上位机更新

README.md

@@ -32,18 +32,22 @@
 |串口芯片CH340C|需要打开开关才能下载|
 | 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 |
+|  AS5600 编码器 |SDA-23 SCL-5 芯片要离磁铁有2mm以上高度|
 | MPU6050六轴传感器  | SDA-19 SCL-18         |
 
 
 #### 3 使用说明
 
-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。
+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. 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。
+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. 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. 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。
 ![Image text](image/tiaocan.gif)
-3. 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
+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
 
-4. 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**
+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**
 
 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。
 
@@ -105,13 +109,13 @@ Python的GUI是SimpleFOC的SimpleFOCStudio。
 
 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。
 
-##### 7 未解之谜
+#### 7 未解之谜
 
 问题1：在传感器读取当前角度pitch在0和360来回切换时候，卡尔曼滤波值会慢慢变化，得到的值无法反映正确的当前角度。导致有一个面无法摇摆平衡。
 
 问题2：摇摆到平衡态时，参数不太好时，可能会摇摆过头，或者一直左右摇摆不能到平衡态。就算调好参数也会偶尔发生摇摆过头现象。
 
-##### 8 交流Q群
+#### 8 交流Q群
 
 45coll电子交流QQ群：**824113552**
 

arduino/main/main.ino

@@ -139,13 +139,13 @@ float nan = EEPROM.readFloat(0);
 if(isnan(nan))
   {
       Serial.println("frist write");
-      EEPROM.writeFloat(0, target_angle); 
+      EEPROM.writeFloat(0, target_angle);       delay(10);
-      EEPROM.writeFloat(4, swing_up_voltage);
+      EEPROM.writeFloat(4, swing_up_voltage);      delay(10);
-      EEPROM.writeFloat(8, swing_up_angle);
+      EEPROM.writeFloat(8, swing_up_angle);      delay(10);
-      EEPROM.writeFloat(12, v_p_1);
+      EEPROM.writeFloat(12, v_p_1);      delay(10);
-      EEPROM.writeFloat(16, v_i_1);
+      EEPROM.writeFloat(16, v_i_1);      delay(10);
-      EEPROM.writeFloat(20, v_p_2);
+      EEPROM.writeFloat(20, v_p_2);      delay(10);
-      EEPROM.writeFloat(24, v_i_2); 
+      EEPROM.writeFloat(24, v_i_2);       delay(10);
       EEPROM.commit();
   }
   else

python_gui/gui/build/main/COLLECT-00.toc

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-  ('pyi_rth_multiprocessing',
-   'C:\\Users\\coll\\AppData\\Roaming\\Python\\Python37\\site-packages\\PyInstaller\\hooks\\rthooks\\pyi_rth_multiprocessing.py',
-   'PYSOURCE'),
-  ('main', 'D:\\foc_project\\foc\\python_gui\\gui\\main.py', 'PYSOURCE')],
- [],
- False,
- False,
- 1639120722,
- [('run.exe',
-   'C:\\Users\\coll\\AppData\\Roaming\\Python\\Python37\\site-packages\\PyInstaller\\bootloader\\Windows-64bit\\run.exe',
-   'EXECUTABLE')])

