添加了电机调试模式，可以测试电机能否正常运行。

README.md

@@ -13,10 +13,10 @@
 
 右：10*10cm最终版本
 #### 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：
+自平衡控制为LQR算法输出期望**速度**，使动量轮**加速运动**从而控制三角形左右方向。并且代码的调参都可以通过连接ESP32的wifi调整。具体特性如下：
 
 - **基于 Arduino**：运行在 ESP32 Arduino 上
-- **控制模式丰富**：电压控制和速度控制
+- **自带测试模式**：电压测试和速度测试，可以单独输出电压让电机转动，也可以设置指定速度让电机保持速度
 
 ![Image text](image/gui.gif)
 #### 2 硬件特性
@@ -25,14 +25,14 @@
 | ---------------- |---------------------- |
 | 莱洛三角形尺寸             | 100*100 mm  |
 |动量轮尺寸|80*80 mm|
-|电池*3 |厚x长x宽:7.9mmx25mmx40mm|
+|电池*3 |厚x长x宽:7.9mmx25mmx40mm 规格内均可|
 | 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|
+|串口芯片CH340C|需要<font color='red'> 打开开关 </font>才能下载|
 | 主控芯片             | 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 芯片要离磁铁有2mm以上高度|
+|  AS5600 编码器 |SDA-23 SCL-5 　芯片要离磁铁有<font color='red'> 2mm以上高度 </font>|
 | MPU6050六轴传感器  | SDA-19 SCL-18         |
 
 
@@ -40,15 +40,18 @@
 
 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。
 2. 烧录程序到ESP32：选择工具-开发板-esp32 Arduino-ESP32 Dev module，然后连接USB口选择对应的com口，编译上传。
-   1. 如无法正常编译
+   1. 　<font color='red'> 如无法正常编译 </font>
       1. 情况1：wifi库重复，删除文件夹Arduino\libraries内的wifi文件夹。
       2. 情况2：可能与原有arduino冲突，请卸载原有的arduino。
       3. 情况3：文件夹路径含有非法字符，可以把Arduino移动到硬盘根目录下，如D:\Arduino
-3. 打开本项目内的`python_gui`内的`可执行文件_main`内的**main.exe**并连接上WIFI：ESP32。点击设置开始调参。
+3. 打开本项目内的`python_gui`内的`可执行文件_main`内的**main.exe**并连接上WIFI：ESP32 密码：12345678。点击设置开始调参。
+4. 连接成功后，点击disable，然后逆时针拨动动量轮，查看上位机中V参数是否为正值。注意！如果<font color='red'> 逆时针转为为负值 </font>那么需要将电机线任意两线互换。
 ![Image text](image/tiaocan.gif)
-4. K值可以用滑块调整，拖动滑块就会发送参数命令，但是调整到合适值之后需要自行在Arduino的main中修改再烧录一次
+5. 如果电机不能正常运行可以，点击上位机中最下方的<font color='red'> 测试部分 </font>，打开电压或者速度测试，滑动滑条，查看电机能否正常运行。如还不能请检测硬件电路部分。
+6. 如果不能摇摆直立，推荐调整的参数为TA、SA、SV
+7. K值可以用滑块调整，拖动滑块就会发送参数命令，但是调整到合适值之后需要自行在Arduino的main中修改再烧录一次
 
-5. 滑条：最左边输入框为滑块下限，右边是滑块上限，滑条等分成**200**份，命令是**字符串**，滑动滑块发送**字符串** + **数值**
+8. 滑条：最左边输入框为滑块下限，右边是滑块上限，滑条等分成**200**份，命令是**字符串**，滑动滑块发送**字符串** + **数值**
 
 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。
 
@@ -61,11 +64,13 @@
 |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为LQR参数|第一个数字**1和2**是电压控制稳定前和后**3和4**是速度控制稳定前和后，第二个数字如下|
+|K为LQR参数|**3和4**是速度控制稳定前和后|
-|K1**1**|LQR的参数1：角度差值|
+|K3**1**|LQR的参数1：稳定前的角度差值|
-|K1**2**|LQR的参数2：左右倾倒加速度|
+|K3**2**|LQR的参数2：稳定前的左右倾倒加速度|
-|K1**3**|LQR的参数3：当前速度|
+|K3**3**|LQR的参数3：稳定前的当前速度|
-
+|K4**1**|LQR的参数1：稳定后的角度差值|
+|K4**2**|LQR的参数2：稳定后的左右倾倒加速度|
+|K4**3**|LQR的参数3：稳定后的当前速度|
 LQR算法解释：当三角形向←倾斜时，需要产生向→的力回正。
 
