添加了电机调试模式，可以测试电机能否正常运行。
zrg
parent
9ee1104859
commit
ac6b23d725
41
README.md
41
README.md
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@ -13,10 +13,10 @@
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右：10*10cm最终版本
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#### 1 软件架构
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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：
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自平衡控制为LQR算法输出期望**速度**，使动量轮**加速运动**从而控制三角形左右方向。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：
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- **基于 Arduino**：运行在 ESP32 Arduino 上
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- **控制模式丰富**：电压控制和速度控制
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- **自带测试模式**：电压测试和速度测试，可以单独输出电压让电机转动，也可以设置指定速度让电机保持速度
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#### 2 硬件特性
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@ -25,14 +25,14 @@
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| ---------------- |---------------------- |
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| 莱洛三角形尺寸 | 100*100 mm |
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|动量轮尺寸|80*80 mm|
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|电池*3 |厚x长x宽:7.9mmx25mmx40mm|
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|电池*3 |厚x长x宽:7.9mmx25mmx40mm 规格内均可|
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| 输入电压 | 3.7v锂电池*3|
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|充电电压| 5V 从Type-C口输入|
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|充电芯片CS5095|5V输入,最大1.2A充电电流|
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|串口芯片CH340C|需要打开开关才能下载|
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|串口芯片CH340C|需要<font color='red'> 打开开关 </font>才能下载|
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| 主控芯片 | ESP-WROOM-32 |
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|电机驱动芯片L6234PD|引脚:32, 33, 25, 22; 22为enable|
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| AS5600 编码器 |SDA-23 SCL-5 芯片要离磁铁有2mm以上高度|
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| AS5600 编码器 |SDA-23 SCL-5 芯片要离磁铁有<font color='red'> 2mm以上高度 </font>|
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| MPU6050六轴传感器 | SDA-19 SCL-18 |
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@ -40,15 +40,18 @@
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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。
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2. 烧录程序到ESP32：选择工具-开发板-esp32 Arduino-ESP32 Dev module，然后连接USB口选择对应的com口，编译上传。
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1. 如无法正常编译
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1. <font color='red'> 如无法正常编译 </font>
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1. 情况1：wifi库重复，删除文件夹Arduino\libraries内的wifi文件夹。
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2. 情况2：可能与原有arduino冲突，请卸载原有的arduino。
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3. 情况3：文件夹路径含有非法字符，可以把Arduino移动到硬盘根目录下，如D:\Arduino
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3. 打开本项目内的`python_gui`内的`可执行文件_main`内的**main.exe**并连接上WIFI：ESP32。点击设置开始调参。
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3. 打开本项目内的`python_gui`内的`可执行文件_main`内的**main.exe**并连接上WIFI：ESP32 密码：12345678。点击设置开始调参。
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4. 连接成功后，点击disable，然后逆时针拨动动量轮，查看上位机中V参数是否为正值。注意！如果<font color='red'> 逆时针转为为负值 </font>那么需要将电机线任意两线互换。
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4. K值可以用滑块调整，拖动滑块就会发送参数命令，但是调整到合适值之后需要自行在Arduino的main中修改再烧录一次
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5. 如果电机不能正常运行可以，点击上位机中最下方的<font color='red'> 测试部分 </font>，打开电压或者速度测试，滑动滑条，查看电机能否正常运行。如还不能请检测硬件电路部分。
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6. 如果不能摇摆直立，推荐调整的参数为TA、SA、SV
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7. K值可以用滑块调整，拖动滑块就会发送参数命令，但是调整到合适值之后需要自行在Arduino的main中修改再烧录一次
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5. 滑条：最左边输入框为滑块下限，右边是滑块上限，滑条等分成**200**份，命令是**字符串**，滑动滑块发送**字符串** + **数值**
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8. 滑条：最左边输入框为滑块下限，右边是滑块上限，滑条等分成**200**份，命令是**字符串**，滑动滑块发送**字符串** + **数值**
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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。
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@ -61,11 +64,13 @@
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|VI1|速度环的PID的I，1是稳定在平衡角度之前的I值|
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|VP2|速度环的PID的P，2是稳定后的P值|
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|VI2|速度环的PID的I，2是稳定后的I值|
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|K为LQR参数|第一个数字**1和2**是电压控制稳定前和后**3和4**是速度控制稳定前和后，第二个数字如下|
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|K1**1**|LQR的参数1：角度差值|
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|K1**2**|LQR的参数2：左右倾倒加速度|
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|K1**3**|LQR的参数3：当前速度|
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|K为LQR参数|**3和4**是速度控制稳定前和后|
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|K3**1**|LQR的参数1：稳定前的角度差值|
