上位机调参-滑条
45coll
parent
4036f89940
commit
3f8700eee3
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@ -63,13 +63,13 @@ float LQR_K3_1 = 0.15; //
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//电机参数
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BLDCMotor motor = BLDCMotor(5);
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BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22);
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//命令设置
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Command comm;
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float target_velocity = 0;
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float target_angle = 90;
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float target_voltage = 0;
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//命令设置
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Command comm;
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bool Motor_enable_flag = 0;
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void do_K11(char* cmd) { comm.scalar(&LQR_K1, cmd); }
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void do_K12(char* cmd) { comm.scalar(&LQR_K2, cmd); }
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void do_K13(char* cmd) { comm.scalar(&LQR_K3, cmd); }
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@ -77,6 +77,15 @@ void do_K21(char* cmd) { comm.scalar(&LQR_K1_1, cmd); }
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void do_K22(char* cmd) { comm.scalar(&LQR_K2_1, cmd); }
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void do_K23(char* cmd) { comm.scalar(&LQR_K3_1, cmd); }
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void do_TA(char* cmd) { comm.scalar(&target_angle, cmd); }
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void do_START(char* cmd) { wifi_flag = 1; }
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void do_MOTOR(char* cmd)
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{
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if(Motor_enable_flag)
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digitalWrite(22,HIGH);
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else
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digitalWrite(22,LOW);
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Motor_enable_flag = !Motor_enable_flag;
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}
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void onPacketCallBack(AsyncUDPPacket packet)
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{
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char* da;
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@ -84,10 +93,6 @@ void onPacketCallBack(AsyncUDPPacket packet)
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Serial.println(da);
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comm.run(da);
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// target_velocity = atoi();
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// Serial.print("数据内容: ");
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// Serial.println(target_velocity);
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wifi_flag = 1;
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// packet.print("reply data");
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}
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// instantiate the commander
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@ -101,6 +106,8 @@ void setup() {
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comm.add("K22",do_K22);
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comm.add("K23",do_K23);
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comm.add("TA",do_TA);
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comm.add("START",do_START);
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comm.add("MOTOR",do_MOTOR);
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// kalman mpu6050 init
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Wire.begin(19, 18,400000);// Set I2C frequency to 400kHz
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i2cData[0] = 7; // Set the sample rate to 1000Hz - 8kHz/(7+1) = 1000Hz
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@ -192,7 +199,7 @@ void setup() {
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Serial.println(F("Motor ready."));
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Serial.println(F("Set the target velocity using serial terminal:"));
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// digitalWrite(22,LOW);
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}
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char buf[255];
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@ -256,7 +263,7 @@ void loop() {
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#else
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motor.move(0);
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#endif
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#if 1
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#if 0
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//Serial.print(gyroZangle);Serial.print("\t");
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Serial.print(kalAngleZ);Serial.print("\t");
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@ -26,7 +26,9 @@ class MyWindow(QMainWindow, Ui_MainWindow):
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# 设置信号与槽
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def CreateSignalSlot(self):