 在电压控制下：回正力F直接和输出电压值挂钩，向←倾斜，电机提供正电压V动量轮向**左加速转动**，产生向右的力F。
@@ -84,15 +89,15 @@ LQR算法解释：当三角形向←倾斜时，需要产生向→的力回正
 #### 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~~
 
-LaserMaker绘制的plt在**莱洛三角结构**文件夹内
+LaserMaker绘制的plt在**莱洛三角结构**文件夹内，需要重新绘制电路图可以使用
 
-感谢嘉立创的PCB制板，使DIY电路制作变得非常便利
+感谢嘉立创的PCB制板，使DIY电路制作变得非常便利，点击下方超链接可以前往嘉立创进行PCB制板
 
 [莱洛三角形PCB](https://oshwhub.com/45coll/zi-ping-heng-di-lai-luo-san-jiao_10-10-ban-ben)
 
 [动量轮](https://oshwhub.com/45coll/lai-luo-san-jiao-dong-liang-lun)
 
-具体需要购买的物品在**物料清单.xlsx**中
+具体需要购买的物品在**物料清单.xlsx**中，如果缺货请自行某宝更换
 
 #### 5 Ctrl+C +V（参考）
 Arduino上的控制算法是原作者的LQR，无刷电机控制是灯哥开源FOC。电机控制引脚定义与传感器定义和灯哥开源FOC控制板2.0版一样。
@@ -121,3 +126,5 @@ Python的GUI是SimpleFOC的SimpleFOCStudio。
 45coll电子交流QQ群：**824113552**
 
 欢迎交流与沟通
+
+群文件内有PCB、元器件下单以及软件安装的教程视频

python_gui/gui/main.py

@@ -15,11 +15,14 @@ class MyWindow(QMainWindow, Ui_MainWindow):
                     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']
+    slider_lab = ['horizontalSlider_1', 'horizontalSlider_2','horizontalSlider_3','horizontalSlider_4','horizontalSlider_5']
+
     def __init__(self, parent=None):
         super(MyWindow, self).__init__(parent)
         self.setupUi(self)
         # 变量初始化
         self.wifi_open_flag = 0
+        self.test_flag = 0
         # self.variable_init()
         # 设置实例
         # self.CreateItems()
@@ -27,9 +30,12 @@ class MyWindow(QMainWindow, Ui_MainWindow):
         self.CreateSignalSlot()
     # 设置信号与槽
     def CreateSignalSlot(self):
-        self.horizontalSlider_1.valueChanged.connect(self.horizontalSlider_1_valueChanged)
+        self.horizontalSlider_1.valueChanged.connect(lambda: self.horizontalSlider_valueChanged(self.horizontalSlider_1))
-        self.horizontalSlider_2.valueChanged.connect(self.horizontalSlider_2_valueChanged)
+        self.horizontalSlider_2.valueChanged.connect(lambda: self.horizontalSlider_valueChanged(self.horizontalSlider_2))
-        self.horizontalSlider_3.valueChanged.connect(self.horizontalSlider_3_valueChanged)
+        self.horizontalSlider_3.valueChanged.connect(lambda: self.horizontalSlider_valueChanged(self.horizontalSlider_3))
+        self.horizontalSlider_4.valueChanged.connect(lambda: self.horizontalSlider_valueChanged(self.horizontalSlider_4))
+        self.horizontalSlider_5.valueChanged.connect(lambda: self.horizontalSlider_valueChanged(self.horizontalSlider_5))
+
         self.wifi_config_pushButton.clicked.connect(self.wifi_config_pushButton_clicked)
         self.wifi_command_pushButton_1.clicked.connect(self.wifi_command_pushButton_1_clicked)
         self.wifi_command_pushButton_2.clicked.connect(self.wifi_command_pushButton_2_clicked)
@@ -44,22 +50,38 @@ class MyWindow(QMainWindow, Ui_MainWindow):
 
         self.raw_pushButton.clicked.connect(self.raw_pushButton_clicked)
         self.wave_pushButton.clicked.connect(self.wave_pushButton_clicked)
+
+        self.test_pushButton_voltage.clicked.connect(self.test_pushButton_voltage_clicked)
+        self.test_pushButton_velocity.clicked.connect(self.test_pushButton_velocity_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)
 
