上位机添加了调试模式，可以显示原始文本数据。更新了物料清单里面的电机购买链接

arduino/main/main.ino

@@ -135,10 +135,14 @@ void setup() {
     ESP.restart();
   }
 // eeprom 读取
-
+int k,j;
-float nan = EEPROM.readFloat(0);
+j = 0;
-if(isnan(nan))
+for(k=0;k<=24;k=k+4)
+{
+  float nan = EEPROM.readFloat(k);
+  if(isnan(nan))
   {
+      j = 1;
       Serial.println("frist write");
       EEPROM.writeFloat(0, target_angle);       delay(10);EEPROM.commit();
       EEPROM.writeFloat(4, swing_up_voltage);      delay(10);EEPROM.commit();
@@ -148,8 +152,9 @@ if(isnan(nan))
       EEPROM.writeFloat(20, v_p_2);      delay(10);EEPROM.commit();
       EEPROM.writeFloat(24, v_i_2);       delay(10);EEPROM.commit();
   }
-  else
+}
-  {
+if(j == 0)
+{
      target_angle = EEPROM.readFloat(0);
   swing_up_voltage = EEPROM.readFloat(4);
   swing_up_angle = EEPROM.readFloat(8);  
@@ -159,7 +164,7 @@ if(isnan(nan))
   v_i_2 = EEPROM.readFloat(24);
   motor.PID_velocity.P = v_p_1;
   motor.PID_velocity.I = v_i_1;
-  }
+}
    //命令设置
  comm.add("TA",do_TA);
  comm.add("START",do_START);
@@ -364,12 +369,14 @@ if (abs(pendulum_angle) < swing_up_angle) // if angle small enough stabilize 0.5
 Serial.print(pitch);Serial.print("\t");
 Serial.print(kalAngleZ);Serial.print("\t");
 
-//  Serial.print(target_voltage);Serial.print("\t");
+  Serial.print(target_voltage);Serial.print("\t");
-////  Serial.print(target_velocity);Serial.print("\t");
+//  Serial.print(target_velocity);Serial.print("\t");
-//  Serial.print(motor.shaft_velocity);Serial.print("\t");
+  Serial.print(motor.shaft_velocity);Serial.print("\t");
-//  Serial.print(target_angle);Serial.print("\t");
+   Serial.print(motor.voltage.q);Serial.print("\t");
-//  Serial.print(pendulum_angle);Serial.print("\t");
+
-//  Serial.print(gyroZrate);Serial.print("\t");
+  Serial.print(target_angle);Serial.print("\t");
+  Serial.print(pendulum_angle);Serial.print("\t");
+  Serial.print(gyroZrate);Serial.print("\t");
   Serial.print("\r\n");
 #endif
 //  motor.move(target_velocity);

python_gui/gui/main.py

@@ -1,5 +1,6 @@
 import sys
 from PyQt5.QtWidgets import QApplication, QMainWindow, QMessageBox
+from PyQt5.QtGui import QTextCursor
 from main_ui import *
 from wifi_udp import *
 import threading    #引入并行
@@ -7,12 +8,13 @@ import numpy as np
 import pyqtgraph as pg
 import re
 from sharedcomponets import GUIToolKit
+import copy
 