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|K3**2**|LQR的参数2：稳定前的左右倾倒加速度|
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|K3**3**|LQR的参数3：稳定前的当前速度|
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|K4**1**|LQR的参数1：稳定后的角度差值|
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|K4**2**|LQR的参数2：稳定后的左右倾倒加速度|
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|K4**3**|LQR的参数3：稳定后的当前速度|
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LQR算法解释：当三角形向←倾斜时，需要产生向→的力回正。
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在电压控制下：回正力F直接和输出电压值挂钩，向←倾斜，电机提供正电压V动量轮向**左加速转动**，产生向右的力F。
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@ -84,15 +89,15 @@ LQR算法解释：当三角形向←倾斜时，需要产生向→的力回正
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#### 4 硬件设计
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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~~
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LaserMaker绘制的plt在**莱洛三角结构**文件夹内
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LaserMaker绘制的plt在**莱洛三角结构**文件夹内，需要重新绘制电路图可以使用
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感谢嘉立创的PCB制板，使DIY电路制作变得非常便利
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感谢嘉立创的PCB制板，使DIY电路制作变得非常便利，点击下方超链接可以前往嘉立创进行PCB制板
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[莱洛三角形PCB](https://oshwhub.com/45coll/zi-ping-heng-di-lai-luo-san-jiao_10-10-ban-ben)
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[动量轮](https://oshwhub.com/45coll/lai-luo-san-jiao-dong-liang-lun)
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具体需要购买的物品在**物料清单.xlsx**中
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具体需要购买的物品在**物料清单.xlsx**中，如果缺货请自行某宝更换
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#### 5 Ctrl+C +V（参考）
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Arduino上的控制算法是原作者的LQR，无刷电机控制是灯哥开源FOC。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版一样。
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@ -121,3 +126,5 @@ Python的GUI是SimpleFOC的SimpleFOCStudio。
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45coll电子交流QQ群：**824113552**
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欢迎交流与沟通
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群文件内有PCB、元器件下单以及软件安装的教程视频
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@ -15,11 +15,14 @@ class MyWindow(QMainWindow, Ui_MainWindow):
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GUIToolKit.MAROON_COLOR, GUIToolKit.ORANGE_COLOR, GUIToolKit.GREEN_COLOR]
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signalIcons = ['reddot', 'bluedot', 'purpledot', 'yellowdot', 'maroondot', 'orangedot', 'greendot']
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textColors = ['FF5C5C','398AD9','5BEC8D','FD42AC','FF33FF','4B8200','DE87B8']
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slider_lab = ['horizontalSlider_1', 'horizontalSlider_2','horizontalSlider_3','horizontalSlider_4','horizontalSlider_5']
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def __init__(self, parent=None):
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super(MyWindow, self).__init__(parent)
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self.setupUi(self)
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# 变量初始化
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self.wifi_open_flag = 0
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self.test_flag = 0
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# self.variable_init()
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# 设置实例
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# self.CreateItems()
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self.CreateSignalSlot()
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# 设置信号与槽
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def CreateSignalSlot(self):
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self.horizontalSlider_1.valueChanged.connect(self.horizontalSlider_1_valueChanged)
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self.horizontalSlider_2.valueChanged.connect(self.horizontalSlider_2_valueChanged)
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self.horizontalSlider_3.valueChanged.connect(self.horizontalSlider_3_valueChanged)
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self.horizontalSlider_1.valueChanged.connect(lambda: self.horizontalSlider_valueChanged(self.horizontalSlider_1))
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self.horizontalSlider_2.valueChanged.connect(lambda: self.horizontalSlider_valueChanged(self.horizontalSlider_2))
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self.horizontalSlider_3.valueChanged.connect(lambda: self.horizontalSlider_valueChanged(self.horizontalSlider_3))
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self.horizontalSlider_4.valueChanged.connect(lambda: self.horizontalSlider_valueChanged(self.horizontalSlider_4))
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self.horizontalSlider_5.valueChanged.connect(lambda: self.horizontalSlider_valueChanged(self.horizontalSlider_5))