+    def test_pushButton_voltage_clicked(self):
+        self.udp.send_message("TVQ")
+        if self.test_flag == 1:
+            self.test_pushButton_voltage.setText("电压测试打开")
+            self.test_pushButton_velocity.setText("速度测试打开")
+            self.test_flag = 0
+        else:
+            self.test_pushButton_voltage.setText("电压测试关闭")
+            self.test_pushButton_velocity.setText("速度测试打开")
+            self.test_flag = 1
+
+    def test_pushButton_velocity_clicked(self):
+        self.udp.send_message("TVV")
+        if self.test_flag == 2:
+            self.test_pushButton_voltage.setText("电压测试打开")
+            self.test_pushButton_velocity.setText("速度测试打开")
+            self.test_flag = 0
+        else:
+            self.test_pushButton_voltage.setText("电压测试打开")
+            self.test_pushButton_velocity.setText("速度测试关闭")
+            self.test_flag = 2
     # 设置实例
     def CreateItems(self):
         # 定时器-绘图刷新
@@ -68,7 +90,7 @@ class MyWindow(QMainWindow, Ui_MainWindow):
         self.timer.start(20)
         # wifi udp
         self.udp = udp()
-        # self.wifi_IP_lineEdit.setText(self.udp.user_ip)
+        # self.wifi_IP_lineEdit.setText(self.udp.user_ip)#设置为当前本机ID
     def variable_init(self):
         # wifi变量
         self.wifi_recv_flag = 0
@@ -122,24 +144,16 @@ class MyWindow(QMainWindow, Ui_MainWindow):
                 self.signalPlotFlags[i]  = False
                 self.plotWidget.removeItem( self.signalPlots[i] )
     # 滑条绑定
-    def horizontalSlider_1_valueChanged(self):
+    def horizontalSlider_valueChanged(self,slider):
-        value = self.horizontalSlider_1.value()
+        i = self.slider_lab.index(slider.objectName())
-        value = float(self.left_lineEdit_1.text())+(value+100)*(float(self.right_lineEdit_1.text())-float(self.left_lineEdit_1.text()))/200
+        layout = getattr(self, 'horizontalLayout_{}'.format(i+4))
-        self.num_lineEdit_1.setText(str(value))
+        value = layout.itemAt(1).widget().value()
-        value = self.command_lineEdit_1.text()+str(value)
+        value = float(layout.itemAt(0).widget().text()) + (value + 100) * (
-        self.udp.send_message(str(value))
+                    float(layout.itemAt(2).widget().text()) - float(layout.itemAt(0).widget().text())) / 200
-    def horizontalSlider_2_valueChanged(self):
+        layout.itemAt(6).widget().setText(str(value))
-        value = self.horizontalSlider_2.value()
+        value = layout.itemAt(4).widget().text() + str(value)
-        value = float(self.left_lineEdit_2.text())+(value+100)*(float(self.right_lineEdit_2.text())-float(self.left_lineEdit_2.text()))/200
-        self.num_lineEdit_2.setText(str(value))
-        value = self.command_lineEdit_2.text()+str(value)
-        self.udp.send_message(str(value))
-    def horizontalSlider_3_valueChanged(self):
-        value = self.horizontalSlider_3.value()
-        value = float(self.left_lineEdit_3.text())+(value+100)*(float(self.right_lineEdit_3.text())-float(self.left_lineEdit_3.text()))/200
-        self.num_lineEdit_3.setText(str(value))
-        value = self.command_lineEdit_3.text()+str(value)
         self.udp.send_message(str(value))
+
     # command命令发送事件
     def wifi_command_pushButton_1_clicked(self):
         self.udp.send_message(self.wifi_command_lineEdit_1.text())

python_gui/gui/main.spec

@@ -0,0 +1,44 @@
+# -*- mode: python ; coding: utf-8 -*-
+
+
+block_cipher = None
+
+
+a = Analysis(['main.py'],
+             pathex=[],
+             binaries=[],
+             datas=[],
+             hiddenimports=[],
+             hookspath=[],
+             hooksconfig={},
+             runtime_hooks=[],
+             excludes=[],
+             win_no_prefer_redirects=False,
+             win_private_assemblies=False,
+             cipher=block_cipher,
+             noarchive=False)
+pyz = PYZ(a.pure, a.zipped_data,
+             cipher=block_cipher)
+
+exe = EXE(pyz,
+          a.scripts, 
+          [],
+          exclude_binaries=True,
+          name='main',
+          debug=False,
+          bootloader_ignore_signals=False,
+          strip=False,
+          upx=True,
+          console=True,
+          disable_windowed_traceback=False,
+          target_arch=None,
+          codesign_identity=None,
+          entitlements_file=None )
+coll = COLLECT(exe,
+               a.binaries,
+               a.zipfiles,
+               a.datas, 
+               strip=False,
+               upx=True,
+               upx_exclude=[],
+               name='main')