 class MyWindow(QMainWindow, Ui_MainWindow):
     signalColors = [GUIToolKit.RED_COLOR, GUIToolKit.BLUE_COLOR, GUIToolKit.PURPLE_COLOR, GUIToolKit.YELLOW_COLOR,
                     GUIToolKit.MAROON_COLOR, GUIToolKit.ORANGE_COLOR, GUIToolKit.GREEN_COLOR]
     signalIcons = ['reddot', 'bluedot', 'purpledot', 'yellowdot', 'maroondot', 'orangedot', 'greendot']
-
+    textColors = ['FF5C5C','398AD9','5BEC8D','FD42AC','FF33FF','4B8200','DE87B8']
     def __init__(self, parent=None):
         super(MyWindow, self).__init__(parent)
         self.setupUi(self)
@@ -23,8 +25,6 @@ class MyWindow(QMainWindow, Ui_MainWindow):
         # self.CreateItems()
         # 设置信号与槽
         self.CreateSignalSlot()
-
-
     # 设置信号与槽
     def CreateSignalSlot(self):
         self.horizontalSlider_1.valueChanged.connect(self.horizontalSlider_1_valueChanged)
@@ -41,6 +41,25 @@ class MyWindow(QMainWindow, Ui_MainWindow):
         self.VI1_pushButton.clicked.connect(self.VI1_pushButton_clicked)
         self.VP2_pushButton.clicked.connect(self.VP2_pushButton_clicked)
         self.VI2_pushButton.clicked.connect(self.VI2_pushButton_clicked)
+
+        self.raw_pushButton.clicked.connect(self.raw_pushButton_clicked)
+        self.wave_pushButton.clicked.connect(self.wave_pushButton_clicked)
+    def raw_pushButton_clicked(self):
+        self.change_state = 1
+        self.stackedWidget.setCurrentIndex(1)
+        # for i in range(self.gridLayout.count()):
+        #     self.gridLayout.removeWidget(self.gridLayout.itemAt(i).widget())
+        # self.gridLayout.addWidget(self.raw_line)
+
+    def wave_pushButton_clicked(self):
+        self.change_state = 0
+        self.stackedWidget.setCurrentIndex(0)
+        # for i in range(self.gridLayout.count()):
+        #     self.gridLayout.removeWidget(self.gridLayout.itemAt(i).widget())
+        #
+        #
+        # self.gridLayout.addWidget(self.plotWidget)
+
     # 设置实例
     def CreateItems(self):
         # 定时器-绘图刷新
@@ -54,7 +73,9 @@ class MyWindow(QMainWindow, Ui_MainWindow):
         # wifi变量
         self.wifi_recv_flag = 0
         self.close_flag = 1
+        self.change_state = 0
         self.re_item = []
+        self.raw_roll = 0
     def plot_init(self):
         # 绘图对象
         pg.setConfigOptions(antialias=True)
@@ -81,8 +102,16 @@ class MyWindow(QMainWindow, Ui_MainWindow):
             self.signalPlotFlags.append(True)
             # add callback
             checkBox.stateChanged.connect(self.signalPlotFlagUpdate)
-        self.gridLayout.addWidget(self.plotWidget)
+        self.stackedWidget = QtWidgets.QStackedWidget()
+        self.gridLayout.addWidget(self.stackedWidget)
+        self.raw_line = QtWidgets.QTextEdit()
+        self.raw_line.setStyleSheet('background: rgb(0, 0, 0)')
+        self.stackedWidget.addWidget(self.plotWidget)
+        self.stackedWidget.addWidget(self.raw_line)
         self.tool_layout.addWidget(self.controlPlotWidget)
+
+
+
     # checkbox
     def signalPlotFlagUpdate(self):
         for i, (checkBox, plotFlag) in enumerate(zip(self.controlPlotWidget.signalCheckBox, self.signalPlotFlags)):
@@ -178,24 +207,32 @@ class MyWindow(QMainWindow, Ui_MainWindow):
             recv_data = recv_data.split(',')
             """处理接受的信息"""
             # print(recv_data)
+            self.re_text = ''
             for i, data in enumerate(recv_data):
                 if self.signalPlotFlags[i]:
-                    self.re_item.append(''.join(re.split(r'[^A-Za-z]', data)))
+                    # self.re_item.append(''.join(re.split(r'[^A-Za-z]', data)))
                     data = data.replace(self.re_item[i],'')
-
+                    if self.change_state:
-                    self.signalDataArrays[i] = np.roll(self.signalDataArrays[i], -1)
+                        self.re_text += '<font color=\"#{1}\">{0}\t</font>'.format(data,self.textColors[i])
-                    self.signalDataArrays[i][-1] = data
+                    else:
-
+                        self.signalDataArrays[i] = np.roll(self.signalDataArrays[i], -1)
+                        self.signalDataArrays[i][-1] = data
     def update_plot(self):
         if self.wifi_recv_flag:
-            for i, plotFlag in enumerate(self.signalPlotFlags):
+            if self.change_state:
-                if plotFlag:
+                self.raw_line.append(self.re_text)
-                    self.signalPlots[i].setData(self.timeArray, self.signalDataArrays[i])
+                if self.raw_roll:
-                    self.signalPlots[i].updateItems()
+                    self.raw_line.moveCursor(QTextCursor.End)
-                    self.signalPlots[i].sigPlotChanged.emit(self.signalPlots[i])
+            else:
+                for i, plotFlag in enumerate(self.signalPlotFlags):
+                    if plotFlag:
+                        self.signalPlots[i].setData(self.timeArray, self.signalDataArrays[i])
+                        self.signalPlots[i].updateItems()
+                        self.signalPlots[i].sigPlotChanged.emit(self.signalPlots[i])
 