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self.wifi_config_pushButton.clicked.connect(self.wifi_config_pushButton_clicked)
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self.wifi_command_pushButton_1.clicked.connect(self.wifi_command_pushButton_1_clicked)
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self.wifi_command_pushButton_2.clicked.connect(self.wifi_command_pushButton_2_clicked)
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@ -44,22 +50,38 @@ class MyWindow(QMainWindow, Ui_MainWindow):
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self.raw_pushButton.clicked.connect(self.raw_pushButton_clicked)
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self.wave_pushButton.clicked.connect(self.wave_pushButton_clicked)
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self.test_pushButton_voltage.clicked.connect(self.test_pushButton_voltage_clicked)
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self.test_pushButton_velocity.clicked.connect(self.test_pushButton_velocity_clicked)
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def raw_pushButton_clicked(self):
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self.change_state = 1
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self.stackedWidget.setCurrentIndex(1)
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# for i in range(self.gridLayout.count()):
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# self.gridLayout.removeWidget(self.gridLayout.itemAt(i).widget())
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# self.gridLayout.addWidget(self.raw_line)
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def wave_pushButton_clicked(self):
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self.change_state = 0
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self.stackedWidget.setCurrentIndex(0)
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# for i in range(self.gridLayout.count()):
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# self.gridLayout.removeWidget(self.gridLayout.itemAt(i).widget())
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#
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#
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# self.gridLayout.addWidget(self.plotWidget)
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def test_pushButton_voltage_clicked(self):
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self.udp.send_message("TVQ")
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if self.test_flag == 1:
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self.test_pushButton_voltage.setText("电压测试打开")
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self.test_pushButton_velocity.setText("速度测试打开")
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self.test_flag = 0
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else:
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self.test_pushButton_voltage.setText("电压测试关闭")
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self.test_pushButton_velocity.setText("速度测试打开")
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self.test_flag = 1
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def test_pushButton_velocity_clicked(self):
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self.udp.send_message("TVV")
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if self.test_flag == 2:
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self.test_pushButton_voltage.setText("电压测试打开")
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self.test_pushButton_velocity.setText("速度测试打开")
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self.test_flag = 0
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else:
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self.test_pushButton_voltage.setText("电压测试打开")
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self.test_pushButton_velocity.setText("速度测试关闭")
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self.test_flag = 2
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# 设置实例
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def CreateItems(self):
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# 定时器-绘图刷新
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@ -68,7 +90,7 @@ class MyWindow(QMainWindow, Ui_MainWindow):
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self.timer.start(20)
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# wifi udp
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self.udp = udp()
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# self.wifi_IP_lineEdit.setText(self.udp.user_ip)
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# self.wifi_IP_lineEdit.setText(self.udp.user_ip)#设置为当前本机ID
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def variable_init(self):
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# wifi变量
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self.wifi_recv_flag = 0
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self.signalPlotFlags[i] = False
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self.plotWidget.removeItem( self.signalPlots[i] )