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self.velocity_horizontalSlider.valueChanged.connect(self.velocity_horizontalSlider_valueChanged)
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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.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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@ -42,6 +44,7 @@ class MyWindow(QMainWindow, Ui_MainWindow):
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# self.wifi_IP_lineEdit.setText(self.udp.user_ip)
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def variable_init(self):
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# 图表数据变量
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self.wifi_open_flag = 0
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self.wifi_recv_flag = 0
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self.udp_data = 0
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self.target_velocity = 0
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@ -76,11 +79,24 @@ class MyWindow(QMainWindow, Ui_MainWindow):
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self.gridLayout.addWidget(self.plotWidget)
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self.tool_layout.addWidget(self.controlPlotWidget)
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# 滑条绑定
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def velocity_horizontalSlider_valueChanged(self):
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self.target_velocity = self.velocity_horizontalSlider.value()
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self.velocity_lineEdit.setText(str(self.target_velocity))
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self.udp.send_message(str(self.target_velocity))
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print(str(self.target_velocity))
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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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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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@ -96,7 +112,7 @@ class MyWindow(QMainWindow, Ui_MainWindow):
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print(self.wifi_IP_lineEdit.text(),type(self.wifi_IP_lineEdit.text()))
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self.udp.udpClientSocket.bind((self.wifi_IP_lineEdit.text(), 2333))
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# 第一次接受数据，用于判断项目数，
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self.udp.send_message("s")
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self.udp.send_message("START")
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recv_data = self.udp.udpClientSocket.recv(1024)
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recv_data = recv_data.decode('utf-8')
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recv_data = recv_data[:-1]
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@ -109,6 +125,7 @@ class MyWindow(QMainWindow, Ui_MainWindow):
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self.plot_init()
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t1 = threading.Thread(target=self.udp_recv)
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t1.start()
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self.wifi_open_flag = 1
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except Exception as e:
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print(e)
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QMessageBox.critical(self, "错误", '该请求的地址无效')
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@ -143,6 +160,10 @@ class ControlPlotPanel(QtWidgets.QWidget):
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def __init__(self, parent=None, controllerPlotWidget=None):
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'''Constructor for ToolsWidget'''
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super().__init__(parent)
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# 变量
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self.MotorEnable_flag = 0
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# 继承主窗口对象
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self.controlledPlot = controllerPlotWidget
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self.horizontalLayout1 = QtWidgets.QHBoxLayout()
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@ -156,6 +177,13 @@ class ControlPlotPanel(QtWidgets.QWidget):
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self.startStopButton.setIcon(GUIToolKit.getIconByName('start'))
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self.horizontalLayout1.addWidget(self.startStopButton)
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self.MotorEnableButton = QtWidgets.QPushButton(self)
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self.MotorEnableButton.setText('Disable')
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self.MotorEnableButton.setObjectName('Disable')
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self.MotorEnableButton.clicked.connect(self.MotorEnableButton_clicked)
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self.MotorEnableButton.setIcon(GUIToolKit.getIconByName('stop'))
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self.horizontalLayout1.addWidget(self.MotorEnableButton)
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self.zoomAllButton = QtWidgets.QPushButton(self)
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self.zoomAllButton.setObjectName('zoomAllButton')
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self.zoomAllButton.setText('View all')