python_gui/gui/build/main/PKG-00.toc

@@ -1,50 +0,0 @@
-('D:\\foc_project\\foc\\python_gui\\gui\\build\\main\\main.pkg',
- {'BINARY': 1,
-  'DATA': 1,
-  'EXECUTABLE': 1,
-  'EXTENSION': 1,
-  'PYMODULE': 1,
-  'PYSOURCE': 1,
-  'PYZ': 0,
-  'SPLASH': 1},
- [('PYZ-00.pyz',
-   'D:\\foc_project\\foc\\python_gui\\gui\\build\\main\\PYZ-00.pyz',
-   'PYZ'),
-  ('struct',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\lib\\struct.pyo',
-   'PYMODULE'),
-  ('pyimod01_os_path',
-   'C:\\Users\\coll\\AppData\\Roaming\\Python\\Python37\\site-packages\\PyInstaller\\loader\\pyimod01_os_path.pyc',
-   'PYMODULE'),
-  ('pyimod02_archive',
-   'C:\\Users\\coll\\AppData\\Roaming\\Python\\Python37\\site-packages\\PyInstaller\\loader\\pyimod02_archive.pyc',
-   'PYMODULE'),
-  ('pyimod03_importers',
-   'C:\\Users\\coll\\AppData\\Roaming\\Python\\Python37\\site-packages\\PyInstaller\\loader\\pyimod03_importers.pyc',
-   'PYMODULE'),
-  ('pyimod04_ctypes',
-   'C:\\Users\\coll\\AppData\\Roaming\\Python\\Python37\\site-packages\\PyInstaller\\loader\\pyimod04_ctypes.pyc',
-   'PYMODULE'),
-  ('pyiboot01_bootstrap',
-   'C:\\Users\\coll\\AppData\\Roaming\\Python\\Python37\\site-packages\\PyInstaller\\loader\\pyiboot01_bootstrap.py',
-   'PYSOURCE'),
-  ('pyi_rth_pkgutil',
-   'C:\\Users\\coll\\AppData\\Roaming\\Python\\Python37\\site-packages\\PyInstaller\\hooks\\rthooks\\pyi_rth_pkgutil.py',
-   'PYSOURCE'),
-  ('pyi_rth_inspect',
-   'C:\\Users\\coll\\AppData\\Roaming\\Python\\Python37\\site-packages\\PyInstaller\\hooks\\rthooks\\pyi_rth_inspect.py',
-   'PYSOURCE'),
-  ('pyi_rth_pyqt5',
-   'C:\\Users\\coll\\AppData\\Roaming\\Python\\Python37\\site-packages\\PyInstaller\\hooks\\rthooks\\pyi_rth_pyqt5.py',
-   'PYSOURCE'),
-  ('pyi_rth_multiprocessing',
-   'C:\\Users\\coll\\AppData\\Roaming\\Python\\Python37\\site-packages\\PyInstaller\\hooks\\rthooks\\pyi_rth_multiprocessing.py',
-   'PYSOURCE'),
-  ('main', 'D:\\foc_project\\foc\\python_gui\\gui\\main.py', 'PYSOURCE')],
- True,
- False,
- False,
- [],
- None,
- None,
- None)