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# 滑条绑定
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def horizontalSlider_1_valueChanged(self):
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value = self.horizontalSlider_1.value()
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value = float(self.left_lineEdit_1.text())+(value+100)*(float(self.right_lineEdit_1.text())-float(self.left_lineEdit_1.text()))/200
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self.num_lineEdit_1.setText(str(value))
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value = self.command_lineEdit_1.text()+str(value)
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self.udp.send_message(str(value))
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def horizontalSlider_2_valueChanged(self):
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value = self.horizontalSlider_2.value()
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value = float(self.left_lineEdit_2.text())+(value+100)*(float(self.right_lineEdit_2.text())-float(self.left_lineEdit_2.text()))/200
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self.num_lineEdit_2.setText(str(value))
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value = self.command_lineEdit_2.text()+str(value)
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self.udp.send_message(str(value))
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def horizontalSlider_3_valueChanged(self):
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value = self.horizontalSlider_3.value()
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value = float(self.left_lineEdit_3.text())+(value+100)*(float(self.right_lineEdit_3.text())-float(self.left_lineEdit_3.text()))/200
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self.num_lineEdit_3.setText(str(value))
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value = self.command_lineEdit_3.text()+str(value)
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def horizontalSlider_valueChanged(self,slider):
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i = self.slider_lab.index(slider.objectName())
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layout = getattr(self, 'horizontalLayout_{}'.format(i+4))
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value = layout.itemAt(1).widget().value()
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value = float(layout.itemAt(0).widget().text()) + (value + 100) * (
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float(layout.itemAt(2).widget().text()) - float(layout.itemAt(0).widget().text())) / 200
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layout.itemAt(6).widget().setText(str(value))
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value = layout.itemAt(4).widget().text() + str(value)
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self.udp.send_message(str(value))
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# command命令发送事件
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def wifi_command_pushButton_1_clicked(self):
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self.udp.send_message(self.wifi_command_lineEdit_1.text())
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# -*- mode: python ; coding: utf-8 -*-
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block_cipher = None
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a = Analysis(['main.py'],
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pathex=[],
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binaries=[],
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datas=[],
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hiddenimports=[],
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hookspath=[],
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hooksconfig={},
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runtime_hooks=[],
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excludes=[],
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win_no_prefer_redirects=False,
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win_private_assemblies=False,
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cipher=block_cipher,
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noarchive=False)
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pyz = PYZ(a.pure, a.zipped_data,
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cipher=block_cipher)
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exe = EXE(pyz,
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a.scripts,
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[],
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exclude_binaries=True,
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name='main',
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debug=False,
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bootloader_ignore_signals=False,
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strip=False,
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upx=True,
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console=True,
