From 4737eb7517d35faff23db5d810ae466e8ed1b006 Mon Sep 17 00:00:00 2001 From: 45coll <674148718@qq.com> Date: Tue, 9 Nov 2021 16:22:01 +0800 Subject: [PATCH] =?UTF-8?q?markdowm=E5=AE=8C=E5=96=84=E4=BA=86=E4=B8=80?= =?UTF-8?q?=E4=B8=8B=EF=BC=8C=E5=88=A0=E9=99=A4=E6=97=A0=E7=94=A8=E7=9A=84?= =?UTF-8?q?=E6=96=87=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .idea/.gitignore | 3 + .idea/foc.iml | 12 + .idea/inspectionProfiles/Project_Default.xml | 14 + .../inspectionProfiles/profiles_settings.xml | 6 + .idea/misc.xml | 4 + .idea/modules.xml | 8 + .idea/vcs.xml | 6 + README.md | 88 +- arduino/head_file_test/main/Command.cpp | 28 - arduino/head_file_test/main/Command.h | 17 - arduino/head_file_test/main/main.ino | 19 - arduino/kalman/i2c.ino | 63 - arduino/kalman/kalman.ino | 111 - arduino/main/main.ino | 33 +- arduino/udp_kalman/i2c.ino | 63 - arduino/udp_kalman/kalman.ino | 98 - arduino/udp_kalman/udp_kalman.ino | 68 - arduino/udp_test1/udp_test1.ino | 92 - arduino/wifi_test/wifi_test.ino | 58 - ctest/Command.cpp | 30 - ctest/Command.h | 16 - ctest/Command.o | Bin 1706 -> 0 bytes ctest/Makefile.win | 31 - ctest/ctest1.cpp | 26 - ctest/main.cpp | 32 - ctest/main.o | Bin 2302 -> 0 bytes ctest/项目1.layout | 8 - ctest/项目2.dev | 82 - ctest/项目2.exe | Bin 134754 -> 0 bytes ctest/项目2.layout | 8 - python_gui/gui/test1.py | 47 - python_gui/gui/test2.py | 36 - python_gui/gui/udp_test1.py | 34 - 莱洛三角切割/base.dxf | 4324 ----------- 莱洛三角切割/base.lcp | Bin 1785 -> 0 bytes 莱洛三角切割/triangle_10.dxf | 6304 ----------------- 莱洛三角切割/triangle_10.lcp | Bin 6464 -> 0 bytes 莱洛三角切割/triangle_base.lcp | Bin 6364 -> 0 bytes 莱洛三角切割/triangle_new.dxf | 6262 ---------------- 莱洛三角切割/triangle_new.lcp | Bin 2983 -> 0 bytes 40 files changed, 140 insertions(+), 17891 deletions(-) create mode 100644 .idea/.gitignore create mode 100644 .idea/foc.iml create mode 100644 .idea/inspectionProfiles/Project_Default.xml create mode 100644 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ctest/项目2.exe delete mode 100644 ctest/项目2.layout delete mode 100644 python_gui/gui/test1.py delete mode 100644 python_gui/gui/test2.py delete mode 100644 python_gui/gui/udp_test1.py delete mode 100644 莱洛三角切割/base.dxf delete mode 100644 莱洛三角切割/base.lcp delete mode 100644 莱洛三角切割/triangle_10.dxf delete mode 100644 莱洛三角切割/triangle_10.lcp delete mode 100644 莱洛三角切割/triangle_base.lcp delete mode 100644 莱洛三角切割/triangle_new.dxf delete mode 100644 莱洛三角切割/triangle_new.lcp diff --git a/.idea/.gitignore b/.idea/.gitignore new file mode 100644 index 0000000..26d3352 --- /dev/null +++ b/.idea/.gitignore @@ -0,0 +1,3 @@ +# Default ignored files +/shelf/ +/workspace.xml diff --git a/.idea/foc.iml b/.idea/foc.iml new file mode 100644 index 0000000..8b8c395 --- /dev/null +++ b/.idea/foc.iml @@ -0,0 +1,12 @@ + + + + + + + + + + \ No newline at end of file diff --git a/.idea/inspectionProfiles/Project_Default.xml b/.idea/inspectionProfiles/Project_Default.xml new file mode 100644 index 0000000..d2c2a3b --- /dev/null +++ b/.idea/inspectionProfiles/Project_Default.xml @@ -0,0 +1,14 @@ + + + + \ No newline at end of file diff --git a/.idea/inspectionProfiles/profiles_settings.xml b/.idea/inspectionProfiles/profiles_settings.xml new file mode 100644 index 0000000..105ce2d --- /dev/null +++ b/.idea/inspectionProfiles/profiles_settings.xml @@ -0,0 +1,6 @@ + + + + \ No newline at end of file diff --git a/.idea/misc.xml b/.idea/misc.xml new file mode 100644 index 0000000..a2e120d --- /dev/null +++ b/.idea/misc.xml @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/.idea/modules.xml b/.idea/modules.xml new file mode 100644 index 0000000..0437867 --- /dev/null +++ b/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/.idea/vcs.xml b/.idea/vcs.xml new file mode 100644 index 0000000..94a25f7 --- /dev/null +++ b/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/README.md b/README.md index a0953e3..9d9d2ad 100644 --- a/README.md +++ b/README.md @@ -1,39 +1,75 @@ -# FocProject +# 自平衡莱洛三角形可充电版 #### 介绍 -{**以下是 Gitee 平台说明，您可以替换此简介** -Gitee 是 OSCHINA 推出的基于 Git 的代码托管平台（同时支持 SVN）。专为开发者提供稳定、高效、安全的云端软件开发协作平台 -无论是个人、团队、或是企业，都能够用 Gitee 实现代码托管、项目管理、协作开发。企业项目请看 [https://gitee.com/enterprises](https://gitee.com/enterprises)} +**在B站[“基于LQR控制器的自平衡莱洛三角形”](https://www.bilibili.com/video/BV19v411n7mN)基础上添加了充电模块** +主控芯片使用ESP32，并配置了调参上位机，可以很方便的通过wifi无线调参。无刷控制使用灯哥开源FOC。制作出一个方便复刻的自平衡莱洛三角形，在桌面上作为一个摆件还是非常不错的[展示视频]() -#### 软件架构 -软件架构说明 +#### 1 软件架构 +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： +- **基于 Arduino**：运行在 ESP32 Arduino 上 +- **控制模式丰富**：电压控制和速度控制 -#### 安装教程 +![Image text](image/gui_main.jpg) +#### 2 硬件特性 -1. xxxx -2. xxxx -3. xxxx +| 说明 | 参数 | +| ---------------- |---------------------- | +| 莱洛三角形尺寸 | 100*100 mm | +|动量轮尺寸|80*80 mm| +| 输入电压 | 3.7v锂电池*3| +|充电电压| 5V 从Type-C口输入| +|充电芯片CS5095|5V输入,最大1.2A充电电流| +|串口芯片CH340C|需要打开开关才能下载| +| 主控 | ESP-WROOM-32 | +|电机驱动芯片L6234PD|引脚:32, 33, 25, 22; 22为enable| +| AS5600 编码器 |SDA-23 SCL-5 | +| MPU6050六轴传感器 | SDA-19 SCL-18 | -#### 使用说明 +#### 3 使用说明 -1. xxxx -2. xxxx -3. xxxx +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，烧录程序到ESP32。 +2. 打开本项目内的python_gui内的FOC_gui.exe并连接上WIFI：ESP32。点击设置开始调参。 -#### 参与贡献 +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。 -1. Fork 本仓库 -2. 新建 Feat_xxx 分支 -3. 提交代码 -4. 新建 Pull Request +| 参数命令 | 说明 | +| ---------------- |---------------------- | +| TA | target_angle平衡角度 例如TA89.3 设置平衡角度89.3| +| SV | swing_up_voltage摇摆电压 左右摇摆的电压，越大越快到平衡态，但是过大会翻过头| +|SA|swing_up_angle摇摆角度 离平衡角度还有几度时候，切换到自平衡控制| +|VP1|速度环的PID的P，1是稳定在平衡角度之前的P值| +|VI1|速度环的PID的I，1是稳定在平衡角度之前的I值| +|VP2|速度环的PID的P，2是稳定后的P值| +|VI2|速度环的PID的I，2是稳定后的I值| +|K**1**1|**1和2**是电压控制时参数。LQR的参数1*角度差值| +|K**1**2|**1和2**是电压控制时参数。LQR的参数2*左右倾倒加速度| +|K**1**3|**1和2**是电压控制时参数，**3和4**是速度控制时参数。LQR的参数3*当前速度| +#### 4 硬件设计 +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~~ -#### 特技 +LaserMaker绘制的plt在**莱洛三角结构**文件夹内 -1. 使用 Readme\_XXX.md 来支持不同的语言，例如 Readme\_en.md, Readme\_zh.md -2. Gitee 官方博客 [blog.gitee.com](https://blog.gitee.com) -3. 你可以 [https://gitee.com/explore](https://gitee.com/explore) 这个地址来了解 Gitee 上的优秀开源项目 -4. [GVP](https://gitee.com/gvp) 全称是 Gitee 最有价值开源项目，是综合评定出的优秀开源项目 -5. Gitee 官方提供的使用手册 [https://gitee.com/help](https://gitee.com/help) -6. Gitee 封面人物是一档用来展示 Gitee 会员风采的栏目 [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/) +感谢嘉立创的PCB制板，使DIY电路制作变得非常便利 + +[莱洛三角形PCB](https://lceda.cn/45coll/zi-ping-heng-di-lai-luo-san-jiao_10-10-ban-ben) +[动量轮]() + +具体需要购买的物品在**物料清单.xlsx**中 + +#### 5 Ctrl+C +V（参考） +Arduino上的控制算法抄的是原作者的LQR，无刷电机控制是抄灯哥开源的。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版完全一样。 + +Python的GUI是抄SimpleFOC的SimpleFOCStudio。 + +充电电路完全抄的是立创广场开源的CS5095充电方案。 +1. 原作者：基于LQR控制器的自平衡莱洛三角形[BV19v411n7mN](https://www.bilibili.com/video/BV19v411n7mN) +2. 灯哥开源FOC [https://gitee.com/ream_d/Deng-s-foc-controller](https://gitee.com/ream_d/Deng-s-foc-controller) +3. 充电芯片电路[https://oshwhub.com/Aknice/cs5095e-san-jie-li-dian-chi-sheng-ya-chong-dian-dian-lu](https://oshwhub.com/Aknice/cs5095e-san-jie-li-dian-chi-sheng-ya-chong-dian-dian-lu) + +#### 6 有用的地方 + +1. Arduino的程序中的command.h、command.cpp可以支持任意的字符串输入。在其他项目中一样可以用，无论是wifi接收到的字符串数据或者是串口的字符串数据。 + +2. GUI上位机可以在其他wifi项目中可以继续使用，用来调参还是很方便。 \ No newline at end of file diff --git a/arduino/head_file_test/main/Command.cpp b/arduino/head_file_test/main/Command.cpp deleted file mode 100644 index bc3e296..0000000 --- a/arduino/head_file_test/main/Command.cpp +++ /dev/null @@ -1,28 +0,0 @@ -#include "Command.h" - -void Command::run(char* str){ - for(int i=0; i < call_count; i++){ - if(isSentinel(call_ids[i],str)){ // case : call_ids = "T2" str = "T215.155" - call_list[i](str+strlen(call_ids[i])); // get 15.155 input function - break; - } - } -} -void Command::add(char* id, CommandCallback onCommand){ - call_list[call_count] = onCommand; - call_ids[call_count] = id; - call_count++; -} -void Command::scalar(float* value, char* user_cmd){ - *value = atof(user_cmd); -} -bool Command::isSentinel(char* ch,char* str) -{ - char s[strlen(ch)+1]; - strncpy(s,str,strlen(ch)); - s[strlen(ch)] = '\0'; //strncpy need add end '\0' - if(strcmp(ch, s) == 0) - return true; - else - return false; -} diff --git a/arduino/head_file_test/main/Command.h b/arduino/head_file_test/main/Command.h deleted file mode 100644 index 20e2fe5..0000000 --- a/arduino/head_file_test/main/Command.h +++ /dev/null @@ -1,17 +0,0 @@ -#include -// callback function pointer definiton -typedef void (* CommandCallback)(char*); //!< command callback function pointer -class Command -{ - public: - void add(char* id , CommandCallback onCommand); - void run(char* str); - void scalar(float* value, char* user_cmd); - bool isSentinel(char* ch,char* str); - private: - // Subscribed command callback variables - CommandCallback call_list[20];//!< array of command callback pointers - 20 is an arbitrary number - char* call_ids[20]; //!< added callback commands - int call_count;//!< number callbacks that are subscribed - -}; diff --git a/arduino/head_file_test/main/main.ino b/arduino/head_file_test/main/main.ino deleted file mode 100644 index 24ee643..0000000 --- a/arduino/head_file_test/main/main.ino +++ /dev/null @@ -1,19 +0,0 @@ -#include "Command.h" - - -//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/kalman/i2c.ino b/arduino/kalman/i2c.ino deleted file mode 100644 index 23fa91c..0000000 --- a/arduino/kalman/i2c.ino +++ /dev/null @@ -1,63 +0,0 @@ -/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved. - - This software may be distributed and modified under the terms of the GNU - General Public License version 2 (GPL2) as published by the Free Software - Foundation and appearing in the file GPL2.TXT included in the packaging of - this file. Please