python_gui/gui/main_ui.py

@@ -14,7 +14,7 @@ from PyQt5 import QtCore, QtGui, QtWidgets
 class Ui_MainWindow(object):
     def setupUi(self, MainWindow):
         MainWindow.setObjectName("MainWindow")
-        MainWindow.resize(1187, 707)
+        MainWindow.resize(1129, 767)
         self.centralwidget = QtWidgets.QWidget(MainWindow)
         self.centralwidget.setObjectName("centralwidget")
         self.groupBox = QtWidgets.QGroupBox(self.centralwidget)
@@ -66,39 +66,39 @@ class Ui_MainWindow(object):
         self.horizontalLayoutWidget_7 = QtWidgets.QWidget(self.groupBox_3)
         self.horizontalLayoutWidget_7.setGeometry(QtCore.QRect(10, 30, 271, 31))
         self.horizontalLayoutWidget_7.setObjectName("horizontalLayoutWidget_7")
-        self.horizontalLayout_3 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_7)
+        self.horizontalLayout_1 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_7)
-        self.horizontalLayout_3.setContentsMargins(0, 0, 0, 0)
+        self.horizontalLayout_1.setContentsMargins(0, 0, 0, 0)
-        self.horizontalLayout_3.setObjectName("horizontalLayout_3")
+        self.horizontalLayout_1.setObjectName("horizontalLayout_1")
         self.wifi_command_lineEdit_1 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_7)
         self.wifi_command_lineEdit_1.setObjectName("wifi_command_lineEdit_1")
-        self.horizontalLayout_3.addWidget(self.wifi_command_lineEdit_1)
+        self.horizontalLayout_1.addWidget(self.wifi_command_lineEdit_1)
         self.wifi_command_pushButton_1 = QtWidgets.QPushButton(self.horizontalLayoutWidget_7)
         self.wifi_command_pushButton_1.setObjectName("wifi_command_pushButton_1")
-        self.horizontalLayout_3.addWidget(self.wifi_command_pushButton_1)
+        self.horizontalLayout_1.addWidget(self.wifi_command_pushButton_1)
         self.horizontalLayoutWidget_8 = QtWidgets.QWidget(self.groupBox_3)
         self.horizontalLayoutWidget_8.setGeometry(QtCore.QRect(10, 60, 271, 31))
         self.horizontalLayoutWidget_8.setObjectName("horizontalLayoutWidget_8")
-        self.horizontalLayout_4 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_8)
+        self.horizontalLayout_2 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_8)
-        self.horizontalLayout_4.setContentsMargins(0, 0, 0, 0)
+        self.horizontalLayout_2.setContentsMargins(0, 0, 0, 0)
-        self.horizontalLayout_4.setObjectName("horizontalLayout_4")
+        self.horizontalLayout_2.setObjectName("horizontalLayout_2")
         self.wifi_command_lineEdit_2 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_8)
         self.wifi_command_lineEdit_2.setObjectName("wifi_command_lineEdit_2")
-        self.horizontalLayout_4.addWidget(self.wifi_command_lineEdit_2)
+        self.horizontalLayout_2.addWidget(self.wifi_command_lineEdit_2)
         self.wifi_command_pushButton_2 = QtWidgets.QPushButton(self.horizontalLayoutWidget_8)
         self.wifi_command_pushButton_2.setObjectName("wifi_command_pushButton_2")
-        self.horizontalLayout_4.addWidget(self.wifi_command_pushButton_2)
+        self.horizontalLayout_2.addWidget(self.wifi_command_pushButton_2)
         self.horizontalLayoutWidget_9 = QtWidgets.QWidget(self.groupBox_3)
         self.horizontalLayoutWidget_9.setGeometry(QtCore.QRect(10, 90, 271, 31))
         self.horizontalLayoutWidget_9.setObjectName("horizontalLayoutWidget_9")
-        self.horizontalLayout_7 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_9)
+        self.horizontalLayout_3 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_9)
-        self.horizontalLayout_7.setContentsMargins(0, 0, 0, 0)
+        self.horizontalLayout_3.setContentsMargins(0, 0, 0, 0)
-        self.horizontalLayout_7.setObjectName("horizontalLayout_7")
+        self.horizontalLayout_3.setObjectName("horizontalLayout_3")
         self.wifi_command_lineEdit_3 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_9)
         self.wifi_command_lineEdit_3.setObjectName("wifi_command_lineEdit_3")
-        self.horizontalLayout_7.addWidget(self.wifi_command_lineEdit_3)
+        self.horizontalLayout_3.addWidget(self.wifi_command_lineEdit_3)