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disable_windowed_traceback=False,
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target_arch=None,
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codesign_identity=None,
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entitlements_file=None )
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coll = COLLECT(exe,
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a.binaries,
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a.zipfiles,
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a.datas,
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strip=False,
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upx=True,
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upx_exclude=[],
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name='main')
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@ -14,7 +14,7 @@ from PyQt5 import QtCore, QtGui, QtWidgets
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class Ui_MainWindow(object):
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def setupUi(self, MainWindow):
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MainWindow.setObjectName("MainWindow")
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MainWindow.resize(1187, 707)
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MainWindow.resize(1129, 767)
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self.centralwidget = QtWidgets.QWidget(MainWindow)
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self.centralwidget.setObjectName("centralwidget")
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self.groupBox = QtWidgets.QGroupBox(self.centralwidget)
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@ -66,39 +66,39 @@ class Ui_MainWindow(object):
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self.horizontalLayoutWidget_7 = QtWidgets.QWidget(self.groupBox_3)
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self.horizontalLayoutWidget_7.setGeometry(QtCore.QRect(10, 30, 271, 31))
|
||||
self.horizontalLayoutWidget_7.setObjectName("horizontalLayoutWidget_7")
|
||||
self.horizontalLayout_3 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_7)
|
||||
self.horizontalLayout_3.setContentsMargins(0, 0, 0, 0)
|
||||
self.horizontalLayout_3.setObjectName("horizontalLayout_3")
|
||||
self.horizontalLayout_1 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_7)
|
||||
self.horizontalLayout_1.setContentsMargins(0, 0, 0, 0)
|
||||
self.horizontalLayout_1.setObjectName("horizontalLayout_1")
|
||||
self.wifi_command_lineEdit_1 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_7)
|
||||
self.wifi_command_lineEdit_1.setObjectName("wifi_command_lineEdit_1")
|
||||
self.horizontalLayout_3.addWidget(self.wifi_command_lineEdit_1)
|
||||
self.horizontalLayout_1.addWidget(self.wifi_command_lineEdit_1)
|
||||
self.wifi_command_pushButton_1 = QtWidgets.QPushButton(self.horizontalLayoutWidget_7)
|
||||
self.wifi_command_pushButton_1.setObjectName("wifi_command_pushButton_1")
|
||||
self.horizontalLayout_3.addWidget(self.wifi_command_pushButton_1)
|
||||
self.horizontalLayout_1.addWidget(self.wifi_command_pushButton_1)
|
||||
self.horizontalLayoutWidget_8 = QtWidgets.QWidget(self.groupBox_3)
|
||||
self.horizontalLayoutWidget_8.setGeometry(QtCore.QRect(10, 60, 271, 31))
|
||||
self.horizontalLayoutWidget_8.setObjectName("horizontalLayoutWidget_8")
|
||||
self.horizontalLayout_4 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_8)
|
||||
self.horizontalLayout_4.setContentsMargins(0, 0, 0, 0)
|
||||
self.horizontalLayout_4.setObjectName("horizontalLayout_4")
|
||||
self.horizontalLayout_2 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_8)
|
||||
self.horizontalLayout_2.setContentsMargins(0, 0, 0, 0)
|
||||
self.horizontalLayout_2.setObjectName("horizontalLayout_2")
|
||||
self.wifi_command_lineEdit_2 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_8)
|
||||
self.wifi_command_lineEdit_2.setObjectName("wifi_command_lineEdit_2")
|
||||
self.horizontalLayout_4.addWidget(self.wifi_command_lineEdit_2)
|
||||
self.horizontalLayout_2.addWidget(self.wifi_command_lineEdit_2)
|
||||
self.wifi_command_pushButton_2 = QtWidgets.QPushButton(self.horizontalLayoutWidget_8)
|
||||
self.wifi_command_pushButton_2.setObjectName("wifi_command_pushButton_2")
|
||||
self.horizontalLayout_4.addWidget(self.wifi_command_pushButton_2)
|
||||
self.horizontalLayout_2.addWidget(self.wifi_command_pushButton_2)
|
||||
self.horizontalLayoutWidget_9 = QtWidgets.QWidget(self.groupBox_3)
|
||||
self.horizontalLayoutWidget_9.setGeometry(QtCore.QRect(10, 90, 271, 31))
|
||||
self.horizontalLayoutWidget_9.setObjectName("horizontalLayoutWidget_9")
|
||||
self.horizontalLayout_7 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_9)
|
||||
self.horizontalLayout_7.setContentsMargins(0, 0, 0, 0)
|
||||
self.horizontalLayout_7.setObjectName("horizontalLayout_7")
|
||||
self.horizontalLayout_3 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_9)
|
||||
self.horizontalLayout_3.setContentsMargins(0, 0, 0, 0)
|
||||