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@ -183,6 +211,16 @@ class ControlPlotPanel(QtWidgets.QWidget):
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else:
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self.controlledPlot.wifi_recv_flag = 0
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self.startStopButton.setText('Start')
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def MotorEnableButton_clicked(self):
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if self.MotorEnable_flag == 0:
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# Motor关闭
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self.MotorEnable_flag = 1
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self.MotorEnableButton.setText('Enable')
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self.controlledPlot.udp.send_message("MOTOR")
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else:
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self.MotorEnable_flag = 0
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self.MotorEnableButton.setText('Disable')
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self.controlledPlot.udp.send_message("MOTOR")
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if __name__ == '__main__':
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app = QApplication(sys.argv)
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myWin = MyWindow()
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@ -2,7 +2,7 @@
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# Form implementation generated from reading ui file 'main_ui.ui'
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#
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# Created by: PyQt5 UI code generator 5.15.4
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# Created by: PyQt5 UI code generator 5.15.2
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#
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# WARNING: Any manual changes made to this file will be lost when pyuic5 is
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# run again. Do not edit this file unless you know what you are doing.
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@ -33,40 +33,8 @@ class Ui_MainWindow(object):
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self.wifi_config_pushButton = QtWidgets.QPushButton(self.horizontalLayoutWidget)
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self.wifi_config_pushButton.setObjectName("wifi_config_pushButton")
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self.horizontalLayout.addWidget(self.wifi_config_pushButton)
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self.horizontalLayoutWidget_2 = QtWidgets.QWidget(self.centralwidget)
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self.horizontalLayoutWidget_2.setGeometry(QtCore.QRect(590, 480, 104, 31))
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self.horizontalLayoutWidget_2.setObjectName("horizontalLayoutWidget_2")
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self.horizontalLayout_2 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_2)
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self.horizontalLayout_2.setContentsMargins(0, 0, 0, 0)
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self.horizontalLayout_2.setObjectName("horizontalLayout_2")
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self.label = QtWidgets.QLabel(self.horizontalLayoutWidget_2)
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self.label.setObjectName("label")
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self.horizontalLayout_2.addWidget(self.label)
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self.velocity_lineEdit = QtWidgets.QLineEdit(self.horizontalLayoutWidget_2)
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self.velocity_lineEdit.setObjectName("velocity_lineEdit")
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self.horizontalLayout_2.addWidget(self.velocity_lineEdit)
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self.velocity_horizontalSlider = QtWidgets.QSlider(self.centralwidget)
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self.velocity_horizontalSlider.setGeometry(QtCore.QRect(430, 460, 261, 22))
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self.velocity_horizontalSlider.setMinimum(-150)
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self.velocity_horizontalSlider.setMaximum(150)
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self.velocity_horizontalSlider.setOrientation(QtCore.Qt.Horizontal)
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self.velocity_horizontalSlider.setTickPosition(QtWidgets.QSlider.TicksAbove)
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self.velocity_horizontalSlider.setTickInterval(10)
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self.velocity_horizontalSlider.setObjectName("velocity_horizontalSlider")
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self.horizontalLayoutWidget_3 = QtWidgets.QWidget(self.centralwidget)
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self.horizontalLayoutWidget_3.setGeometry(QtCore.QRect(420, 480, 134, 31))
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self.horizontalLayoutWidget_3.setObjectName("horizontalLayoutWidget_3")
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self.horizontalLayout_3 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_3)
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self.horizontalLayout_3.setContentsMargins(0, 0, 0, 0)