python_gui/gui/build/main/Tree-01.toc

@@ -1,265 +0,0 @@
-('c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6',
- 'tk',
- ['demos', '*.lib', 'tkConfig.sh'],
- 'DATA',
- [('tk\\bgerror.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\bgerror.tcl',
-   'DATA'),
-  ('tk\\button.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\button.tcl',
-   'DATA'),
-  ('tk\\choosedir.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\choosedir.tcl',
-   'DATA'),
-  ('tk\\clrpick.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\clrpick.tcl',
-   'DATA'),
-  ('tk\\comdlg.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\comdlg.tcl',
-   'DATA'),
-  ('tk\\console.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\console.tcl',
-   'DATA'),
-  ('tk\\dialog.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\dialog.tcl',
-   'DATA'),
-  ('tk\\entry.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\entry.tcl',
-   'DATA'),
-  ('tk\\focus.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\focus.tcl',
-   'DATA'),
-  ('tk\\fontchooser.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\fontchooser.tcl',
-   'DATA'),
-  ('tk\\iconlist.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\iconlist.tcl',
-   'DATA'),
-  ('tk\\icons.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\icons.tcl',
-   'DATA'),
-  ('tk\\license.terms',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\license.terms',
-   'DATA'),
-  ('tk\\listbox.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\listbox.tcl',
-   'DATA'),
-  ('tk\\megawidget.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\megawidget.tcl',
-   'DATA'),
-  ('tk\\menu.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\menu.tcl',
-   'DATA'),
-  ('tk\\mkpsenc.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\mkpsenc.tcl',
-   'DATA'),
-  ('tk\\msgbox.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\msgbox.tcl',
-   'DATA'),
-  ('tk\\obsolete.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\obsolete.tcl',
-   'DATA'),
-  ('tk\\optMenu.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\optMenu.tcl',
-   'DATA'),
-  ('tk\\palette.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\palette.tcl',
-   'DATA'),
-  ('tk\\panedwindow.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\panedwindow.tcl',
-   'DATA'),
-  ('tk\\pkgIndex.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\pkgIndex.tcl',
-   'DATA'),
-  ('tk\\safetk.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\safetk.tcl',
-   'DATA'),
-  ('tk\\scale.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\scale.tcl',
-   'DATA'),
-  ('tk\\scrlbar.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\scrlbar.tcl',
-   'DATA'),
-  ('tk\\spinbox.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\spinbox.tcl',
-   'DATA'),
-  ('tk\\tclIndex',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\tclIndex',
-   'DATA'),
-  ('tk\\tearoff.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\tearoff.tcl',
-   'DATA'),
-  ('tk\\text.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\text.tcl',
-   'DATA'),
-  ('tk\\tk.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\tk.tcl',
-   'DATA'),
-  ('tk\\tkfbox.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\tkfbox.tcl',
-   'DATA'),
-  ('tk\\unsupported.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\unsupported.tcl',
-   'DATA'),
-  ('tk\\xmfbox.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\xmfbox.tcl',
-   'DATA'),
-  ('tk\\ttk\\altTheme.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\altTheme.tcl',
-   'DATA'),
-  ('tk\\ttk\\aquaTheme.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\aquaTheme.tcl',
-   'DATA'),
-  ('tk\\ttk\\button.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\button.tcl',
-   'DATA'),
-  ('tk\\ttk\\clamTheme.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\clamTheme.tcl',
-   'DATA'),
-  ('tk\\ttk\\classicTheme.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\classicTheme.tcl',
-   'DATA'),
-  ('tk\\ttk\\combobox.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\combobox.tcl',
-   'DATA'),
-  ('tk\\ttk\\cursors.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\cursors.tcl',
-   'DATA'),
-  ('tk\\ttk\\defaults.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\defaults.tcl',
-   'DATA'),
-  ('tk\\ttk\\entry.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\entry.tcl',
-   'DATA'),
-  ('tk\\ttk\\fonts.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\fonts.tcl',
-   'DATA'),
-  ('tk\\ttk\\menubutton.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\menubutton.tcl',