         self.wifi_command_pushButton_3 = QtWidgets.QPushButton(self.horizontalLayoutWidget_9)
         self.wifi_command_pushButton_3.setObjectName("wifi_command_pushButton_3")
-        self.horizontalLayout_7.addWidget(self.wifi_command_pushButton_3)
+        self.horizontalLayout_3.addWidget(self.wifi_command_pushButton_3)
         self.horizontalLayoutWidget_13 = QtWidgets.QWidget(self.groupBox_3)
         self.horizontalLayoutWidget_13.setGeometry(QtCore.QRect(10, 160, 271, 31))
         self.horizontalLayoutWidget_13.setObjectName("horizontalLayoutWidget_13")
@@ -222,17 +222,17 @@ class Ui_MainWindow(object):
         self.VI2_pushButton.setObjectName("VI2_pushButton")
         self.horizontalLayout_22.addWidget(self.VI2_pushButton)
         self.groupBox_4 = QtWidgets.QGroupBox(self.centralwidget)
-        self.groupBox_4.setGeometry(QtCore.QRect(310, 500, 591, 131))
+        self.groupBox_4.setGeometry(QtCore.QRect(310, 500, 591, 121))
         self.groupBox_4.setObjectName("groupBox_4")
         self.horizontalLayoutWidget_2 = QtWidgets.QWidget(self.groupBox_4)
         self.horizontalLayoutWidget_2.setGeometry(QtCore.QRect(10, 20, 571, 31))
         self.horizontalLayoutWidget_2.setObjectName("horizontalLayoutWidget_2")
-        self.horizontalLayout_2 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_2)
+        self.horizontalLayout_4 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_2)
-        self.horizontalLayout_2.setContentsMargins(0, 0, 0, 0)
+        self.horizontalLayout_4.setContentsMargins(0, 0, 0, 0)
-        self.horizontalLayout_2.setObjectName("horizontalLayout_2")
+        self.horizontalLayout_4.setObjectName("horizontalLayout_4")
         self.left_lineEdit_1 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_2)
         self.left_lineEdit_1.setObjectName("left_lineEdit_1")
-        self.horizontalLayout_2.addWidget(self.left_lineEdit_1)
+        self.horizontalLayout_4.addWidget(self.left_lineEdit_1)
         self.horizontalSlider_1 = QtWidgets.QSlider(self.horizontalLayoutWidget_2)
         self.horizontalSlider_1.setMinimum(-100)
         self.horizontalSlider_1.setMaximum(100)
@@ -240,29 +240,29 @@ class Ui_MainWindow(object):
         self.horizontalSlider_1.setTickPosition(QtWidgets.QSlider.TicksAbove)
         self.horizontalSlider_1.setTickInterval(10)
         self.horizontalSlider_1.setObjectName("horizontalSlider_1")
-        self.horizontalLayout_2.addWidget(self.horizontalSlider_1)
+        self.horizontalLayout_4.addWidget(self.horizontalSlider_1)
         self.right_lineEdit_1 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_2)
         self.right_lineEdit_1.setObjectName("right_lineEdit_1")
-        self.horizontalLayout_2.addWidget(self.right_lineEdit_1)
+        self.horizontalLayout_4.addWidget(self.right_lineEdit_1)
         self.label = QtWidgets.QLabel(self.horizontalLayoutWidget_2)
         self.label.setObjectName("label")
-        self.horizontalLayout_2.addWidget(self.label)
+        self.horizontalLayout_4.addWidget(self.label)
         self.command_lineEdit_1 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_2)
         self.command_lineEdit_1.setObjectName("command_lineEdit_1")
-        self.horizontalLayout_2.addWidget(self.command_lineEdit_1)
+        self.horizontalLayout_4.addWidget(self.command_lineEdit_1)
         self.label_4 = QtWidgets.QLabel(self.horizontalLayoutWidget_2)
         self.label_4.setObjectName("label_4")
-        self.horizontalLayout_2.addWidget(self.label_4)
+        self.horizontalLayout_4.addWidget(self.label_4)
         self.num_lineEdit_1 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_2)
         self.num_lineEdit_1.setObjectName("num_lineEdit_1")
-        self.horizontalLayout_2.addWidget(self.num_lineEdit_1)
+        self.horizontalLayout_4.addWidget(self.num_lineEdit_1)
-        self.horizontalLayout_2.setStretch(0, 1)
+        self.horizontalLayout_4.setStretch(0, 1)
-        self.horizontalLayout_2.setStretch(1, 18)
+        self.horizontalLayout_4.setStretch(1, 18)
-        self.horizontalLayout_2.setStretch(2, 1)
+        self.horizontalLayout_4.setStretch(2, 1)