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self.horizontalLayout_3.setObjectName("horizontalLayout_3")
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self.label_2 = QtWidgets.QLabel(self.horizontalLayoutWidget_3)
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self.label_2.setObjectName("label_2")
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self.horizontalLayout_3.addWidget(self.label_2)
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self.angle_lineEdit = QtWidgets.QLineEdit(self.horizontalLayoutWidget_3)
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self.angle_lineEdit.setObjectName("angle_lineEdit")
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self.horizontalLayout_3.addWidget(self.angle_lineEdit)
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self.groupBox_2 = QtWidgets.QGroupBox(self.centralwidget)
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self.groupBox_2.setGeometry(QtCore.QRect(370, 10, 811, 431))
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self.groupBox_2.setGeometry(QtCore.QRect(370, 10, 811, 441))
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self.groupBox_2.setObjectName("groupBox_2")
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self.gridLayoutWidget = QtWidgets.QWidget(self.groupBox_2)
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self.gridLayoutWidget.setGeometry(QtCore.QRect(10, 20, 791, 361))
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@ -75,50 +43,158 @@ class Ui_MainWindow(object):
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self.gridLayout.setContentsMargins(0, 0, 0, 0)
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self.gridLayout.setObjectName("gridLayout")
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self.horizontalLayoutWidget_4 = QtWidgets.QWidget(self.groupBox_2)
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self.horizontalLayoutWidget_4.setGeometry(QtCore.QRect(10, 370, 791, 51))
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self.horizontalLayoutWidget_4.setGeometry(QtCore.QRect(10, 380, 791, 51))
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self.horizontalLayoutWidget_4.setObjectName("horizontalLayoutWidget_4")
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self.tool_layout = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_4)
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self.tool_layout.setContentsMargins(0, 0, 0, 0)
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self.tool_layout.setObjectName("tool_layout")
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self.groupBox_3 = QtWidgets.QGroupBox(self.centralwidget)
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self.groupBox_3.setGeometry(QtCore.QRect(10, 20, 291, 121))
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self.groupBox_3.setGeometry(QtCore.QRect(10, 10, 291, 321))
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self.groupBox_3.setObjectName("groupBox_3")
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self.horizontalLayoutWidget_5 = QtWidgets.QWidget(self.groupBox_3)
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self.horizontalLayoutWidget_5.setGeometry(QtCore.QRect(10, 20, 271, 31))
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self.horizontalLayoutWidget_5.setObjectName("horizontalLayoutWidget_5")
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self.horizontalLayout_4 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_5)
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self.horizontalLayout_4.setContentsMargins(0, 0, 0, 0)
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self.horizontalLayout_4.setObjectName("horizontalLayout_4")
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self.wifi_command_lineEdit_1 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_5)
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self.formLayoutWidget = QtWidgets.QWidget(self.groupBox_3)
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self.formLayoutWidget.setGeometry(QtCore.QRect(10, 20, 271, 291))
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self.formLayoutWidget.setObjectName("formLayoutWidget")
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self.formLayout = QtWidgets.QFormLayout(self.formLayoutWidget)
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self.formLayout.setContentsMargins(0, 0, 0, 0)
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self.formLayout.setObjectName("formLayout")
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self.wifi_command_lineEdit_1 = QtWidgets.QLineEdit(self.formLayoutWidget)
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self.wifi_command_lineEdit_1.setObjectName("wifi_command_lineEdit_1")
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self.horizontalLayout_4.addWidget(self.wifi_command_lineEdit_1)
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self.wifi_command_pushButton_1 = QtWidgets.QPushButton(self.horizontalLayoutWidget_5)
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self.formLayout.setWidget(0, QtWidgets.QFormLayout.LabelRole, self.wifi_command_lineEdit_1)
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self.wifi_command_pushButton_1 = QtWidgets.QPushButton(self.formLayoutWidget)
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self.wifi_command_pushButton_1.setObjectName("wifi_command_pushButton_1")
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self.horizontalLayout_4.addWidget(self.wifi_command_pushButton_1)
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self.horizontalLayoutWidget_6 = QtWidgets.QWidget(self.groupBox_3)
