');
function changeV() { function changeV() {
voltageVal = parseFloat(voltage.value); voltageVal = parseFloat(voltage.value);
spdVal = parseFloat(speed.value); spdVal = parseFloat(speed.value);
const voltagePercent = Math.abs(parseFloat(voltageVal/12, 2) * 50) const voltagePercent = Math.abs(parseFloat(voltageVal / 12, 2) * 50)
const speedPercent = Math.abs(parseFloat((spdVal/100), 2) * 100)*1.5 const speedPercent = Math.abs(parseFloat((spdVal / 100), 2) * 100) * 1.5
if (voltageVal<0) if (voltageVal < 0)
voltage.style.background = `linear-gradient(to right, #ffa200 ${voltagePercent}%, white ${voltagePercent}%` voltage.style.background = `linear-gradient(to right, #ffa200 ${voltagePercent}%, white ${voltagePercent}%`
else else
voltage.style.background = `linear-gradient(to left, #ffa200 ${voltagePercent}%, white ${voltagePercent}%` voltage.style.background = `linear-gradient(to left, #ffa200 ${voltagePercent}%, white ${voltagePercent}%`
if (spdVal<0) if (spdVal < 0)
speed.style.background = `linear-gradient(to right, #ffa200, white ${speedPercent}%` speed.style.background = `linear-gradient(to right, #ffa200, white ${speedPercent}%`
else else
speed.style.background = `linear-gradient(to left, #ffa200, white ${speedPercent}%` speed.style.background = `linear-gradient(to left, #ffa200, white ${speedPercent}%`
document.getElementById('voltageNum').innerHTML = voltageVal; document.getElementById('voltageNum').innerHTML = voltageVal;
document.getElementById('speedNum').innerHTML = spdVal; document.getElementById('speedNum').innerHTML = spdVal;
if( document.getElementById('test_flag').value=='1' ){ if (document.getElementById('test_flag').value == '1') {
loadXMLDoc('/Control?Type=1&Index=7&Operation='+voltageVal,'OperationHit'); loadXMLDoc('/Control?Type=1&Index=7&Operation=' + voltageVal, 'OperationHit');
} }
if( document.getElementById('test_flag').value=='2' ){ if (document.getElementById('test_flag').value == '2') {
loadXMLDoc('/Control?Type=1&Index=8&Operation='+spdVal,'OperationHit'); loadXMLDoc('/Control?Type=1&Index=8&Operation=' + spdVal, 'OperationHit');
} }
}; };
</script> </script>
</body> </body>
</html> </html>