-   'DATA'),
-  ('tk\\ttk\\notebook.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\notebook.tcl',
-   'DATA'),
-  ('tk\\ttk\\panedwindow.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\panedwindow.tcl',
-   'DATA'),
-  ('tk\\ttk\\progress.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\progress.tcl',
-   'DATA'),
-  ('tk\\ttk\\scale.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\scale.tcl',
-   'DATA'),
-  ('tk\\ttk\\scrollbar.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\scrollbar.tcl',
-   'DATA'),
-  ('tk\\ttk\\sizegrip.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\sizegrip.tcl',
-   'DATA'),
-  ('tk\\ttk\\spinbox.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\spinbox.tcl',
-   'DATA'),
-  ('tk\\ttk\\treeview.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\treeview.tcl',
-   'DATA'),
-  ('tk\\ttk\\ttk.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\ttk.tcl',
-   'DATA'),
-  ('tk\\ttk\\utils.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\utils.tcl',
-   'DATA'),
-  ('tk\\ttk\\vistaTheme.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\vistaTheme.tcl',
-   'DATA'),
-  ('tk\\ttk\\winTheme.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\winTheme.tcl',
-   'DATA'),
-  ('tk\\ttk\\xpTheme.tcl',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\xpTheme.tcl',
-   'DATA'),
-  ('tk\\msgs\\cs.msg',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\msgs\\cs.msg',
-   'DATA'),
-  ('tk\\msgs\\da.msg',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\msgs\\da.msg',
-   'DATA'),
-  ('tk\\msgs\\de.msg',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\msgs\\de.msg',
-   'DATA'),
-  ('tk\\msgs\\el.msg',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\msgs\\el.msg',
-   'DATA'),
-  ('tk\\msgs\\en.msg',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\msgs\\en.msg',
-   'DATA'),
-  ('tk\\msgs\\en_gb.msg',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\msgs\\en_gb.msg',
-   'DATA'),
-  ('tk\\msgs\\eo.msg',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\msgs\\eo.msg',
-   'DATA'),
-  ('tk\\msgs\\es.msg',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\msgs\\es.msg',
-   'DATA'),
-  ('tk\\msgs\\fr.msg',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\msgs\\fr.msg',
-   'DATA'),
-  ('tk\\msgs\\hu.msg',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\msgs\\hu.msg',
-   'DATA'),
-  ('tk\\msgs\\it.msg',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\msgs\\it.msg',
-   'DATA'),
-  ('tk\\msgs\\nl.msg',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\msgs\\nl.msg',
-   'DATA'),
-  ('tk\\msgs\\pl.msg',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\msgs\\pl.msg',
-   'DATA'),
-  ('tk\\msgs\\pt.msg',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\msgs\\pt.msg',
-   'DATA'),
-  ('tk\\msgs\\ru.msg',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\msgs\\ru.msg',
-   'DATA'),
-  ('tk\\msgs\\sv.msg',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\msgs\\sv.msg',
-   'DATA'),
-  ('tk\\images\\logo.eps',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\images\\logo.eps',
-   'DATA'),
-  ('tk\\images\\logo100.gif',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\images\\logo100.gif',
-   'DATA'),
-  ('tk\\images\\logo64.gif',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\images\\logo64.gif',
-   'DATA'),
-  ('tk\\images\\logoLarge.gif',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\images\\logoLarge.gif',
-   'DATA'),
-  ('tk\\images\\logoMed.gif',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\images\\logoMed.gif',
-   'DATA'),
-  ('tk\\images\\pwrdLogo.eps',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\images\\pwrdLogo.eps',
-   'DATA'),
-  ('tk\\images\\pwrdLogo100.gif',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\images\\pwrdLogo100.gif',
-   'DATA'),
-  ('tk\\images\\pwrdLogo150.gif',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\images\\pwrdLogo150.gif',
-   'DATA'),
-  ('tk\\images\\pwrdLogo175.gif',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\images\\pwrdLogo175.gif',
-   'DATA'),
-  ('tk\\images\\pwrdLogo200.gif',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\images\\pwrdLogo200.gif',
-   'DATA'),
-  ('tk\\images\\pwrdLogo75.gif',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\images\\pwrdLogo75.gif',
-   'DATA'),
-  ('tk\\images\\README',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\images\\README',
-   'DATA'),
-  ('tk\\images\\tai-ku.gif',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\images\\tai-ku.gif',
-   'DATA')])