-        self.horizontalLayout_2.setStretch(3, 1)
+        self.horizontalLayout_4.setStretch(3, 1)
-        self.horizontalLayout_2.setStretch(4, 1)
+        self.horizontalLayout_4.setStretch(4, 1)
-        self.horizontalLayout_2.setStretch(5, 1)
+        self.horizontalLayout_4.setStretch(5, 1)
-        self.horizontalLayout_2.setStretch(6, 1)
+        self.horizontalLayout_4.setStretch(6, 1)
         self.horizontalLayoutWidget_3 = QtWidgets.QWidget(self.groupBox_4)
         self.horizontalLayoutWidget_3.setGeometry(QtCore.QRect(10, 50, 571, 31))
         self.horizontalLayoutWidget_3.setObjectName("horizontalLayoutWidget_3")
@@ -341,9 +341,96 @@ class Ui_MainWindow(object):
         self.horizontalLayout_6.setStretch(4, 1)
         self.horizontalLayout_6.setStretch(5, 1)
         self.horizontalLayout_6.setStretch(6, 1)
+        self.groupBox_5 = QtWidgets.QGroupBox(self.centralwidget)
+        self.groupBox_5.setGeometry(QtCore.QRect(10, 620, 791, 91))
+        self.groupBox_5.setObjectName("groupBox_5")
+        self.horizontalLayoutWidget_11 = QtWidgets.QWidget(self.groupBox_5)
+        self.horizontalLayoutWidget_11.setGeometry(QtCore.QRect(110, 50, 671, 31))
+        self.horizontalLayoutWidget_11.setObjectName("horizontalLayoutWidget_11")
+        self.horizontalLayout_8 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_11)
+        self.horizontalLayout_8.setContentsMargins(0, 0, 0, 0)
+        self.horizontalLayout_8.setObjectName("horizontalLayout_8")
+        self.left_lineEdit_5 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_11)
+        self.left_lineEdit_5.setObjectName("left_lineEdit_5")
+        self.horizontalLayout_8.addWidget(self.left_lineEdit_5)
+        self.horizontalSlider_5 = QtWidgets.QSlider(self.horizontalLayoutWidget_11)
+        self.horizontalSlider_5.setMinimum(-100)
+        self.horizontalSlider_5.setMaximum(100)
+        self.horizontalSlider_5.setOrientation(QtCore.Qt.Horizontal)
+        self.horizontalSlider_5.setTickPosition(QtWidgets.QSlider.TicksAbove)
+        self.horizontalSlider_5.setTickInterval(10)
+        self.horizontalSlider_5.setObjectName("horizontalSlider_5")
+        self.horizontalLayout_8.addWidget(self.horizontalSlider_5)
+        self.right_lineEdit_5 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_11)
+        self.right_lineEdit_5.setObjectName("right_lineEdit_5")
+        self.horizontalLayout_8.addWidget(self.right_lineEdit_5)
+        self.label_3 = QtWidgets.QLabel(self.horizontalLayoutWidget_11)
+        self.label_3.setObjectName("label_3")
+        self.horizontalLayout_8.addWidget(self.label_3)
+        self.command_lineEdit_5 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_11)
+        self.command_lineEdit_5.setObjectName("command_lineEdit_5")
+        self.horizontalLayout_8.addWidget(self.command_lineEdit_5)
+        self.label_10 = QtWidgets.QLabel(self.horizontalLayoutWidget_11)
+        self.label_10.setObjectName("label_10")
+        self.horizontalLayout_8.addWidget(self.label_10)
+        self.num_lineEdit_5 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_11)
+        self.num_lineEdit_5.setObjectName("num_lineEdit_5")
+        self.horizontalLayout_8.addWidget(self.num_lineEdit_5)
+        self.horizontalLayout_8.setStretch(0, 1)
+        self.horizontalLayout_8.setStretch(1, 15)
+        self.horizontalLayout_8.setStretch(2, 1)
+        self.horizontalLayout_8.setStretch(3, 1)
+        self.horizontalLayout_8.setStretch(4, 1)
+        self.horizontalLayout_8.setStretch(5, 1)
+        self.horizontalLayout_8.setStretch(6, 1)
+        self.test_pushButton_velocity = QtWidgets.QPushButton(self.groupBox_5)
+        self.test_pushButton_velocity.setGeometry(QtCore.QRect(10, 20, 99, 28))
+        self.test_pushButton_velocity.setObjectName("test_pushButton_velocity")
+        self.test_pushButton_voltage = QtWidgets.QPushButton(self.groupBox_5)
+        self.test_pushButton_voltage.setGeometry(QtCore.QRect(10, 50, 99, 28))
+        self.test_pushButton_voltage.setObjectName("test_pushButton_voltage")
+        self.horizontalLayoutWidget_10 = QtWidgets.QWidget(self.groupBox_5)