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self.horizontalLayoutWidget_6.setGeometry(QtCore.QRect(10, 50, 271, 31))
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self.horizontalLayoutWidget_6.setObjectName("horizontalLayoutWidget_6")
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self.horizontalLayout_5 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_6)
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self.formLayout.setWidget(0, QtWidgets.QFormLayout.FieldRole, self.wifi_command_pushButton_1)
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self.wifi_command_lineEdit_2 = QtWidgets.QLineEdit(self.formLayoutWidget)
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self.wifi_command_lineEdit_2.setObjectName("wifi_command_lineEdit_2")
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self.formLayout.setWidget(1, QtWidgets.QFormLayout.LabelRole, self.wifi_command_lineEdit_2)
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self.wifi_command_lineEdit_3 = QtWidgets.QLineEdit(self.formLayoutWidget)
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self.wifi_command_lineEdit_3.setObjectName("wifi_command_lineEdit_3")
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self.formLayout.setWidget(2, QtWidgets.QFormLayout.LabelRole, self.wifi_command_lineEdit_3)
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self.wifi_command_pushButton_2 = QtWidgets.QPushButton(self.formLayoutWidget)
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self.wifi_command_pushButton_2.setObjectName("wifi_command_pushButton_2")
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self.formLayout.setWidget(1, QtWidgets.QFormLayout.FieldRole, self.wifi_command_pushButton_2)
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self.wifi_command_pushButton_3 = QtWidgets.QPushButton(self.formLayoutWidget)
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self.wifi_command_pushButton_3.setObjectName("wifi_command_pushButton_3")
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self.formLayout.setWidget(2, QtWidgets.QFormLayout.FieldRole, self.wifi_command_pushButton_3)
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self.groupBox_4 = QtWidgets.QGroupBox(self.centralwidget)
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self.groupBox_4.setGeometry(QtCore.QRect(370, 460, 591, 131))
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self.groupBox_4.setObjectName("groupBox_4")
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self.horizontalLayoutWidget_2 = QtWidgets.QWidget(self.groupBox_4)
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self.horizontalLayoutWidget_2.setGeometry(QtCore.QRect(10, 20, 571, 31))
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self.horizontalLayoutWidget_2.setObjectName("horizontalLayoutWidget_2")
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self.horizontalLayout_2 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_2)
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self.horizontalLayout_2.setContentsMargins(0, 0, 0, 0)
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self.horizontalLayout_2.setObjectName("horizontalLayout_2")
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self.left_lineEdit_1 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_2)
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self.left_lineEdit_1.setObjectName("left_lineEdit_1")
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self.horizontalLayout_2.addWidget(self.left_lineEdit_1)
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self.horizontalSlider_1 = QtWidgets.QSlider(self.horizontalLayoutWidget_2)
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self.horizontalSlider_1.setMinimum(-100)
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self.horizontalSlider_1.setMaximum(100)
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self.horizontalSlider_1.setOrientation(QtCore.Qt.Horizontal)
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self.horizontalSlider_1.setTickPosition(QtWidgets.QSlider.TicksAbove)
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self.horizontalSlider_1.setTickInterval(10)
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self.horizontalSlider_1.setObjectName("horizontalSlider_1")
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self.horizontalLayout_2.addWidget(self.horizontalSlider_1)
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self.right_lineEdit_1 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_2)
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self.right_lineEdit_1.setObjectName("right_lineEdit_1")
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self.horizontalLayout_2.addWidget(self.right_lineEdit_1)
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self.label = QtWidgets.QLabel(self.horizontalLayoutWidget_2)
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self.label.setObjectName("label")
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self.horizontalLayout_2.addWidget(self.label)
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self.command_lineEdit_1 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_2)
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self.command_lineEdit_1.setObjectName("command_lineEdit_1")
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self.horizontalLayout_2.addWidget(self.command_lineEdit_1)
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self.label_4 = QtWidgets.QLabel(self.horizontalLayoutWidget_2)
