From b7e28f468b1e60f2138399997b7347b83021bd9d Mon Sep 17 00:00:00 2001
From: 45coll <674148718@qq.com>
Date: Mon, 11 Oct 2021 15:07:48 +0800
Subject: [PATCH] =?UTF-8?q?command=E8=BD=BD=E5=85=A5=E5=88=B0=E8=8A=AF?=
 =?UTF-8?q?=E7=89=87=E4=B8=AD?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 arduino/head_file_test/main/Command.cpp       |    4 +-
 arduino/head_file_test/main/main.ino          |   14 +-
 arduino/main/main.ino                         |   11 +-
 .../gui/__pycache__/main_ui.cpython-37.pyc    |  Bin 3316 -> 3320 bytes
 .../sharedcomponets.cpython-37.pyc            |  Bin 2314 -> 2318 bytes
 .../gui/__pycache__/wifi_udp.cpython-37.pyc   |  Bin 1159 -> 1163 bytes
 python_gui/gui/udp_test1.py                   |    2 +-
 莱洛三角切割/triangle.lcp                     |  Bin 10720 -> 16753 bytes
 莱洛三角切割/triangle_10.dxf                  | 6304 +++++++++++++++++
 莱洛三角切割/triangle_10.lcp                  |  Bin 0 -> 6464 bytes
 莱洛三角切割/triangle_base.lcp                |  Bin 0 -> 6364 bytes
 莱洛三角切割/triangle_new.dxf                 | 6262 ++++++++++++++++
 莱洛三角切割/triangle_new.lcp                 |  Bin 0 -> 2983 bytes
 13 files changed, 12588 insertions(+), 9 deletions(-)
 create mode 100644 莱洛三角切割/triangle_10.dxf
 create mode 100644 莱洛三角切割/triangle_10.lcp
 create mode 100644 莱洛三角切割/triangle_base.lcp
 create mode 100644 莱洛三角切割/triangle_new.dxf
 create mode 100644 莱洛三角切割/triangle_new.lcp

diff --git a/arduino/head_file_test/main/Command.cpp b/arduino/head_file_test/main/Command.cpp
index 9c54a6b..bc3e296 100644
--- a/arduino/head_file_test/main/Command.cpp
+++ b/arduino/head_file_test/main/Command.cpp
@@ -2,8 +2,8 @@
 
 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 
+        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;
         }
       }
diff --git a/arduino/head_file_test/main/main.ino b/arduino/head_file_test/main/main.ino
index 915d5ff..24ee643 100644
--- a/arduino/head_file_test/main/main.ino
+++ b/arduino/head_file_test/main/main.ino
@@ -1,11 +1,19 @@
 #include "Command.h"
-Command  command;//声明一个自己的该类的对象
+
+
+//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/main/main.ino b/arduino/main/main.ino
index 14f411d..d047be6 100644
--- a/arduino/main/main.ino
+++ b/arduino/main/main.ino
@@ -66,15 +66,19 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22);
 
 
 //命令设置
-Command command;
+Command comm;
 double target_velocity = 0;
 double target_angle = 91;
 double target_voltage = 0;
+void do_K1(char* cmd) { comm.scalar(&LQR_K1, cmd); }
+
 void onPacketCallBack(AsyncUDPPacket packet)
 {
   char* da;
   da= (char*)(packet.data());
   Serial.println(da);
+  comm.run(da);
+  Serial.println(LQR_K1);
 //  target_velocity = atoi();
 //  Serial.print("数据内容: ");
 //  Serial.println(target_velocity);
@@ -84,7 +88,8 @@ void onPacketCallBack(AsyncUDPPacket packet)
 // instantiate the commander
 void setup() {
    Serial.begin(115200);
-
+   //命令设置
+  comm.add("K1",do_K1);
 
     // kalman mpu6050 init
   Wire.begin(19, 18,400000);// Set I2C frequency to 400kHz
@@ -261,7 +266,7 @@ void loop() {
     }
       
 #endif
-#if 1
+#if 0
 
 Serial.print(kalAngleZ);Serial.print("\t");
 
diff --git a/python_gui/gui/__pycache__/main_ui.cpython-37.pyc b/python_gui/gui/__pycache__/main_ui.cpython-37.pyc
index 7711b026e087f59246973654df99221e9eb989e5..e77607ba7bd8f0bd6b483e4efadf4da0508a5d4a 100644
GIT binary patch
delta 45
zcmew&`9qS+iI<m)0SHozH*$q>ihR`tvfZp=o=@5ObnS!}TU(w@o4L7wvxOM|Ir<Qd

delta 41
vcmew%`9+e;iI<m)0SHo}Hgbh=3jES>v5HB{PmV7r%FjwoF4<hd*}@C}^<50S

diff --git a/python_gui/gui/__pycache__/sharedcomponets.cpython-37.pyc b/python_gui/gui/__pycache__/sharedcomponets.cpython-37.pyc
index a98fee72a2e208c8ca9d060b303c32c03ed31b71..b0b3b142d7d59327aa8ab07eaa4edacd7b6d925c 100644
GIT binary patch
delta 45
zcmeAY>J#E};^pOH0D?Y?ja<y^B415`Y&WZz=To*mT|42$)|O|}W^R^cf6E8}5C0FJ

delta 41
vcmeAZ>Js8|;^pOH0D_dLja<y^0>4aLtYXsglj94D^0QKtOExRAzhwjf%0mmE

diff --git a/python_gui/gui/__pycache__/wifi_udp.cpython-37.pyc b/python_gui/gui/__pycache__/wifi_udp.cpython-37.pyc
index 4438c77ce9c81d9a0a7a196582795a7c2141d911..0072f51c2fe9c0288d120f1563e7ae87fe8d15a6 100644
GIT binary patch
delta 45
zcmZqY?B?Wh;^pOH00M=%8@UXaM84_)*=|-b&!=pCx^}{gtu4={&D`w8WXl8q4Q~$^

delta 41
vcmeC?Z0F>1;^pOH0D?o0H*y&;3H;J^v5HB{PmV7r%FjwoF4^qIWXl8q;m-^R

diff --git a/python_gui/gui/udp_test1.py b/python_gui/gui/udp_test1.py
index af8aff5..e598b78 100644
--- a/python_gui/gui/udp_test1.py
+++ b/python_gui/gui/udp_test1.py
@@ -16,7 +16,7 @@ def udp_recv(udp_socket):
         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)
+        # 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
diff --git a/莱洛三角切割/triangle.lcp b/莱洛三角切割/triangle.lcp
index 08557b4eb397bfa88c3e99bd46734dd446774413..3dadd0575f9a0b61b2d7c99d3bbc35033b262b57 100644
GIT binary patch
delta 5610
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delta 17
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diff --git a/莱洛三角切割/triangle_10.dxf b/莱洛三角切割/triangle_10.dxf
new file mode 100644
index 0000000..a187d8a
--- /dev/null
+++ b/莱洛三角切割/triangle_10.dxf
@@ -0,0 +1,6304 @@
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