python_gui/gui/build/main/Tree-02.toc

@@ -1,19 +0,0 @@
-('c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tcl8.6\\..\\tcl8',
- 'tcl8',
- [],
- 'DATA',
- [('tcl8\\8.6\\http-2.9.0.tm',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tcl8.6\\..\\tcl8\\8.6\\http-2.9.0.tm',
-   'DATA'),
-  ('tcl8\\8.5\\msgcat-1.6.1.tm',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tcl8.6\\..\\tcl8\\8.5\\msgcat-1.6.1.tm',
-   'DATA'),
-  ('tcl8\\8.5\\tcltest-2.5.0.tm',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tcl8.6\\..\\tcl8\\8.5\\tcltest-2.5.0.tm',
-   'DATA'),
-  ('tcl8\\8.4\\platform-1.0.14.tm',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tcl8.6\\..\\tcl8\\8.4\\platform-1.0.14.tm',
-   'DATA'),
-  ('tcl8\\8.4\\platform\\shell-1.1.4.tm',
-   'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tcl8.6\\..\\tcl8\\8.4\\platform\\shell-1.1.4.tm',
-   'DATA')])

python_gui/gui/build/main/main.exe.manifest

@@ -1,31 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
-<assembly manifestVersion="1.0" xmlns="urn:schemas-microsoft-com:asm.v1">
-  <assemblyIdentity name="main" processorArchitecture="amd64" type="win32" version="1.0.0.0"/>
-  <trustInfo xmlns="urn:schemas-microsoft-com:asm.v3">
-    <security>
-      <requestedPrivileges>
-        <requestedExecutionLevel level="asInvoker" uiAccess="false"/>
-      </requestedPrivileges>
-    </security>
-  </trustInfo>
-  <dependency>
-    <dependentAssembly>
-      <assemblyIdentity language="*" name="Microsoft.Windows.Common-Controls" processorArchitecture="*" publicKeyToken="6595b64144ccf1df" type="win32" version="6.0.0.0"/>
-      <compatibility xmlns="urn:schemas-microsoft-com:compatibility.v1"/>
-    </dependentAssembly>
-  </dependency>
-  <compatibility xmlns="urn:schemas-microsoft-com:compatibility.v1">
-    <application>
-      <supportedOS Id="{e2011457-1546-43c5-a5fe-008deee3d3f0}"/>
-      <supportedOS Id="{35138b9a-5d96-4fbd-8e2d-a2440225f93a}"/>
-      <supportedOS Id="{4a2f28e3-53b9-4441-ba9c-d69d4a4a6e38}"/>
-      <supportedOS Id="{1f676c76-80e1-4239-95bb-83d0f6d0da78}"/>
-      <supportedOS Id="{8e0f7a12-bfb3-4fe8-b9a5-48fd50a15a9a}"/>
-    </application>
-  </compatibility>
-  <application xmlns="urn:schemas-microsoft-com:asm.v3">
-    <windowsSettings>
-      <longPathAware xmlns="http://schemas.microsoft.com/SMI/2016/WindowsSettings">true</longPathAware>
-    </windowsSettings>
-  </application>
-</assembly>