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self.label_4.setObjectName("label_4")
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self.horizontalLayout_2.addWidget(self.label_4)
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self.num_lineEdit_1 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_2)
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self.num_lineEdit_1.setObjectName("num_lineEdit_1")
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self.horizontalLayout_2.addWidget(self.num_lineEdit_1)
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self.horizontalLayout_2.setStretch(0, 1)
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self.horizontalLayout_2.setStretch(1, 18)
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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.horizontalLayoutWidget_3 = QtWidgets.QWidget(self.groupBox_4)
|
||||
self.horizontalLayoutWidget_3.setGeometry(QtCore.QRect(10, 50, 571, 31))
|
||||
self.horizontalLayoutWidget_3.setObjectName("horizontalLayoutWidget_3")
|
||||
self.horizontalLayout_5 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_3)
|
||||
self.horizontalLayout_5.setContentsMargins(0, 0, 0, 0)
|
||||
self.horizontalLayout_5.setObjectName("horizontalLayout_5")
|
||||
self.wifi_command_lineEdit_2 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_6)
|
||||
self.wifi_command_lineEdit_2.setObjectName("wifi_command_lineEdit_2")
|
||||
self.horizontalLayout_5.addWidget(self.wifi_command_lineEdit_2)
|
||||
self.wifi_command_pushButton_2 = QtWidgets.QPushButton(self.horizontalLayoutWidget_6)
|
||||
self.wifi_command_pushButton_2.setObjectName("wifi_command_pushButton_2")
|
||||
self.horizontalLayout_5.addWidget(self.wifi_command_pushButton_2)
|
||||
self.horizontalLayoutWidget_7 = QtWidgets.QWidget(self.groupBox_3)
|
||||
self.horizontalLayoutWidget_7.setGeometry(QtCore.QRect(10, 80, 271, 31))
|
||||
self.horizontalLayoutWidget_7.setObjectName("horizontalLayoutWidget_7")
|
||||
self.horizontalLayout_6 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_7)
|
||||
self.left_lineEdit_2 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_3)
|
||||
self.left_lineEdit_2.setObjectName("left_lineEdit_2")
|
||||
self.horizontalLayout_5.addWidget(self.left_lineEdit_2)
|
||||
self.horizontalSlider_2 = QtWidgets.QSlider(self.horizontalLayoutWidget_3)
|
||||
self.horizontalSlider_2.setMinimum(-100)
|
||||
self.horizontalSlider_2.setMaximum(100)
|
||||
self.horizontalSlider_2.setOrientation(QtCore.Qt.Horizontal)
|
||||
self.horizontalSlider_2.setTickPosition(QtWidgets.QSlider.TicksAbove)
|
||||
self.horizontalSlider_2.setTickInterval(10)
|
||||
self.horizontalSlider_2.setObjectName("horizontalSlider_2")
|
||||
self.horizontalLayout_5.addWidget(self.horizontalSlider_2)
|
||||
self.right_lineEdit_2 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_3)
|
||||
self.right_lineEdit_2.setObjectName("right_lineEdit_2")
|
||||
self.horizontalLayout_5.addWidget(self.right_lineEdit_2)
|
||||
self.label_5 = QtWidgets.QLabel(self.horizontalLayoutWidget_3)
|
||||
self.label_5.setObjectName("label_5")
|
||||
self.horizontalLayout_5.addWidget(self.label_5)
|
||||
self.command_lineEdit_2 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_3)
|
||||
self.command_lineEdit_2.setObjectName("command_lineEdit_2")
|
||||
self.horizontalLayout_5.addWidget(self.command_lineEdit_2)
|
||||
self.label_6 = QtWidgets.QLabel(self.horizontalLayoutWidget_3)
|
||||
self.label_6.setObjectName("label_6")
|
||||
self.horizontalLayout_5.addWidget(self.label_6)
|
||||
self.num_lineEdit_2 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_3)
|
||||
self.num_lineEdit_2.setObjectName("num_lineEdit_2")
|
||||
self.horizontalLayout_5.addWidget(self.num_lineEdit_2)
|
||||
self.horizontalLayout_5.setStretch(0, 1)
|
||||
self.horizontalLayout_5.setStretch(1, 18)
|
||||
self.horizontalLayout_5.setStretch(2, 1)
|
||||
self.horizontalLayout_5.setStretch(3, 1)
|
||||
self.horizontalLayout_5.setStretch(4, 1)
|
||||
self.horizontalLayout_5.setStretch(5, 1)
|
||||
self.horizontalLayout_5.setStretch(6, 1)
|
||||
self.horizontalLayoutWidget_5 = QtWidgets.QWidget(self.groupBox_4)
|
||||
self.horizontalLayoutWidget_5.setGeometry(QtCore.QRect(10, 80, 571, 31))
|
||||
self.horizontalLayoutWidget_5.setObjectName("horizontalLayoutWidget_5")
|
||||
self.horizontalLayout_6 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_5)
|
||||
self.horizontalLayout_6.setContentsMargins(0, 0, 0, 0)
|
||||
self.horizontalLayout_6.setObjectName("horizontalLayout_6")
|
||||
self.wifi_command_lineEdit_3 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_7)
|
||||
self.wifi_command_lineEdit_3.setObjectName("wifi_command_lineEdit_3")
|
||||
self.horizontalLayout_6.addWidget(self.wifi_command_lineEdit_3)
|
||||
self.wifi_command_pushButton_3 = QtWidgets.QPushButton(self.horizontalLayoutWidget_7)
|
||||
self.wifi_command_pushButton_3.setObjectName("wifi_command_pushButton_3")
|
||||
self.horizontalLayout_6.addWidget(self.wifi_command_pushButton_3)
|
||||
self.left_lineEdit_3 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_5)
|
||||
self.left_lineEdit_3.setObjectName("left_lineEdit_3")
|
||||
self.horizontalLayout_6.addWidget(self.left_lineEdit_3)
|
||||
self.horizontalSlider_3 = QtWidgets.QSlider(self.horizontalLayoutWidget_5)
|
||||
self.horizontalSlider_3.setMinimum(-100)
|
||||
self.horizontalSlider_3.setMaximum(100)
|
||||
self.horizontalSlider_3.setOrientation(QtCore.Qt.Horizontal)
|
||||
self.horizontalSlider_3.setTickPosition(QtWidgets.QSlider.TicksAbove)
|
||||
self.horizontalSlider_3.setTickInterval(10)
|
||||
self.horizontalSlider_3.setObjectName("horizontalSlider_3")
|
||||
self.horizontalLayout_6.addWidget(self.horizontalSlider_3)
|
||||
self.right_lineEdit_3 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_5)
|
||||
self.right_lineEdit_3.setObjectName("right_lineEdit_3")
|
||||
self.horizontalLayout_6.addWidget(self.right_lineEdit_3)
|
||||
self.label_7 = QtWidgets.QLabel(self.horizontalLayoutWidget_5)
|
||||
self.label_7.setObjectName("label_7")
|
||||
self.horizontalLayout_6.addWidget(self.label_7)
|
||||
self.command_lineEdit_3 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_5)
|
||||
self.command_lineEdit_3.setObjectName("command_lineEdit_3")
|
||||
self.horizontalLayout_6.addWidget(self.command_lineEdit_3)
|
||||
self.label_8 = QtWidgets.QLabel(self.horizontalLayoutWidget_5)
|
||||
self.label_8.setObjectName("label_8")
|
||||
self.horizontalLayout_6.addWidget(self.label_8)
|
||||
self.num_lineEdit_3 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_5)
|
||||
self.num_lineEdit_3.setObjectName("num_lineEdit_3")
|
||||
self.horizontalLayout_6.addWidget(self.num_lineEdit_3)
|
||||
self.horizontalLayout_6.setStretch(0, 1)
|
||||
self.horizontalLayout_6.setStretch(1, 18)
|
||||
self.horizontalLayout_6.setStretch(2, 1)
|
||||
self.horizontalLayout_6.setStretch(3, 1)
|
||||
self.horizontalLayout_6.setStretch(4, 1)
|
||||
self.horizontalLayout_6.setStretch(5, 1)
|
||||
self.horizontalLayout_6.setStretch(6, 1)
|
||||
MainWindow.setCentralWidget(self.centralwidget)
|
||||
self.menubar = QtWidgets.QMenuBar(MainWindow)
|
||||
self.menubar.setGeometry(QtCore.QRect(0, 0, 1187, 26))
|
||||
|
|
@ -137,12 +213,27 @@ class Ui_MainWindow(object):
|
|||
self.groupBox.setTitle(_translate("MainWindow", "wifi_IP"))
|
||||
self.wifi_IP_lineEdit.setText(_translate("MainWindow", "192.168.4.2"))
|
||||
self.wifi_config_pushButton.setText(_translate("MainWindow", "设置"))
|
||||
self.label.setText(_translate("MainWindow", "速度："))
|
||||
self.velocity_lineEdit.setText(_translate("MainWindow", "0"))
|
||||
self.label_2.setText(_translate("MainWindow", "目标角度："))
|
||||
self.angle_lineEdit.setText(_translate("MainWindow", "149"))
|
||||
self.groupBox_2.setTitle(_translate("MainWindow", "GroupBox"))
|
||||
self.groupBox_2.setTitle(_translate("MainWindow", "可视化图表"))
|
||||
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"))
|
||||
self.wifi_command_pushButton_3.setText(_translate("MainWindow", "发送"))
|
||||
self.groupBox_4.setTitle(_translate("MainWindow", "滑条command命令"))
|
||||
self.left_lineEdit_1.setText(_translate("MainWindow", "0"))
|
||||
self.right_lineEdit_1.setText(_translate("MainWindow", "15"))
|
||||
self.label.setText(_translate("MainWindow", "command:"))
|
||||
self.command_lineEdit_1.setText(_translate("MainWindow", "K11"))
|
||||
self.label_4.setText(_translate("MainWindow", "num:"))
|
||||
self.num_lineEdit_1.setText(_translate("MainWindow", "0"))
|
||||
self.left_lineEdit_2.setText(_translate("MainWindow", "0"))
|
||||
self.right_lineEdit_2.setText(_translate("MainWindow", "3"))
|
||||
self.label_5.setText(_translate("MainWindow", "command:"))
|
||||
self.command_lineEdit_2.setText(_translate("MainWindow", "K12"))
|
||||
self.label_6.setText(_translate("MainWindow", "num:"))
|
||||
self.num_lineEdit_2.setText(_translate("MainWindow", "0"))
|
||||
self.left_lineEdit_3.setText(_translate("MainWindow", "0"))
|
||||
self.right_lineEdit_3.setText(_translate("MainWindow", "1.5"))
|
||||
self.label_7.setText(_translate("MainWindow", "command:"))
|
||||
self.command_lineEdit_3.setText(_translate("MainWindow", "K13"))
|
||||
self.label_8.setText(_translate("MainWindow", "num:"))
|
||||
self.num_lineEdit_3.setText(_translate("MainWindow", "0"))
|
||||
|
|
|
|||
|
|
@ -56,94 +56,17 @@
|
|||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
<widget class="QWidget" name="horizontalLayoutWidget_2">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>590</x>
|
||||
<y>480</y>
|
||||
<width>104</width>
|
||||
<height>31</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_2">
|
||||
<item>
|
||||
<widget class="QLabel" name="label">
|
||||
<property name="text">
|
||||
<string>速度：</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLineEdit" name="velocity_lineEdit">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QSlider" name="velocity_horizontalSlider">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>430</x>
|
||||
<y>460</y>
|
||||
<width>261</width>
|
||||
<height>22</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>-150</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>150</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>
|
||||
<widget class="QWidget" name="horizontalLayoutWidget_3">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>420</x>
|
||||
<y>480</y>
|
||||
<width>134</width>
|
||||
<height>31</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
||||
<item>
|
||||
<widget class="QLabel" name="label_2">
|
||||
<property name="text">
|
||||
<string>目标角度：</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLineEdit" name="angle_lineEdit">
|
||||
<property name="text">
|
||||
<string>149</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QGroupBox" name="groupBox_2">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>370</x>
|
||||
<y>10</y>
|
||||
<width>811</width>
|
||||
<height>431</height>
|
||||
<height>441</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>GroupBox</string>
|
||||
<string>可视化图表</string>
|
||||
</property>
|
||||
<widget class="QWidget" name="gridLayoutWidget">
|
||||
<property name="geometry">
|
||||
|
|
@ -160,7 +83,7 @@
|
|||