note that GPL2 Section 2[b] requires that all works based - on this software must also be made publicly available under the terms of - the GPL2 ("Copyleft"). - - Contact information - ------------------- - - Kristian Lauszus, TKJ Electronics - Web : http://www.tkjelectronics.com - e-mail : kristianl@tkjelectronics.com - */ - -const uint8_t IMUAddress = 0x68; // AD0 is logic low on the PCB -const uint16_t I2C_TIMEOUT = 1000; // Used to check for errors in I2C communication - -uint8_t i2cWrite(uint8_t registerAddress, uint8_t data, bool sendStop) { - return i2cWrite(registerAddress, &data, 1, sendStop); // Returns 0 on success -} - -uint8_t i2cWrite(uint8_t registerAddress, uint8_t *data, uint8_t length, bool sendStop) { - Wire.beginTransmission(IMUAddress); - Wire.write(registerAddress); - Wire.write(data, length); - uint8_t rcode = Wire.endTransmission(sendStop); // Returns 0 on success - if (rcode) { - Serial.print(F("i2cWrite failed: ")); - Serial.println(rcode); - } - return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission -} - -uint8_t i2cRead(uint8_t registerAddress, uint8_t *data, uint8_t nbytes) { - uint32_t timeOutTimer; - Wire.beginTransmission(IMUAddress); - Wire.write(registerAddress); - uint8_t rcode = Wire.endTransmission(false); // Don't release the bus - if (rcode) { - Serial.print(F("i2cRead failed: ")); - Serial.println(rcode); - return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission - } - Wire.requestFrom(IMUAddress, nbytes, (uint8_t)true); // Send a repeated start and then release the bus after reading - for (uint8_t i = 0; i < nbytes; i++) { - if (Wire.available()) - data[i] = Wire.read(); - else { - timeOutTimer = micros(); - while (((micros() - timeOutTimer) < I2C_TIMEOUT) && !Wire.available()); - if (Wire.available()) - data[i] = Wire.read(); - else { - Serial.println(F("i2cRead timeout")); - return 5; // This error value is not already taken by endTransmission - } - } - } - return 0; // Success -} diff --git a/arduino/kalman/kalman.ino b/arduino/kalman/kalman.ino deleted file mode 100644 index b50a566..0000000 --- a/arduino/kalman/kalman.ino +++ /dev/null @@ -1,111 +0,0 @@ -#include -#include // Source: https://github.com/TKJElectronics/KalmanFilter -#define gyroZ_OFF -0.72 -Kalman kalmanZ; -/* ----IMU Data---- */ -double accX, accY, accZ; -double gyroX, gyroY, gyroZ; -int16_t tempRaw; - -double gyroZangle; // Angle calculate using the gyro only -double compAngleZ; // Calculated angle using a complementary filter -double kalAngleZ; // Calculated angle using a Kalman filter - -uint32_t timer; -uint8_t i2cData[14]; // Buffer for I2C data - -/* ----FOC Data---- */ - -// driver instance -double acc2rotation(double x, double y); -void setup() { - Serial.begin(115200); - /* ----IMU init---- */ - Wire.begin(19, 18,400000);// Set I2C frequency to 400kHz - i2cData[0] = 7; // Set the sample rate to 1000Hz - 8kHz/(7+1) = 1000Hz - i2cData[1] = 0x00; // Disable FSYNC and set 260 Hz Acc filtering, 256 Hz Gyro filtering, 8 KHz sampling - i2cData[2] = 0x00; // Set Gyro Full Scale Range to ±250deg/s - i2cData[3] = 0x00; // Set Accelerometer Full Scale Range to ±2g - while (i2cWrite(0x19, i2cData, 4, false)) - ; // Write to all four registers at once - while (i2cWrite(0x6B, 0x01, true)) - ; // PLL with X axis gyroscope reference and disable sleep mode - - while (i2cRead(0x75, i2cData, 1)) - ; - if (i2cData[0] != 0x68) - { // Read "WHO_AM_I" register - Serial.print(F("Error reading sensor")); - while (1) - ; - } - - delay(100); // Wait for sensor to stabilize - - /* Set kalman and gyro starting angle */ - while (i2cRead(0x3B, i2cData, 6)) - ; - accX = (int16_t)((i2cData[0] << 8) | i2cData[1]); - accY = (int16_t)((i2cData[2] << 8) | i2cData[3]); - accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]); - double pitch = acc2rotation(accX, accY); - - kalmanZ.setAngle(pitch); - gyroZangle = pitch; - - timer = micros(); - /* ----FOC init---- */ -} - -void loop() { - /*----IMU loop----*/ - while (i2cRead(0x3B, i2cData, 14)); - accX = (int16_t)((i2cData[0] << 8) | i2cData[1]); - accY = (int16_t)((i2cData[2] << 8) | i2cData[3]); - accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]); - tempRaw = (int16_t)((i2cData[6] << 8) | i2cData[7]); - gyroX = (int16_t)((i2cData[8] << 8) | i2cData[9]); - gyroY = (int16_t)((i2cData[10] << 8) | i2cData[11]); - gyroZ = (int16_t)((i2cData[12] << 8) | i2cData[13]); - - double dt = (double)(micros() - timer) / 1000000; // Calculate delta time - timer = micros(); - - double pitch = acc2rotation(accX, accY); - double gyroZrate = gyroZ / 131.0; // Convert to deg/s - - kalAngleZ = kalmanZ.getAngle(pitch, gyroZrate + gyroZ_OFF, dt); - gyroZangle += (gyroZrate + gyroZ_OFF) * dt; - compAngleZ = 0.93 * (compAngleZ + (gyroZrate + gyroZ_OFF) * dt) + 0.07 * pitch; - - // Reset the