python_gui/gui/build/main/warn-main.txt

@@ -1,164 +0,0 @@
-
-This file lists modules PyInstaller was not able to find. This does not
-necessarily mean this module is required for running you program. Python and
-Python 3rd-party packages include a lot of conditional or optional modules. For
-example the module 'ntpath' only exists on Windows, whereas the module
-'posixpath' only exists on Posix systems.
-
-Types if import:
-* top-level: imported at the top-level - look at these first
-* conditional: imported within an if-statement
-* delayed: imported from within a function
-* optional: imported within a try-except-statement
-
-IMPORTANT: Do NOT post this list to the issue-tracker. Use it as a basis for
-           yourself tracking down the missing module. Thanks!
-
-missing module named _scproxy - imported by urllib.request (conditional)
-missing module named termios - imported by tty (top-level), getpass (optional)
-missing module named pwd - imported by posixpath (delayed, conditional), shutil (optional), tarfile (optional), http.server (delayed, optional), webbrowser (delayed), pathlib (delayed, conditional, optional), distutils.util (delayed, conditional, optional), netrc (delayed, conditional), getpass (delayed), distutils.archive_util (optional)
-missing module named 'org.python' - imported by copy (optional), xml.sax (delayed, conditional), setuptools.sandbox (conditional)
-missing module named urllib.pathname2url - imported by urllib (conditional), PyInstaller.lib.modulegraph._compat (conditional)
-missing module named 'java.lang' - imported by platform (delayed, optional), xml.sax._exceptions (conditional)
-missing module named multiprocessing.BufferTooShort - imported by multiprocessing (top-level), multiprocessing.connection (top-level)
-missing module named multiprocessing.AuthenticationError - imported by multiprocessing (top-level), multiprocessing.connection (top-level)
-missing module named _posixsubprocess - imported by subprocess (conditional), multiprocessing.util (delayed)
-missing module named _frozen_importlib_external - imported by importlib._bootstrap (delayed), importlib (optional), importlib.abc (optional)
-excluded module named _frozen_importlib - imported by importlib (optional), importlib.abc (optional), PyInstaller.loader.pyimod02_archive (delayed)
-missing module named grp - imported by shutil (optional), tarfile (optional), pathlib (delayed), distutils.archive_util (optional)
-missing module named vms_lib - imported by platform (delayed, conditional, optional)
-missing module named java - imported by platform (delayed)
-missing module named _winreg - imported by platform (delayed, optional), pkg_resources._vendor.appdirs (delayed, conditional)
-missing module named readline - imported by cmd (delayed, conditional, optional), code (delayed, conditional, optional), pdb (delayed, optional), pstats (conditional, optional)
-missing module named org - imported by pickle (optional)
-missing module named multiprocessing.get_context - imported by multiprocessing (top-level), multiprocessing.pool (top-level), multiprocessing.managers (top-level), multiprocessing.sharedctypes (top-level)
-missing module named multiprocessing.TimeoutError - imported by multiprocessing (top-level), multiprocessing.pool (top-level)
-missing module named posix - imported by os (conditional, optional)
-missing module named resource - imported by posix (top-level), test.support (optional)
-missing module named multiprocessing.set_start_method - imported by multiprocessing (top-level), multiprocessing.spawn (top-level)
-missing module named multiprocessing.get_start_method - imported by multiprocessing (top-level), multiprocessing.spawn (top-level)
-missing module named pyimod03_importers - imported by C:\Users\coll\AppData\Roaming\Python\Python37\site-packages\PyInstaller\hooks\rthooks\pyi_rth_pkgutil.py (top-level)
-missing module named sip - imported by pyqtgraph.debug (delayed, optional), PyQt5 (top-level)
-missing module named port_v2 - imported by PyQt5.uic.properties (conditional)
-missing module named StringIO - imported by PyInstaller.lib.modulegraph._compat (conditional), PyInstaller.lib.modulegraph.zipio (conditional), setuptools._vendor.six (conditional), PyQt5.uic.port_v2.string_io (optional), pkg_resources._vendor.six (conditional)
-missing module named cStringIO - imported by PyQt5.uic.port_v2.string_io (optional), cPickle (top-level)
-missing module named copy_reg - imported by cStringIO (top-level), cPickle (top-level)
-missing module named PySide2 - imported by pyqtgraph.Qt (conditional, optional), pyqtgraph.canvas.TransformGuiTemplate_pyside2 (top-level), pyqtgraph.canvas.CanvasTemplate_pyside2 (top-level), pyqtgraph.flowchart.FlowchartCtrlTemplate_pyside2 (top-level), pyqtgraph.graphicsItems.ViewBox.axisCtrlTemplate_pyside2 (top-level), pyqtgraph.graphicsItems.PlotItem.plotConfigTemplate_pyside2 (top-level), pyqtgraph.flowchart.FlowchartTemplate_pyside2 (top-level), pyqtgraph.imageview.ImageViewTemplate_pyside2 (top-level)
-missing module named metaarray - imported by pyqtgraph.widgets.DataTreeWidget (optional), pyqtgraph.flowchart.library.common (optional)