<property name="geometry">
|
||||
<rect>
|
||||
<x>10</x>
|
||||
<y>370</y>
|
||||
<y>380</y>
|
||||
<width>791</width>
|
||||
<height>51</height>
|
||||
</rect>
|
||||
|
|
@ -172,75 +95,283 @@
|
|||
<property name="geometry">
|
||||
<rect>
|
||||
<x>10</x>
|
||||
<y>20</y>
|
||||
<y>10</y>
|
||||
<width>291</width>
|
||||
<height>121</height>
|
||||
<height>321</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>command命令</string>
|
||||
</property>
|
||||
<widget class="QWidget" name="horizontalLayoutWidget_5">
|
||||
<widget class="QWidget" name="formLayoutWidget">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>10</x>
|
||||
<y>20</y>
|
||||
<width>271</width>
|
||||
<height>31</height>
|
||||
<height>291</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_4">
|
||||
<item>
|
||||
<layout class="QFormLayout" name="formLayout">
|
||||
<item row="0" column="0">
|
||||
<widget class="QLineEdit" name="wifi_command_lineEdit_1"/>
|
||||
</item>
|
||||
<item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QPushButton" name="wifi_command_pushButton_1">
|
||||
<property name="text">
|
||||
<string>发送</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="horizontalLayoutWidget_6">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>10</x>
|
||||
<y>50</y>
|
||||
<width>271</width>
|
||||
<height>31</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_5">
|
||||
<item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLineEdit" name="wifi_command_lineEdit_2"/>
|
||||
</item>
|
||||
<item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLineEdit" name="wifi_command_lineEdit_3"/>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QPushButton" name="wifi_command_pushButton_2">
|
||||
<property name="text">
|
||||
<string>发送</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QPushButton" name="wifi_command_pushButton_3">
|
||||
<property name="text">
|
||||
<string>发送</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="horizontalLayoutWidget_7">
|
||||
</widget>
|
||||
<widget class="QGroupBox" name="groupBox_4">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>370</x>
|
||||
<y>460</y>
|
||||
<width>591</width>
|
||||
<height>131</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>滑条command命令</string>
|
||||
</property>
|
||||
<widget class="QWidget" name="horizontalLayoutWidget_2">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>10</x>
|
||||
<y>20</y>
|
||||
<width>571</width>
|
||||
<height>31</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_2" stretch="1,18,1,1,1,1,1">
|
||||
<item>
|
||||
<widget class="QLineEdit" name="left_lineEdit_1">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QSlider" name="horizontalSlider_1">
|
||||
<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_1">
|
||||
<property name="text">
|
||||
<string>15</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label">
|
||||
<property name="text">
|
||||
<string>command:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLineEdit" name="command_lineEdit_1">
|
||||
<property name="text">
|
||||
<string>K11</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_4">
|
||||
<property name="text">
|
||||
<string>num:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLineEdit" name="num_lineEdit_1">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="horizontalLayoutWidget_3">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>10</x>
|
||||
<y>50</y>
|
||||
<width>571</width>
|
||||
<height>31</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_5" stretch="1,18,1,1,1,1,1">
|
||||
<item>
|
||||
<widget class="QLineEdit" name="left_lineEdit_2">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QSlider" name="horizontalSlider_2">
|
||||
<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_2">
|
||||
<property name="text">
|
||||
<string>3</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_5">
|
||||
<property name="text">
|
||||
<string>command:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLineEdit" name="command_lineEdit_2">
|
||||
<property name="text">
|
||||
<string>K12</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_6">
|
||||
<property name="text">
|
||||
<string>num:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLineEdit" name="num_lineEdit_2">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="horizontalLayoutWidget_5">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>10</x>
|
||||
<y>80</y>
|
||||
<width>271</width>
|
||||
<width>571</width>
|
||||
<height>31</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_6">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_6" stretch="1,18,1,1,1,1,1">
|
||||
<item>
|
||||
<widget class="QLineEdit" name="wifi_command_lineEdit_3"/>
|
||||
<widget class="QLineEdit" name="left_lineEdit_3">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="wifi_command_pushButton_3">
|
||||
<widget class="QSlider" name="horizontalSlider_3">
|
||||
<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_3">
|
||||
<property name="text">
|
||||
<string>发送</string>
|
||||
<string>1.5</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_7">
|
||||
<property name="text">
|
||||
<string>command:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLineEdit" name="command_lineEdit_3">
|
||||
<property name="text">
|
||||
<string>K13</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_8">
|
||||
<property name="text">
|
||||
<string>num:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLineEdit" name="num_lineEdit_3">
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
|
|
|
|||
Loading…
Reference in New Issue