gyro angle when it has drifted too much - if (gyroZangle < -180 || gyroZangle > 180) - gyroZangle = kalAngleZ; - -#if 1 // Set to 1 to activate - Serial.print(pitch); Serial.print("\t"); - Serial.print(gyroZangle); Serial.print("\t"); - Serial.print(compAngleZ); Serial.print("\t"); - Serial.print(kalAngleZ); Serial.print("\t"); -#endif -Serial.print("\r\n"); -delay(2); -} -/* mpu6050加速度转换为角度 - acc2rotation(ax, ay) - acc2rotation(az, ay) */ -double acc2rotation(double x, double y) -{ - if (y < 0) - { - return atan(x / y) / 1.570796 * 90 + 180; - } - else if (x < 0) - { - return (atan(x / y) / 1.570796 * 90 + 360); - } - else - { - return (atan(x / y) / 1.570796 * 90); - } -} diff --git a/arduino/main/main.ino b/arduino/main/main.ino index ee0985d..fa06798 100644 --- a/arduino/main/main.ino +++ b/arduino/main/main.ino @@ -13,10 +13,11 @@ AS5600霍尔传感器 SDA-23 SCL-5 MPU6050六轴传感器 SDA-19 SCL-18 #include "Command.h" #include #include //引用以使用异步UDP -#include // Source: https://github.com/TKJElectronics/KalmanFilter +#include "Kalman.h" // Source: https://github.com/TKJElectronics/KalmanFilter #include "EEPROM.h" Kalman kalmanZ; #define gyroZ_OFF -0.19 +#define FLAG_V 0 /* ----IMU Data---- */ double accX, accY, accZ; @@ -47,7 +48,7 @@ void wifi_print(char * s,double num); MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C); TwoWire I2Ctwo = TwoWire(1); LowPassFilter lpf_throttle{0.00}; -#define FLAG_V 0 + //倒立摆参数 float LQR_K1_1 = 4; //摇摆到平衡 float LQR_K1_2 = 1.5; // @@ -73,6 +74,10 @@ float target_angle = 89.3; float target_voltage = 0; float swing_up_voltage = 1.8; float swing_up_angle = 18; +float v_i_1 = 20; +float v_p_1 = 0.5; +float v_i_2 = 10; +float v_p_2 = 0.2; //命令设置 Command comm; bool Motor_enable_flag = 0; @@ -97,8 +102,10 @@ void do_K21(char* cmd) { comm.scalar(&LQR_K2_1, cmd); } void do_K22(char* cmd) { comm.scalar(&LQR_K2_2, cmd); } void do_K23(char* cmd) { comm.scalar(&LQR_K2_3, cmd); } #else -void do_vp(char* cmd) { comm.scalar(&motor.PID_velocity.P, cmd); EEPROM.writeFloat(12, motor.PID_velocity.P);} -void do_vi(char* cmd) { comm.scalar(&motor.PID_velocity.I, cmd);EEPROM.writeFloat(16, motor.PID_velocity.I); } +void do_vp1(char* cmd) { comm.scalar(&v_p_1, cmd); EEPROM.writeFloat(12, v_p_1);} +void do_vi1(char* cmd) { comm.scalar(&v_i_1, cmd);EEPROM.writeFloat(16, v_p_1); } +void do_vp2(char* cmd) { comm.scalar(&v_p_2, cmd); EEPROM.writeFloat(20, v_p_2);} +void do_vi2(char* cmd) { comm.scalar(&v_i_2, cmd);EEPROM.writeFloat(24, v_i_2); } void do_tv(char* cmd) { comm.scalar(&target_velocity, cmd); } void do_K31(char* cmd) { comm.scalar(&LQR_K3_1, cmd); } void do_K32(char* cmd) { comm.scalar(&LQR_K3_2, cmd); } @@ -145,8 +152,10 @@ swing_up_angle = EEPROM.readFloat(8); comm.add("K22",do_K22); comm.add("K23",do_K23); #else - comm.add("VP",do_vp); - comm.add("VI",do_vi); + comm.add("VP1",do_vp1); + comm.add("VI1",do_vi1); + comm.add("VP2",do_vp2); + comm.add("VI2",do_vi2); comm.add("TV",do_tv); comm.add("K31",do_K31); comm.add("K32",do_K32); @@ -154,8 +163,12 @@ swing_up_angle = EEPROM.readFloat(8); comm.add("K41",do_K41); comm.add("K42",do_K42); comm.add("K43",do_K43); - motor.PID_velocity.P = EEPROM.readFloat(12); - motor.PID_velocity.I = EEPROM.readFloat(16); + v_p_1 = EEPROM.readFloat(12); + v_i_1 = EEPROM.readFloat(16); + v_p_2 = EEPROM.readFloat(20); + v_i_2 = EEPROM.readFloat(24); + motor.PID_velocity.P = v_p_1; + motor.PID_velocity.I = v_i_1; #endif // kalman mpu6050 init Wire.begin(19, 18,400000);// Set I2C frequency to 400kHz @@ -420,10 +433,14 @@ float controllerLQR(float p_angle, float p_vel, float m_vel) #else if (!stable) { + motor.PID_velocity.P = v_p_1; + motor.PID_velocity.I = v_i_1; u = LQR_K3_1 * p_angle + LQR_K3_2 * p_vel + LQR_K3_3 * m_vel; } else { + motor.PID_velocity.P = v_p_2; + motor.PID_velocity.I = v_i_2; //u = LQR_K1 * p_angle + LQR_K2 * p_vel + LQR_K3 * m_vel; u = LQR_K4_1 * p_angle + LQR_K4_2 * p_vel + LQR_K4_3 * m_vel; } diff --git a/arduino/udp_kalman/i2c.ino b/arduino/udp_kalman/i2c.ino deleted file mode 100644 index 23fa91c..0000000 --- a/arduino/udp_kalman/i2c.ino +++ /dev/null @@ -1,63 +0,0 @@ -/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved. - - This software may be distributed and modified under the terms of the GNU - General Public License version 2 (GPL2) as published by the Free Software - Foundation and appearing in the file GPL2.TXT included in the packaging of - this file. Please note that GPL2 Section 2[b] requires that all works based - on this software must also be made publicly available under the terms of - the GPL2 ("Copyleft"). - - Contact information - ------------------- - - Kristian Lauszus, TKJ Electronics - Web : http://www.tkjelectronics.com - e-mail : kristianl@tkjelectronics.com - */ - -const uint8_t IMUAddress = 0x68; // AD0 is logic low on the PCB -const uint16_t