-missing module named 'scipy.signal' - imported by pyqtgraph.flowchart.library.functions (delayed, optional), pyqtgraph.flowchart.library.Filters (delayed, optional)
-missing module named 'scipy.ndimage' - imported by pyqtgraph.functions (delayed, conditional, optional), pyqtgraph.flowchart.library.Filters (delayed, optional)
-missing module named numpy.ndarray - imported by numpy (top-level), numpy.ma.core (top-level), numpy.ma.extras (top-level), numpy.ma.mrecords (top-level), numpy.ctypeslib (top-level), pyqtgraph.debug (top-level), pyqtgraph.flowchart.Flowchart (top-level)
-missing module named PyQt6 - imported by pyqtgraph.Qt (conditional, optional), pyqtgraph.graphicsItems.ViewBox.axisCtrlTemplate_pyqt6 (top-level), pyqtgraph.canvas.TransformGuiTemplate_pyqt6 (top-level), pyqtgraph.graphicsItems.PlotItem.plotConfigTemplate_pyqt6 (top-level), pyqtgraph.examples.VideoTemplate_pyqt6 (top-level), pyqtgraph.flowchart.FlowchartTemplate_pyqt6 (top-level), pyqtgraph.flowchart.FlowchartCtrlTemplate_pyqt6 (top-level), pyqtgraph.canvas.CanvasTemplate_pyqt6 (top-level), pyqtgraph.GraphicsScene.exportDialogTemplate_pyqt6 (top-level), pyqtgraph.imageview.ImageViewTemplate_pyqt6 (top-level), pyqtgraph.examples.exampleLoaderTemplate_pyqt6 (top-level)
-missing module named 'PySide6.QtWidgets' - imported by pyqtgraph.Qt (conditional), pyqtgraph.examples.exampleLoaderTemplate_pyside6 (top-level), pyqtgraph.canvas.TransformGuiTemplate_pyside6 (top-level), pyqtgraph.graphicsItems.PlotItem.plotConfigTemplate_pyside6 (top-level), pyqtgraph.GraphicsScene.exportDialogTemplate_pyside6 (top-level), pyqtgraph.imageview.ImageViewTemplate_pyside6 (top-level), pyqtgraph.flowchart.FlowchartTemplate_pyside6 (top-level), pyqtgraph.examples.VideoTemplate_pyside6 (top-level), pyqtgraph.flowchart.FlowchartCtrlTemplate_pyside6 (top-level), pyqtgraph.canvas.CanvasTemplate_pyside6 (top-level), pyqtgraph.graphicsItems.ViewBox.axisCtrlTemplate_pyside6 (top-level)
-missing module named 'PySide6.QtGui' - imported by pyqtgraph.Qt (conditional), pyqtgraph.examples.exampleLoaderTemplate_pyside6 (top-level), pyqtgraph.canvas.TransformGuiTemplate_pyside6 (top-level), pyqtgraph.graphicsItems.PlotItem.plotConfigTemplate_pyside6 (top-level), pyqtgraph.GraphicsScene.exportDialogTemplate_pyside6 (top-level), pyqtgraph.imageview.ImageViewTemplate_pyside6 (top-level), pyqtgraph.flowchart.FlowchartTemplate_pyside6 (top-level), pyqtgraph.examples.VideoTemplate_pyside6 (top-level), pyqtgraph.flowchart.FlowchartCtrlTemplate_pyside6 (top-level), pyqtgraph.canvas.CanvasTemplate_pyside6 (top-level), pyqtgraph.graphicsItems.ViewBox.axisCtrlTemplate_pyside6 (top-level)
-missing module named 'PySide6.QtCore' - imported by pyqtgraph.examples.exampleLoaderTemplate_pyside6 (top-level), pyqtgraph.canvas.TransformGuiTemplate_pyside6 (top-level), pyqtgraph.graphicsItems.PlotItem.plotConfigTemplate_pyside6 (top-level), pyqtgraph.GraphicsScene.exportDialogTemplate_pyside6 (top-level), pyqtgraph.imageview.ImageViewTemplate_pyside6 (top-level), pyqtgraph.flowchart.FlowchartTemplate_pyside6 (top-level), pyqtgraph.examples.VideoTemplate_pyside6 (top-level), pyqtgraph.flowchart.FlowchartCtrlTemplate_pyside6 (top-level), pyqtgraph.canvas.CanvasTemplate_pyside6 (top-level), pyqtgraph.graphicsItems.ViewBox.axisCtrlTemplate_pyside6 (top-level)
-missing module named 'matplotlib.figure' - imported by pyqtgraph.widgets.MatplotlibWidget (top-level)
-missing module named 'matplotlib.backends' - imported by pyqtgraph.widgets.MatplotlibWidget (top-level)
-missing module named matplotlib - imported by pyqtgraph.colormap (delayed, conditional, optional), pyqtgraph.widgets.MatplotlibWidget (top-level)
-missing module named 'OpenGL.GL' - imported by pyqtgraph.widgets.RawImageWidget (optional)
-missing module named 'PySide2.QtWidgets' - imported by pyqtgraph.Qt (conditional), pyqtgraph.GraphicsScene.exportDialogTemplate_pyside2 (top-level), pyqtgraph.examples.exampleLoaderTemplate_pyside2 (top-level), pyqtgraph.examples.VideoTemplate_pyside2 (top-level)
-missing module named 'PySide2.QtGui' - imported by pyqtgraph.Qt (conditional), pyqtgraph.GraphicsScene.exportDialogTemplate_pyside2 (top-level), pyqtgraph.examples.exampleLoaderTemplate_pyside2 (top-level), pyqtgraph.examples.VideoTemplate_pyside2 (top-level)
-missing module named 'PySide2.QtCore' - imported by pyqtgraph.GraphicsScene.exportDialogTemplate_pyside2 (top-level), pyqtgraph.examples.exampleLoaderTemplate_pyside2 (top-level), pyqtgraph.examples.VideoTemplate_pyside2 (top-level)
-missing module named CanvasManager - imported by pyqtgraph.canvas.CanvasTemplate_pyside2 (top-level)
-missing module named 'h5py.highlevel' - imported by pyqtgraph.metaarray.MetaArray (conditional, optional)
-missing module named h5py - imported by pyqtgraph.metaarray.MetaArray (optional), pyqtgraph.exporters.HDF5Exporter (optional)
-missing module named cupy - imported by pyqtgraph.util.cupy_helper (delayed, conditional, optional)
-missing module named 'matplotlib.pyplot' - imported by pyqtgraph.colormap (delayed, optional)
-missing module named colorcet - imported by pyqtgraph.colormap (delayed, conditional, optional)