     def closeEvent(self, a0: QtGui.QCloseEvent) -> None:
         print("关闭")
+        self.udp.send_message('START')
         self.close_flag = 0
         self.udp.udpClientSocket.close()
 
@@ -247,7 +284,10 @@ class ControlPlotPanel(QtWidgets.QWidget):
             self.signalCheckBox.append(checkBox)
             self.horizontalLayout1.addWidget(checkBox)
     def zoomAllPlot(self):
-        self.controlledPlot.plotWidget.enableAutoRange()
+        if self.controlledPlot.change_state:
+            self.controlledPlot.raw_roll = ~self.controlledPlot.raw_roll
+        else:
+            self.controlledPlot.plotWidget.enableAutoRange()
     def wifi_recv_open_pushButton_clicked(self):
         if self.controlledPlot.wifi_recv_flag == 0:
             # 打开wifi接收

python_gui/gui/main_ui.py

@@ -54,6 +54,12 @@ class Ui_MainWindow(object):
         self.tool_layout_2 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_6)
         self.tool_layout_2.setContentsMargins(0, 0, 0, 0)
         self.tool_layout_2.setObjectName("tool_layout_2")
+        self.wave_pushButton = QtWidgets.QPushButton(self.horizontalLayoutWidget_6)
+        self.wave_pushButton.setObjectName("wave_pushButton")
+        self.tool_layout_2.addWidget(self.wave_pushButton)
+        self.raw_pushButton = QtWidgets.QPushButton(self.horizontalLayoutWidget_6)
+        self.raw_pushButton.setObjectName("raw_pushButton")
+        self.tool_layout_2.addWidget(self.raw_pushButton)
         self.groupBox_3 = QtWidgets.QGroupBox(self.centralwidget)
         self.groupBox_3.setGeometry(QtCore.QRect(10, 10, 291, 381))
         self.groupBox_3.setObjectName("groupBox_3")
@@ -354,6 +360,8 @@ class Ui_MainWindow(object):
         self.wifi_IP_lineEdit.setText(_translate("MainWindow", "192.168.4.2"))
         self.wifi_config_pushButton.setText(_translate("MainWindow", "设置"))
         self.groupBox_2.setTitle(_translate("MainWindow", "可视化图表"))
+        self.wave_pushButton.setText(_translate("MainWindow", "波形图"))
+        self.raw_pushButton.setText(_translate("MainWindow", "原始数据"))
         self.groupBox_3.setTitle(_translate("MainWindow", "command命令"))
         self.wifi_command_pushButton_1.setText(_translate("MainWindow", "发送"))
         self.wifi_command_pushButton_2.setText(_translate("MainWindow", "发送"))

python_gui/gui/main_ui.ui

@@ -99,7 +99,22 @@
        <height>31</height>
       </rect>
      </property>
-     <layout class="QHBoxLayout" name="tool_layout_2"/>
+     <layout class="QHBoxLayout" name="tool_layout_2">
+      <item>
+       <widget class="QPushButton" name="wave_pushButton">
+        <property name="text">
+         <string>波形图</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="raw_pushButton">
+        <property name="text">
+         <string>原始数据</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
     </widget>
    </widget>
    <widget class="QGroupBox" name="groupBox_3">