self.horizontalLayout_3.setObjectName("horizontalLayout_3")
|
||||
self.wifi_command_lineEdit_3 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_9)
|
||||
self.wifi_command_lineEdit_3.setObjectName("wifi_command_lineEdit_3")
|
||||
self.horizontalLayout_7.addWidget(self.wifi_command_lineEdit_3)
|
||||
self.horizontalLayout_3.addWidget(self.wifi_command_lineEdit_3)
|
||||
self.wifi_command_pushButton_3 = QtWidgets.QPushButton(self.horizontalLayoutWidget_9)
|
||||
self.wifi_command_pushButton_3.setObjectName("wifi_command_pushButton_3")
|
||||
self.horizontalLayout_7.addWidget(self.wifi_command_pushButton_3)
|
||||
self.horizontalLayout_3.addWidget(self.wifi_command_pushButton_3)
|
||||
self.horizontalLayoutWidget_13 = QtWidgets.QWidget(self.groupBox_3)
|
||||
self.horizontalLayoutWidget_13.setGeometry(QtCore.QRect(10, 160, 271, 31))
|
||||
self.horizontalLayoutWidget_13.setObjectName("horizontalLayoutWidget_13")
|
||||
|
|
@ -222,17 +222,17 @@ class Ui_MainWindow(object):
|
|||
self.VI2_pushButton.setObjectName("VI2_pushButton")
|
||||
self.horizontalLayout_22.addWidget(self.VI2_pushButton)
|
||||
self.groupBox_4 = QtWidgets.QGroupBox(self.centralwidget)
|
||||
self.groupBox_4.setGeometry(QtCore.QRect(310, 500, 591, 131))
|
||||
self.groupBox_4.setGeometry(QtCore.QRect(310, 500, 591, 121))
|
||||
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.horizontalLayout_4 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_2)
|
||||
self.horizontalLayout_4.setContentsMargins(0, 0, 0, 0)
|
||||
self.horizontalLayout_4.setObjectName("horizontalLayout_4")
|
||||
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.horizontalLayout_4.addWidget(self.left_lineEdit_1)
|
||||
self.horizontalSlider_1 = QtWidgets.QSlider(self.horizontalLayoutWidget_2)
|
||||
self.horizontalSlider_1.setMinimum(-100)
|
||||
self.horizontalSlider_1.setMaximum(100)
|
||||
|
|
@ -240,29 +240,29 @@ class Ui_MainWindow(object):
|
|||
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.horizontalLayout_4.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.horizontalLayout_4.addWidget(self.right_lineEdit_1)
|
||||
self.label = QtWidgets.QLabel(self.horizontalLayoutWidget_2)
|
||||
self.label.setObjectName("label")
|
||||
self.horizontalLayout_2.addWidget(self.label)
|
||||
self.horizontalLayout_4.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.horizontalLayout_4.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.horizontalLayout_4.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.horizontalLayout_4.addWidget(self.num_lineEdit_1)
|
||||
self.horizontalLayout_4.setStretch(0, 1)
|
||||
self.horizontalLayout_4.setStretch(1, 18)
|
||||
self.horizontalLayout_4.setStretch(2, 1)
|
||||
self.horizontalLayout_4.setStretch(3, 1)
|
||||
self.horizontalLayout_4.setStretch(4, 1)
|
||||
self.horizontalLayout_4.setStretch(5, 1)
|
||||
self.horizontalLayout_4.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")
|
||||
|
|
@ -341,9 +341,96 @@ class Ui_MainWindow(object):
|
|||
self.horizontalLayout_6.setStretch(4, 1)
|
||||
self.horizontalLayout_6.setStretch(5, 1)
|
||||
self.horizontalLayout_6.setStretch(6, 1)
|
||||
self.groupBox_5 = QtWidgets.QGroupBox(self.centralwidget)
|
||||
self.groupBox_5.setGeometry(QtCore.QRect(10, 620, 791, 91))
|
||||
self.groupBox_5.setObjectName("groupBox_5")
|
||||
self.horizontalLayoutWidget_11 = QtWidgets.QWidget(self.groupBox_5)
|
||||
self.horizontalLayoutWidget_11.setGeometry(QtCore.QRect(110, 50, 671, 31))
|
||||
self.horizontalLayoutWidget_11.setObjectName("horizontalLayoutWidget_11")
|
||||
self.horizontalLayout_8 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_11)
|
||||
self.horizontalLayout_8.setContentsMargins(0, 0, 0, 0)
|
||||
self.horizontalLayout_8.setObjectName("horizontalLayout_8")
|
||||
self.left_lineEdit_5 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_11)
|
||||
self.left_lineEdit_5.setObjectName("left_lineEdit_5")
|
||||
self.horizontalLayout_8.addWidget(self.left_lineEdit_5)
|
||||
self.horizontalSlider_5 = QtWidgets.QSlider(self.horizontalLayoutWidget_11)
|
||||
self.horizontalSlider_5.setMinimum(-100)
|
||||
self.horizontalSlider_5.setMaximum(100)
|
||||
self.horizontalSlider_5.setOrientation(QtCore.Qt.Horizontal)
|
||||
self.horizontalSlider_5.setTickPosition(QtWidgets.QSlider.TicksAbove)
|
||||
self.horizontalSlider_5.setTickInterval(10)
|
||||
self.horizontalSlider_5.setObjectName("horizontalSlider_5")
|
||||
self.horizontalLayout_8.addWidget(self.horizontalSlider_5)
|
||||
self.right_lineEdit_5 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_11)
|
||||
self.right_lineEdit_5.setObjectName("right_lineEdit_5")
|
||||
self.horizontalLayout_8.addWidget(self.right_lineEdit_5)
|
||||
self.label_3 = QtWidgets.QLabel(self.horizontalLayoutWidget_11)
|
||||
self.label_3.setObjectName("label_3")
|
||||
self.horizontalLayout_8.addWidget(self.label_3)
|
||||
self.command_lineEdit_5 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_11)
|
||||
self.command_lineEdit_5.setObjectName("command_lineEdit_5")
|
||||
self.horizontalLayout_8.addWidget(self.command_lineEdit_5)