+        self.horizontalLayoutWidget_10.setGeometry(QtCore.QRect(110, 20, 671, 31))
+        self.horizontalLayoutWidget_10.setObjectName("horizontalLayoutWidget_10")
+        self.horizontalLayout_7 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_10)
+        self.horizontalLayout_7.setContentsMargins(0, 0, 0, 0)
+        self.horizontalLayout_7.setObjectName("horizontalLayout_7")
+        self.left_lineEdit_4 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_10)
+        self.left_lineEdit_4.setObjectName("left_lineEdit_4")
+        self.horizontalLayout_7.addWidget(self.left_lineEdit_4)
+        self.horizontalSlider_4 = QtWidgets.QSlider(self.horizontalLayoutWidget_10)
+        self.horizontalSlider_4.setMinimum(-100)
+        self.horizontalSlider_4.setMaximum(100)
+        self.horizontalSlider_4.setOrientation(QtCore.Qt.Horizontal)
+        self.horizontalSlider_4.setTickPosition(QtWidgets.QSlider.TicksAbove)
+        self.horizontalSlider_4.setTickInterval(10)
+        self.horizontalSlider_4.setObjectName("horizontalSlider_4")
+        self.horizontalLayout_7.addWidget(self.horizontalSlider_4)
+        self.right_lineEdit_4 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_10)
+        self.right_lineEdit_4.setObjectName("right_lineEdit_4")
+        self.horizontalLayout_7.addWidget(self.right_lineEdit_4)
+        self.label_2 = QtWidgets.QLabel(self.horizontalLayoutWidget_10)
+        self.label_2.setObjectName("label_2")
+        self.horizontalLayout_7.addWidget(self.label_2)
+        self.command_lineEdit_4 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_10)
+        self.command_lineEdit_4.setObjectName("command_lineEdit_4")
+        self.horizontalLayout_7.addWidget(self.command_lineEdit_4)
+        self.label_9 = QtWidgets.QLabel(self.horizontalLayoutWidget_10)
+        self.label_9.setObjectName("label_9")
+        self.horizontalLayout_7.addWidget(self.label_9)
+        self.num_lineEdit_4 = QtWidgets.QLineEdit(self.horizontalLayoutWidget_10)
+        self.num_lineEdit_4.setObjectName("num_lineEdit_4")
+        self.horizontalLayout_7.addWidget(self.num_lineEdit_4)
+        self.horizontalLayout_7.setStretch(0, 1)
+        self.horizontalLayout_7.setStretch(1, 15)
+        self.horizontalLayout_7.setStretch(2, 1)
+        self.horizontalLayout_7.setStretch(3, 1)
+        self.horizontalLayout_7.setStretch(4, 1)
+        self.horizontalLayout_7.setStretch(5, 1)
+        self.horizontalLayout_7.setStretch(6, 1)
         MainWindow.setCentralWidget(self.centralwidget)
         self.menubar = QtWidgets.QMenuBar(MainWindow)
-        self.menubar.setGeometry(QtCore.QRect(0, 0, 1187, 26))
+        self.menubar.setGeometry(QtCore.QRect(0, 0, 1129, 26))
         self.menubar.setObjectName("menubar")
         MainWindow.setMenuBar(self.menubar)
         self.statusbar = QtWidgets.QStatusBar(MainWindow)
@@ -399,3 +486,18 @@ class Ui_MainWindow(object):
         self.command_lineEdit_3.setText(_translate("MainWindow", "K33"))
         self.label_8.setText(_translate("MainWindow", "num:"))
         self.num_lineEdit_3.setText(_translate("MainWindow", "0"))
+        self.groupBox_5.setTitle(_translate("MainWindow", "测试模式"))
+        self.left_lineEdit_5.setText(_translate("MainWindow", "-12"))
+        self.right_lineEdit_5.setText(_translate("MainWindow", "12"))
+        self.label_3.setText(_translate("MainWindow", "command:"))
+        self.command_lineEdit_5.setText(_translate("MainWindow", "VQ"))
+        self.label_10.setText(_translate("MainWindow", "num:"))
+        self.num_lineEdit_5.setText(_translate("MainWindow", "0"))
+        self.test_pushButton_velocity.setText(_translate("MainWindow", "速度测试打开"))
+        self.test_pushButton_voltage.setText(_translate("MainWindow", "电压测试打开"))
+        self.left_lineEdit_4.setText(_translate("MainWindow", "-100"))
+        self.right_lineEdit_4.setText(_translate("MainWindow", "100"))
+        self.label_2.setText(_translate("MainWindow", "command:"))
+        self.command_lineEdit_4.setText(_translate("MainWindow", "VV"))
+        self.label_9.setText(_translate("MainWindow", "num:"))
+        self.num_lineEdit_4.setText(_translate("MainWindow", "0"))