I2C_TIMEOUT = 1000; // Used to check for errors in I2C communication - -uint8_t i2cWrite(uint8_t registerAddress, uint8_t data, bool sendStop) { - return i2cWrite(registerAddress, &data, 1, sendStop); // Returns 0 on success -} - -uint8_t i2cWrite(uint8_t registerAddress, uint8_t *data, uint8_t length, bool sendStop) { - Wire.beginTransmission(IMUAddress); - Wire.write(registerAddress); - Wire.write(data, length); - uint8_t rcode = Wire.endTransmission(sendStop); // Returns 0 on success - if (rcode) { - Serial.print(F("i2cWrite failed: ")); - Serial.println(rcode); - } - return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission -} - -uint8_t i2cRead(uint8_t registerAddress, uint8_t *data, uint8_t nbytes) { - uint32_t timeOutTimer; - Wire.beginTransmission(IMUAddress); - Wire.write(registerAddress); - uint8_t rcode = Wire.endTransmission(false); // Don't release the bus - if (rcode) { - Serial.print(F("i2cRead failed: ")); - Serial.println(rcode); - return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission - } - Wire.requestFrom(IMUAddress, nbytes, (uint8_t)true); // Send a repeated start and then release the bus after reading - for (uint8_t i = 0; i < nbytes; i++) { - if (Wire.available()) - data[i] = Wire.read(); - else { - timeOutTimer = micros(); - while (((micros() - timeOutTimer) < I2C_TIMEOUT) && !Wire.available()); - if (Wire.available()) - data[i] = Wire.read(); - else { - Serial.println(F("i2cRead timeout")); - return 5; // This error value is not already taken by endTransmission - } - } - } - return 0; // Success -} diff --git a/arduino/udp_kalman/kalman.ino b/arduino/udp_kalman/kalman.ino deleted file mode 100644 index 8c74f7d..0000000 --- a/arduino/udp_kalman/kalman.ino +++ /dev/null @@ -1,98 +0,0 @@ -#include -#include // Source: https://github.com/TKJElectronics/KalmanFilter -#define gyroZ_OFF -0.72 -Kalman kalmanZ; -/* ----IMU Data---- */ -double accX, accY, accZ; -double gyroX, gyroY, gyroZ; -int16_t tempRaw; - -double gyroZangle; // Angle calculate using the gyro only -double compAngleZ; // Calculated angle using a complementary filter -double kalAngleZ; // Calculated angle using a Kalman filter - -uint32_t timer; -uint8_t i2cData[14]; // Buffer for I2C data - -/* ----FOC Data---- */ - -// driver instance -double acc2rotation(double x, double y); -void kalman_init(){ - Wire.begin(19, 18,400000);// Set I2C frequency to 400kHz - i2cData[0] = 7; // Set the sample rate to 1000Hz - 8kHz/(7+1) = 1000Hz - i2cData[1] = 0x00; // Disable FSYNC and set 260 Hz Acc filtering, 256 Hz Gyro filtering, 8 KHz sampling - i2cData[2] = 0x00; // Set Gyro Full Scale Range to ±250deg/s - i2cData[3] = 0x00; // Set Accelerometer Full Scale Range to ±2g - while (i2cWrite(0x19, i2cData, 4, false)) - ; // Write to all four registers at once - while (i2cWrite(0x6B, 0x01, true)) - ; // PLL with X axis gyroscope reference and disable sleep mode - - while (i2cRead(0x75, i2cData, 1)) - ; - if (i2cData[0] != 0x68) - { // Read "WHO_AM_I" register - Serial.print(F("Error reading sensor")); - while (1) - ; - } - - delay(100); // Wait for sensor to stabilize - - /* Set kalman and gyro starting angle */ - while (i2cRead(0x3B, i2cData, 6)) - ; - accX = (int16_t)((i2cData[0] << 8) | i2cData[1]); - accY = (int16_t)((i2cData[2] << 8) | i2cData[3]); - accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]); - double pitch = acc2rotation(accX, accY); - - kalmanZ.setAngle(pitch); - gyroZangle = pitch; - - timer = micros(); -} -double kalman_read(){ - while (i2cRead(0x3B, i2cData, 14)); - accX = (int16_t)((i2cData[0] << 8) | i2cData[1]); - accY = (int16_t)((i2cData[2] << 8) | i2cData[3]); - accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]); - tempRaw = (int16_t)((i2cData[6] << 8) | i2cData[7]); - gyroX = (int16_t)((i2cData[8] << 8) | i2cData[9]); - gyroY = (int16_t)((i2cData[10] << 8) | i2cData[11]); - gyroZ = (int16_t)((i2cData[12] << 8) | i2cData[13]); - - double dt = (double)(micros() - timer) / 1000000; // Calculate delta time - timer = micros(); - - double pitch = acc2rotation(accX, accY); - double gyroZrate = gyroZ / 131.0; // Convert to deg/s - - kalAngleZ = kalmanZ.getAngle(pitch, gyroZrate + gyroZ_OFF, dt); - gyroZangle += (gyroZrate + gyroZ_OFF) * dt; - compAngleZ = 0.93 * (compAngleZ + (gyroZrate + gyroZ_OFF) * dt) + 0.07 * pitch; - - // Reset the gyro angle when it has drifted too much - if (gyroZangle < -180 || gyroZangle > 180) - gyroZangle = kalAngleZ; - return kalAngleZ; - } -/* mpu6050加速度转换为角度 - acc2rotation(ax, ay) - acc2rotation(az, ay) */ -double acc2rotation(double x, double y) -{ - if (y < 0) - { - return atan(x / y) / 1.570796 * 90 + 180; - } - else if (x < 0) - { - return (atan(x / y) / 1.570796 * 90 + 360); - } - else - { - return (atan(x / y) / 1.570796 * 90); - } -} diff --git a/arduino/udp_kalman/udp_kalman.ino