|
||||
self.label_10 = QtWidgets.QLabel(self.horizontalLayoutWidget_11)
|
||||
self.label_10.setObjectName("label_10")
|
||||
self.horizontalLayout_8.addWidget(self.label_10)
|
||||
self.num_lineEdit_5 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_11)
|
||||
self.num_lineEdit_5.setObjectName("num_lineEdit_5")
|
||||
self.horizontalLayout_8.addWidget(self.num_lineEdit_5)
|
||||
self.horizontalLayout_8.setStretch(0, 1)
|
||||
self.horizontalLayout_8.setStretch(1, 15)
|
||||
self.horizontalLayout_8.setStretch(2, 1)
|
||||
self.horizontalLayout_8.setStretch(3, 1)
|
||||
self.horizontalLayout_8.setStretch(4, 1)
|
||||
self.horizontalLayout_8.setStretch(5, 1)
|
||||
self.horizontalLayout_8.setStretch(6, 1)
|
||||
self.test_pushButton_velocity = QtWidgets.QPushButton(self.groupBox_5)
|
||||
self.test_pushButton_velocity.setGeometry(QtCore.QRect(10, 20, 99, 28))
|
||||
self.test_pushButton_velocity.setObjectName("test_pushButton_velocity")
|
||||
self.test_pushButton_voltage = QtWidgets.QPushButton(self.groupBox_5)
|
||||
self.test_pushButton_voltage.setGeometry(QtCore.QRect(10, 50, 99, 28))
|
||||
self.test_pushButton_voltage.setObjectName("test_pushButton_voltage")
|
||||
self.horizontalLayoutWidget_10 = QtWidgets.QWidget(self.groupBox_5)
|
||||
self.horizontalLayoutWidget_10.setGeometry(QtCore.QRect(110, 20, 671, 31))
|
||||
self.horizontalLayoutWidget_10.setObjectName("horizontalLayoutWidget_10")
|
||||
self.horizontalLayout_7 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_10)
|
||||
self.horizontalLayout_7.setContentsMargins(0, 0, 0, 0)
|
||||
self.horizontalLayout_7.setObjectName("horizontalLayout_7")
|
||||
self.left_lineEdit_4 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_10)
|
||||
self.left_lineEdit_4.setObjectName("left_lineEdit_4")
|
||||
self.horizontalLayout_7.addWidget(self.left_lineEdit_4)
|
||||
self.horizontalSlider_4 = QtWidgets.QSlider(self.horizontalLayoutWidget_10)
|
||||
self.horizontalSlider_4.setMinimum(-100)
|
||||
self.horizontalSlider_4.setMaximum(100)
|
||||
self.horizontalSlider_4.setOrientation(QtCore.Qt.Horizontal)
|
||||
self.horizontalSlider_4.setTickPosition(QtWidgets.QSlider.TicksAbove)
|
||||
self.horizontalSlider_4.setTickInterval(10)
|
||||
self.horizontalSlider_4.setObjectName("horizontalSlider_4")
|
||||
self.horizontalLayout_7.addWidget(self.horizontalSlider_4)
|
||||
self.right_lineEdit_4 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_10)
|
||||
self.right_lineEdit_4.setObjectName("right_lineEdit_4")
|
||||
self.horizontalLayout_7.addWidget(self.right_lineEdit_4)
|
||||
self.label_2 = QtWidgets.QLabel(self.horizontalLayoutWidget_10)
|
||||
self.label_2.setObjectName("label_2")
|
||||
self.horizontalLayout_7.addWidget(self.label_2)
|
||||
self.command_lineEdit_4 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_10)
|
||||
self.command_lineEdit_4.setObjectName("command_lineEdit_4")
|
||||
self.horizontalLayout_7.addWidget(self.command_lineEdit_4)
|
||||
self.label_9 = QtWidgets.QLabel(self.horizontalLayoutWidget_10)
|
||||
self.label_9.setObjectName("label_9")
|
||||
self.horizontalLayout_7.addWidget(self.label_9)
|
||||
self.num_lineEdit_4 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_10)
|
||||
self.num_lineEdit_4.setObjectName("num_lineEdit_4")
|
||||
self.horizontalLayout_7.addWidget(self.num_lineEdit_4)
|
||||
self.horizontalLayout_7.setStretch(0, 1)
|
||||
self.horizontalLayout_7.setStretch(1, 15)
|
||||
self.horizontalLayout_7.setStretch(2, 1)
|
||||
self.horizontalLayout_7.setStretch(3, 1)
|
||||
self.horizontalLayout_7.setStretch(4, 1)
|
||||
self.horizontalLayout_7.setStretch(5, 1)
|
||||
self.horizontalLayout_7.setStretch(6, 1)
|
||||
MainWindow.setCentralWidget(self.centralwidget)
|
||||
self.menubar = QtWidgets.QMenuBar(MainWindow)
|
||||
self.menubar.setGeometry(QtCore.QRect(0, 0, 1187, 26))
|
||||
self.menubar.setGeometry(QtCore.QRect(0, 0, 1129, 26))
|
||||
self.menubar.setObjectName("menubar")
|
||||
MainWindow.setMenuBar(self.menubar)
|
||||
self.statusbar = QtWidgets.QStatusBar(MainWindow)
|
||||
|
|
@ -399,3 +486,18 @@ class Ui_MainWindow(object):
|
|||
self.command_lineEdit_3.setText(_translate("MainWindow", "K33"))
|
||||
self.label_8.setText(_translate("MainWindow", "num:"))
|
||||
self.num_lineEdit_3.setText(_translate("MainWindow", "0"))
|
||||
self.groupBox_5.setTitle(_translate("MainWindow", "测试模式"))
|
||||
self.left_lineEdit_5.setText(_translate("MainWindow", "-12"))
|
||||
self.right_lineEdit_5.setText(_translate("MainWindow", "12"))
|
||||
self.label_3.setText(_translate("MainWindow", "command:"))
|
||||
self.command_lineEdit_5.setText(_translate("MainWindow", "VQ"))
|
||||
self.label_10.setText(_translate("MainWindow", "num:"))
|
||||
self.num_lineEdit_5.setText(_translate("MainWindow", "0"))
|
||||
self.test_pushButton_velocity.setText(_translate("MainWindow", "速度测试打开"))
|
||||
self.test_pushButton_voltage.setText(_translate("MainWindow", "电压测试打开"))
|
||||
self.left_lineEdit_4.setText(_translate("MainWindow", "-100"))
|
||||
self.right_lineEdit_4.setText(_translate("MainWindow", "100"))
|
||||