python_gui/gui/main_ui.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1187</width>
+    <width>1129</width>
-    <height>707</height>
+    <height>767</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -138,7 +138,7 @@
        <height>31</height>
       </rect>
      </property>
-     <layout class="QHBoxLayout" name="horizontalLayout_3">
+     <layout class="QHBoxLayout" name="horizontalLayout_1">
       <item>
        <widget class="QLineEdit" name="wifi_command_lineEdit_1"/>
       </item>
@@ -160,7 +160,7 @@
        <height>31</height>
       </rect>
      </property>
-     <layout class="QHBoxLayout" name="horizontalLayout_4">
+     <layout class="QHBoxLayout" name="horizontalLayout_2">
       <item>
        <widget class="QLineEdit" name="wifi_command_lineEdit_2"/>
       </item>
@@ -182,7 +182,7 @@
        <height>31</height>
       </rect>
      </property>
-     <layout class="QHBoxLayout" name="horizontalLayout_7">
+     <layout class="QHBoxLayout" name="horizontalLayout_3">
       <item>
        <widget class="QLineEdit" name="wifi_command_lineEdit_3"/>
       </item>
@@ -463,7 +463,7 @@
       <x>310</x>
       <y>500</y>
       <width>591</width>
-      <height>131</height>
+      <height>121</height>
      </rect>
     </property>
     <property name="title">
@@ -478,7 +478,7 @@
        <height>31</height>
       </rect>
      </property>
-     <layout class="QHBoxLayout" name="horizontalLayout_2" stretch="1,18,1,1,1,1,1">
+     <layout class="QHBoxLayout" name="horizontalLayout_4" stretch="1,18,1,1,1,1,1">
       <item>
        <widget class="QLineEdit" name="left_lineEdit_1">
         <property name="text">
@@ -689,13 +689,198 @@
      </layout>
     </widget>
    </widget>
+   <widget class="QGroupBox" name="groupBox_5">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>620</y>
+      <width>791</width>
+      <height>91</height>
+     </rect>
+    </property>
+    <property name="title">
+     <string>测试模式</string>
+    </property>
+    <widget class="QWidget" name="horizontalLayoutWidget_11">
+     <property name="geometry">
+      <rect>
+       <x>110</x>
+       <y>50</y>
+       <width>671</width>
+       <height>31</height>
+      </rect>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout_8" stretch="1,15,1,1,1,1,1">
+      <item>
+       <widget class="QLineEdit" name="left_lineEdit_5">
+        <property name="text">
+         <string>-12</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QSlider" name="horizontalSlider_5">
+        <property name="minimum">
+         <number>-100</number>
+        </property>
+        <property name="maximum">
+         <number>100</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="tickPosition">
+         <enum>QSlider::TicksAbove</enum>
+        </property>
+        <property name="tickInterval">
+         <number>10</number>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLineEdit" name="right_lineEdit_5">
+        <property name="text">
+         <string>12</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_3">
+        <property name="text">
+         <string>command:</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLineEdit" name="command_lineEdit_5">
+        <property name="text">
+         <string>VQ</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_10">
+        <property name="text">
+         <string>num:</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLineEdit" name="num_lineEdit_5">
+        <property name="text">
+         <string>0</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+    <widget class="QPushButton" name="test_pushButton_velocity">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>20</y>
+       <width>99</width>
+       <height>28</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>速度测试打开</string>
+     </property>
+    </widget>
+    <widget class="QPushButton" name="test_pushButton_voltage">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>50</y>
+       <width>99</width>
+       <height>28</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>电压测试打开</string>
+     </property>
+    </widget>
+    <widget class="QWidget" name="horizontalLayoutWidget_10">
+     <property name="geometry">
+      <rect>
+       <x>110</x>
+       <y>20</y>
+       <width>671</width>
+       <height>31</height>
+      </rect>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout_7" stretch="1,15,1,1,1,1,1">
+      <item>
+       <widget class="QLineEdit" name="left_lineEdit_4">
+        <property name="text">
+         <string>-100</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QSlider" name="horizontalSlider_4">
+        <property name="minimum">
+         <number>-100</number>
+        </property>
+        <property name="maximum">
+         <number>100</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="tickPosition">
+         <enum>QSlider::TicksAbove</enum>
+        </property>
+        <property name="tickInterval">
+         <number>10</number>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLineEdit" name="right_lineEdit_4">
+        <property name="text">
+         <string>100</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_2">
+        <property name="text">
+         <string>command:</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLineEdit" name="command_lineEdit_4">
+        <property name="text">
+         <string>VV</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_9">
+        <property name="text">
+         <string>num:</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLineEdit" name="num_lineEdit_4">
+        <property name="text">
+         <string>0</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </widget>
   </widget>
   <widget class="QMenuBar" name="menubar">
    <property name="geometry">
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>1187</width>
+     <width>1129</width>
      <height>26</height>
     </rect>
    </property>