b/arduino/udp_kalman/udp_kalman.ino deleted file mode 100644 index 2179b9b..0000000 --- a/arduino/udp_kalman/udp_kalman.ino +++ /dev/null @@ -1,68 +0,0 @@ -#include -#include //引用以使用异步UDP -#include - -const char *ssid = "esp32"; -const char *password = "12345678"; - -double kalZ; -AsyncUDP udp; //创建UDP对象 -unsigned int localUdpPort = 2333; //本地端口号 - - -unsigned int broadcastPort = localUdpPort; -//const char *broadcastData = "broadcast data"; - const uint8_t broadcastData[] = {"broadcast data"}; - -void onPacketCallBack(AsyncUDPPacket packet) -{ - Serial.print("UDP数据包来源类型: "); - Serial.println(packet.isBroadcast() ? "广播数据" : (packet.isMulticast() ? "组播" : "单播")); - Serial.print("远端地址及端口号: "); - Serial.print(packet.remoteIP()); - Serial.print(":"); - Serial.println(packet.remotePort()); - Serial.print("目标地址及端口号: "); - Serial.print(packet.localIP()); - Serial.print(":"); - Serial.println(packet.localPort()); - Serial.print("数据长度: "); - Serial.println(packet.length()); - Serial.print("数据内容: "); - Serial.write(packet.data(), packet.length()); - Serial.println(); - -// packet.print("reply data"); -// broadcastPort = packet.remotePort(); -} - -void setup() -{ - Serial.begin(115200); - // kalman mpu6050 init - kalman_init(); - - //wifi初始化 - WiFi.mode(WIFI_AP); - while(!WiFi.softAP(ssid, password)){}; //启动AP - Serial.println("AP启动成功"); - while (!udp.listen(localUdpPort)) //等待udp监听设置成功 - { - } - udp.onPacket(onPacketCallBack); //注册收到数据包事件 -} -char s[255]; -void loop() -{ - kalZ = kalman_read(); - Serial.print(kalZ);Serial.print("\t"); - sprintf(s, "%.2f", kalZ); //将100转为16进制表示的字符串 -// Serial.println(strlen(s)); - - delay(10); - -// udp.broadcastTo(broadcastData, broadcastPort); //可以使用该方法广播信息 - - IPAddress broadcastAddr((~(uint32_t)WiFi.subnetMask())|((uint32_t)WiFi.localIP())); //计算广播地址 - udp.writeTo((const unsigned char*)s, strlen(s), broadcastAddr, localUdpPort); //广播数据 -} diff --git a/arduino/udp_test1/udp_test1.ino b/arduino/udp_test1/udp_test1.ino deleted file mode 100644 index a9187c3..0000000 --- a/arduino/udp_test1/udp_test1.ino +++ /dev/null @@ -1,92 +0,0 @@ -#include -#include //引用以使用异步UDP -#include - -const char *ssid = "esp32"; -const char *password = "12345678"; - -const int MPU_addr=0x68; // I2C address of the MPU-6050 -int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ; - -AsyncUDP udp; //创建UDP对象 -unsigned int localUdpPort = 2333; //本地端口号 - - -unsigned int broadcastPort = localUdpPort; -//const char *broadcastData = "broadcast data"; - const uint8_t broadcastData[] = {"broadcast data"}; - -void onPacketCallBack(AsyncUDPPacket packet) -{ - Serial.print("UDP数据包来源类型: "); - Serial.println(packet.isBroadcast() ? "广播数据" : (packet.isMulticast() ? "组播" : "单播")); - Serial.print("远端地址及端口号: "); - Serial.print(packet.remoteIP()); - Serial.print(":"); - Serial.println(packet.remotePort()); - Serial.print("目标地址及端口号: "); - Serial.print(packet.localIP()); - Serial.print(":"); - Serial.println(packet.localPort()); - Serial.print("数据长度: "); - Serial.println(packet.length()); - Serial.print("数据内容: "); - Serial.write(packet.data(), packet.length()); - Serial.println(); - -// packet.print("reply data"); -// broadcastPort = packet.remotePort(); -} - -void setup() -{ - Serial.begin(115200); - // mpu6050初始化 - Wire.begin(19, 18, 400000); - Wire.beginTransmission(MPU_addr); - Wire.write(0x6B); // PWR_MGMT_1 register - Wire.write(0); // set to zero (wakes up the MPU-6050) - Wire.endTransmission(true); - - //wifi初始化 - WiFi.mode(WIFI_AP); - while(!WiFi.softAP(ssid, password)){}; //启动AP - Serial.println("AP启动成功"); - while (!udp.listen(localUdpPort)) //等待udp监听设置成功 - { - } - udp.onPacket(onPacketCallBack); //注册收到数据包事件 -} -char s[255]; -void loop() -{ - Wire.beginTransmission(MPU_addr); - Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H) - Wire.endTransmission(false); - Wire.requestFrom(MPU_addr,14,true); // request a total of 14 registers -// AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L) - AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L) -// AcZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L) -// Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L) -// GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L) -// GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L) -// GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L) - -// Serial.print("AcX = "); Serial.print(AcX); - Serial.print(" | AcY = "); Serial.println(AcY); -// itoa(AcY,s,10); - - sprintf(s, "%d", AcY); //将100转为16进制表示的字符串 - Serial.println(strlen(s)); -// Serial.print(" | AcZ = "); Serial.print(AcZ); -// Serial.print(" | Tmp = "); Serial.print(Tmp/340.00+36.53); //equation for temperature in degrees C from datasheet -// Serial.print(" | GyX = "); Serial.print(GyX); -// Serial.print(" | GyY = "); Serial.print(GyY); -// Serial.print(" | GyZ = "); Serial.println(GyZ); - delay(10); - -// udp.broadcastTo(broadcastData, broadcastPort); //可以使用该方法广播信息 - - IPAddress broadcastAddr((~(uint32_t)WiFi.subnetMask())|((uint32_t)WiFi.localIP())); //计算广播地址 - udp.writeTo((const unsigned char*)s, strlen(s), broadcastAddr, localUdpPort); //广播数据 -} diff --git a/arduino/wifi_test/wifi_test.ino b/arduino/wifi_test/wifi_test.ino deleted file mode 100644 index 9e2e861..0000000 --- a/arduino/wifi_test/wifi_test.ino +++ /dev/null @@ -1,58 +0,0 @@ -#include -#include //引用以使用异步UDP - -const char *ssid = "esp32"; -const char *password = "12345678"; - -AsyncUDP udp; //创建UDP对象 -unsigned int localUdpPort = 2333; //本地端口号 - -unsigned int broadcastPort = localUdpPort; -const char *broadcastData = "broadcast data"; -// const uint8_t broadcastData[] = {"broadcast data"}; - -void onPacketCallBack(AsyncUDPPacket packet) -{ -// Serial.print("UDP数据包来源类型: "); -// Serial.println(packet.isBroadcast() ? "广播数据" : (packet.isMulticast() ? "组播" : "单播")); -// Serial.print("远端地址及端口号: "); -// Serial.print(packet.remoteIP()); -// Serial.print(":"); -// Serial.println(packet.remotePort()); -// Serial.print("目标地址及端口号: "); -// Serial.print(packet.localIP()); -// Serial.print(":"); -// Serial.println(packet.localPort()); -// Serial.print("数据长度: "); -// Serial.println(packet.length()); - Serial.print("数据内容: "); -// Serial.write(packet.data(), packet.length()); - Serial.println(atoi( (char*)(packet.data()))); - -// packet.print("reply data"); -// broadcastPort = packet.remotePort(); -} - -void setup() -{ - Serial.begin(115200); - Serial.println(); - - WiFi.mode(WIFI_AP); - while(!WiFi.softAP(ssid, password)){}; //启动AP - Serial.println("AP启动成功"); - while (!udp.listen(localUdpPort)) //等待udp监听设置成功 - { - } - udp.onPacket(onPacketCallBack); //注册收到数据包事件 -} - -void loop() -{ -// delay(5000); -// -// udp.broadcastTo(broadcastData, broadcastPort); //可以使用该方法广播信息 - - // IPAddress broadcastAddr((~(uint32_t)WiFi.subnetMask())|((uint32_t)WiFi.localIP())); //计算广播地址 - // udp.writeTo(broadcastData, sizeof(broadcastData), broadcastAddr, localUdpPort); //广播数据 -} diff --git a/ctest/Command.cpp b/ctest/Command.cpp deleted file mode 100644 index 3933a55..0000000 --- a/ctest/Command.cpp +++ /dev/null @@ -1,30 +0,0 @@ -#include "Command.h" -#include -#include -#include -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 - break; - } - } -} -void Command::add(char* id, CommandCallback onCommand){ - call_list[call_count] = onCommand; - call_ids[call_count] = id; - call_count++; -} -void Command::scalar(float* value, char* user_cmd){ - *value = atof(user_cmd); -} -bool Command::isSentinel(char* ch,char* str) -{ - char s[strlen(ch)+1]; - strncpy(s,str,strlen(ch)); - s[strlen(ch)] = '\0'; //strncpy need add end '\0' - if(strcmp(ch, s) == 0) - return true; - else - return false; -} diff --git a/ctest/Command.h b/ctest/Command.h deleted file mode 100644 index ff73c50..0000000 --- a/ctest/Command.h +++ /dev/null @@ -1,16 +0,0 @@ -// callback function pointer definiton -typedef void (* CommandCallback)(char*); //!< command callback function pointer -class Command -{ - public: - void add(char* id , CommandCallback onCommand); - void run(char* str); - void scalar(float* value, char* user_cmd); - bool isSentinel(char* ch,char* str); - private: - // Subscribed command callback variables - CommandCallback call_list[20];//!< array of command callback pointers - 20 is an arbitrary number - char* call_ids[20]; //!< added callback commands - int call_count;//!< number callbacks that are subscribed - -}; diff --git a/ctest/Command.o b/ctest/Command.o deleted file mode 100644 index e26f4f9f6b9fc6921e420a6c5cd7f0dc9ae74bd6..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 1706 zcmZuxPiWI%6#vqsTMu(BtZENC1nFUd#yX2S_0Te--^58_Mn#=n*FQSecBRc^4%9)M z7(>C67d?3N(37WK#C8+iv8c!n9(EB18z`Oziu1iMf0npC$d~ti@Av-XC3(5W9R#H! z5E5aUKqNIkqcYt*L?0mnN62g5v;%MxNoq{WWz>v|x0{+EsirhutL^4R ztqHWXDwvZx_@36!Mn!NyR{51TXA4Y#6f&eQJC!_D;r+<3J_sQgmf{JXZ%%hEz!1s0 zf5B|#8?EOTZrn;IZze}!E^gtvh52s2W84?xQk>xP3q0Hdyg$&78X;UbFdyc-#sjg= zv5tzr$+riulJt)Sd0jVEg zM~a|fj6fm~y_adXtULmF4q6Yx-Z!-r^|9G>wz-496+gacSmAr+3h)A%Vvt1 ks+=l#BaX% -#include -#include -#include "Command.h" -Command command; -char buf[255]; -void wifi_print(char * s,double num) -{ - char str[255]; - char n[255]; - sprintf(n, "%.2f",num); - strcpy(str,s); - strcat(str, n); - strcat(buf+strlen(buf), str); - strcat(buf, ","); -} -float v = 0.1; -void re_command(float *num) -{ - *num = *num + 1; -} -//void doTarget(char* cmd) { command.scalar(&v, cmd); } -main() -{ -command.run(); -} diff --git a/ctest/main.cpp b/ctest/main.cpp deleted file mode 100644 index b23785b..0000000 --- a/ctest/main.cpp +++ /dev/null @@ -1,32 +0,0 @@ -#include -#include -#include -#include "Command.h" -Command command; -char buf[255]; -void wifi_print(char * s,double num) -{ - char str[255]; - char n[255]; - sprintf(n, "%.2f",num); - strcpy(str,s); - strcat(str, n); - strcat(buf+strlen(buf), str); - strcat(buf, ","); -} -float v = 0; -float a = 0; -void re_command(float *num) -{ - *num = *num + 1; -} -void doTarget_v(char* cmd) { command.scalar(&v, cmd); } -void doTarget_a(char* cmd) { command.scalar(&a, cmd); } -main() -{ - command.add("T", doTarget_v); - command.add("A", doTarget_a); - command.run("A2233"); - printf("%.2f",v); - printf("%.2f",a); -} diff --git a/ctest/main.o b/ctest/main.o deleted file mode 100644 index 6bcc5b48803b23c3cb067adf499facb34d6a6490..