self.label_2.setText(_translate("MainWindow", "command:"))
|
||||
self.command_lineEdit_4.setText(_translate("MainWindow", "VV"))
|
||||
self.label_9.setText(_translate("MainWindow", "num:"))
|
||||
self.num_lineEdit_4.setText(_translate("MainWindow", "0"))
|
||||
|
|
|
|||
|
|
@ -6,8 +6,8 @@
|
|||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>1187</width>
|
||||
<height>707</height>
|
||||
<width>1129</width>
|
||||
<height>767</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="windowTitle">
|
||||
|
|
@ -138,7 +138,7 @@
|
|||
<height>31</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_1">
|
||||
<item>
|
||||
<widget class="QLineEdit" name="wifi_command_lineEdit_1"/>
|
||||
</item>
|
||||
|
|
@ -160,7 +160,7 @@
|
|||
<height>31</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_4">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_2">
|
||||
<item>
|
||||
<widget class="QLineEdit" name="wifi_command_lineEdit_2"/>
|
||||
</item>
|
||||
|
|
@ -182,7 +182,7 @@
|
|||
<height>31</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_7">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
||||
<item>
|
||||
<widget class="QLineEdit" name="wifi_command_lineEdit_3"/>
|
||||
</item>
|
||||
|
|
@ -463,7 +463,7 @@
|
|||
<x>310</x>
|
||||
<y>500</y>
|
||||
<width>591</width>
|
||||
<height>131</height>
|
||||
<height>121</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="title">
|
||||
|
|
@ -478,7 +478,7 @@
|
|||
<height>31</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_2" stretch="1,18,1,1,1,1,1">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_4" stretch="1,18,1,1,1,1,1">
|
||||
<item>
|
||||
<widget class="QLineEdit" name="left_lineEdit_1">
|
||||
<property name="text">
|
||||
|
|
@ -689,13 +689,198 @@
|
|||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
<widget class="QGroupBox" name="groupBox_5">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>10</x>
|
||||
<y>620</y>
|
||||
<width>791</width>
|
||||
<height>91</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>测试模式</string>
|
||||
</property>
|
||||
<widget class="QWidget" name="horizontalLayoutWidget_11">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>110</x>
|
||||
<y>50</y>
|
||||
<width>671</width>
|
||||
<height>31</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_8" stretch="1,15,1,1,1,1,1">
|
||||
<item>
|
||||
<widget class="QLineEdit" name="left_lineEdit_5">
|
||||
<property name="text">
|
||||
<string>-12</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QSlider" name="horizontalSlider_5">
|
||||
<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_5">
|
||||
<property name="text">
|
||||
<string>12</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_3">
|
||||
<property name="text">
|
||||
<string>command:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLineEdit" name="command_lineEdit_5">
|
||||
<property name="text">
|
||||
<string>VQ</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_10">
|
||||
<property name="text">
|
||||
<string>num:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLineEdit" name="num_lineEdit_5">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QPushButton" name="test_pushButton_velocity">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>10</x>
|
||||
<y>20</y>
|
||||
<width>99</width>
|
||||
<height>28</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>速度测试打开</string>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QPushButton" name="test_pushButton_voltage">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>10</x>
|
||||
<y>50</y>
|
||||
<width>99</width>
|
||||
<height>28</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>电压测试打开</string>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QWidget" name="horizontalLayoutWidget_10">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>110</x>
|
||||
<y>20</y>
|
||||
<width>671</width>
|
||||
<height>31</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_7" stretch="1,15,1,1,1,1,1">
|
||||
<item>
|
||||
<widget class="QLineEdit" name="left_lineEdit_4">
|
||||
<property name="text">
|
||||
<string>-100</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QSlider" name="horizontalSlider_4">
|
||||
<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_4">
|
||||
<property name="text">
|
||||
<string>100</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_2">
|
||||
<property name="text">
|
||||
<string>command:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLineEdit" name="command_lineEdit_4">
|
||||
<property name="text">
|
||||
<string>VV</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_9">
|
||||
<property name="text">
|
||||
<string>num:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLineEdit" name="num_lineEdit_4">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
</widget>
|
||||
<widget class="QMenuBar" name="menubar">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>1187</width>
|
||||
<width>1129</width>
|
||||
<height>26</height>
|
||||
</rect>
|
||||
</property>
|
||||
|
|
|
|||
Binary file not shown.
Loading…
Reference in New Issue