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 2302 zcma)7O=ufO7@gHhsRKz@4h{4-T_+AW;BFP!q-ilkK~*yWH!O)oOGwymByCXfk18up z>OfF%T)LPA_h8yX>7_jwT0)LJ%8nsE1w#)h^qNAUIoXHi6!(2IyQ5v(lzyO@H}Adq z=2x@TuU=vlPcw`i6DZBBR_#_xU|E 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file mode 100644 index 0e68103..0000000 --- a/python_gui/gui/test1.py +++ /dev/null @@ -1,47 +0,0 @@ -# -*- coding: utf-8 -*- -""" -Demonstrates basic use of LegendItem - -""" -# import initExample ## Add path to library (just for examples; you do not need this) - -import pyqtgraph as pg -from pyqtgraph.Qt import QtCore, QtGui -import numpy as np - -win = pg.plot() -win.setWindowTitle('pyqtgraph example: BarGraphItem') - -# # option1: only for .plot(), following c1,c2 for example----------------------- -# win.addLegend(frame=False, rowCount=1, colCount=2) - -# bar graph -x = np.arange(10) -y = np.sin(x+2) * 3 -bg1 = pg.BarGraphItem(x=x, height=y, width=0.3, brush='b', pen='w', name='bar') -win.addItem(bg1) - -# curve -c1 = win.plot([np.random.randint(0,8) for i in range(10)], pen='r', symbol='t', symbolPen='r', symbolBrush='g', name='curve1') -c2 = win.plot([2,1,4,3,1,3,2,4,3,2], pen='g', fillLevel=0, fillBrush=(255,255,255,30), name='curve2') - -# scatter plot -s1 = pg.ScatterPlotItem(size=10, pen=pg.mkPen(None), brush=pg.mkBrush(255, 255, 255, 120), name='scatter') -spots = [{'pos': [i, np.random.randint(-3, 3)], 'data': 1} for i in range(10)] -s1.addPoints(spots) -win.addItem(s1) - -# # option2: generic method------------------------------------------------ -legend = pg.LegendItem((80,60), offset=(70,20)) -legend.setParentItem(win.graphicsItem()) -legend.addItem(bg1, 'bar') -legend.addItem(c1, 'curve1') -legend.addItem(c2, 'curve2') -legend.addItem(s1, 'scatter') - - -## Start Qt event loop unless running in interactive mode or using pyside. -if __name__ == '__main__': - import sys - if (sys.flags.interactive != 1) or not hasattr(QtCore, 'PYQT_VERSION'): - QtGui.QApplication.instance().exec_() diff --git a/python_gui/gui/test2.py b/python_gui/gui/test2.py deleted file mode 100644 index 8e884b7..0000000 --- a/python_gui/gui/test2.py +++ /dev/null @@ -1,36 +0,0 @@ -from PyQt5.QtWidgets import * -from PyQt5.QtCore import * -from PyQt5.QtGui import * -import sys - -'''pyqt5动态添加删除控件''' - - -class DynAddObject(QDialog): - def __init__(self, parent=None): - super(DynAddObject, self).__init__(parent) - self.widgetList = [] - addButton = QPushButton(u"添加控件") - delBUtton = QPushButton(u"删除控件") - self.layout = QGridLayout() - self.layout.addWidget(addButton, 1, 0) - self.layout.addWidget(delBUtton, 2, 0) - self.setLayout(self.layout) - addButton.clicked.connect(self.add) - delBUtton.clicked.connect(self.delete) - - def add(self): - btncont = self.layout.count() - widget = QPushButton(str(btncont - 1), self) - self.layout.addWidget(widget) - - def delete(self): - for i in range(self.layout.count())[2:]: - self.layout.itemAt(i).widget().deleteLater() - - -if __name__ == "__main__": - app = QApplication(sys.argv) - form = DynAddObject() - form.show() - app.exec_() diff --git a/python_gui/gui/udp_test1.py b/python_gui/gui/udp_test1.py deleted file mode 100644 index af8aff5..0000000 --- a/python_gui/gui/udp_test1.py +++ /dev/null @@ -1,34 +0,0 @@ -import socket #引入套接字 -import threading #引入并行 -udp_data = None -def udp_send(udp_socket): - - while True: - num1 = '192.168.4.1' - num2 = 2333 - send_data = input('请输入要发送的数据：') - send_data = send_data.encode('utf-8') - udp_socket.sendto(send_data,(num1,num2)) #sendto（发送数据，发送地址） - -def udp_recv(udp_socket): - global udp_data - while True: - 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) - -def main(): - udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) #创建套接字 - ip = '192.168.4.2' #服务器ip和端口 - port = 2333 - udp_socket.bind(("192.168.4.2",2333)) #服务器绑定ip和端口 - #发送数据 - t=threading.Thread(target=udp_send,args=(udp_socket,)) # Thread函数用于并行 - #接收数据 - t1=threading.Thread(target=udp_recv,args=(udp_socket,)) - t.start() #并行开始 - t1.start() - -if __name__ == '__main__': - main() \ No newline at end of file diff --git a/莱洛三角切割/base.dxf b/莱洛三角切割/base.dxf deleted file mode 100644 index bb2c4af..0000000 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