-missing module named GraphicsView - imported by pyqtgraph.SRTTransform (conditional), pyqtgraph.SRTTransform3D (conditional)
-missing module named 'nose.plugins' - imported by numpy.testing._private.noseclasses (top-level), numpy.testing._private.nosetester (delayed)
-missing module named numpy.core.integer - imported by numpy.core (top-level), numpy.fft.helper (top-level)
-missing module named numpy.core.conjugate - imported by numpy.core (top-level), numpy.fft._pocketfft (top-level)
-missing module named pickle5 - imported by numpy.compat.py3k (optional)
-missing module named numpy.array - imported by numpy (top-level), numpy.ma.core (top-level), numpy.ma.extras (top-level), numpy.ma.mrecords (top-level)
-missing module named numpy.recarray - imported by numpy (top-level), numpy.ma.mrecords (top-level)
-missing module named numpy.dtype - imported by numpy (top-level), numpy.ma.mrecords (top-level), numpy.ctypeslib (top-level)
-missing module named numpy.bool_ - imported by numpy (top-level), numpy.ma.core (top-level), numpy.ma.mrecords (top-level)
-missing module named numpy.expand_dims - imported by numpy (top-level), numpy.ma.core (top-level)
-missing module named numpy.iscomplexobj - imported by numpy (top-level), numpy.ma.core (top-level)
-missing module named numpy.amin - imported by numpy (top-level), numpy.ma.core (top-level)
-missing module named numpy.amax - imported by numpy (top-level), numpy.ma.core (top-level)
-missing module named numpy.histogramdd - imported by numpy (delayed), numpy.lib.twodim_base (delayed)
-missing module named numpy.core.ufunc - imported by numpy.core (top-level), numpy.lib.utils (top-level)
-missing module named numpy.core.ones - imported by numpy.core (top-level), numpy.lib.polynomial (top-level)
-missing module named numpy.core.hstack - imported by numpy.core (top-level), numpy.lib.polynomial (top-level)
-missing module named numpy.core.atleast_1d - imported by numpy.core (top-level), numpy.lib.polynomial (top-level)
-missing module named numpy.core.atleast_3d - imported by numpy.core (top-level), numpy.lib.shape_base (top-level)
-missing module named numpy.core.vstack - imported by numpy.core (top-level), numpy.lib.shape_base (top-level)
-missing module named numpy.core.linspace - imported by numpy.core (top-level), numpy.lib.index_tricks (top-level)
-missing module named numpy.core.transpose - imported by numpy.core (top-level), numpy.lib.function_base (top-level)
-missing module named numpy.core.result_type - imported by numpy.core (delayed), numpy.testing._private.utils (delayed)
-missing module named numpy.core.float_ - imported by numpy.core (delayed), numpy.testing._private.utils (delayed)
-missing module named numpy.core.number - imported by numpy.core (delayed), numpy.testing._private.utils (delayed)
-missing module named numpy.core.bool_ - imported by numpy.core (delayed), numpy.testing._private.utils (delayed)
-missing module named numpy.core.inf - imported by numpy.core (delayed), numpy.testing._private.utils (delayed)
-missing module named numpy.core.array2string - imported by numpy.core (delayed), numpy.testing._private.utils (delayed)
-missing module named numpy.core.signbit - imported by numpy.core (delayed), numpy.testing._private.utils (delayed)
-missing module named numpy.core.isscalar - imported by numpy.core (delayed), numpy.testing._private.utils (delayed), numpy.lib.polynomial (top-level)
-missing module named numpy.core.isinf - imported by numpy.core (delayed), numpy.testing._private.utils (delayed)
-missing module named numpy.core.isnat - imported by numpy.core (top-level), numpy.testing._private.utils (top-level)
-missing module named numpy.core.ndarray - imported by numpy.core (top-level), numpy.testing._private.utils (top-level), numpy.lib.utils (top-level)
-missing module named numpy.core.array_repr - imported by numpy.core (top-level), numpy.testing._private.utils (top-level)
-missing module named numpy.core.arange - imported by numpy.core (top-level), numpy.testing._private.utils (top-level), numpy.fft.helper (top-level)
-missing module named numpy.core.float32 - imported by numpy.core (top-level), numpy.testing._private.utils (top-level)
-missing module named numpy.core.iinfo - imported by numpy.core (top-level), numpy.lib.twodim_base (top-level)
-missing module named numpy.core.sort - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.argsort - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.sign - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.isnan - imported by numpy.core (top-level), numpy.linalg.linalg (top-level), numpy.testing._private.utils (delayed)
-missing module named numpy.core.count_nonzero - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.divide - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.swapaxes - imported by numpy.core (top-level), numpy.linalg.linalg (top-level), numpy.fft._pocketfft (top-level)
-missing module named numpy.core.matmul - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.object_ - imported by numpy.core (top-level), numpy.linalg.linalg (top-level), numpy.testing._private.utils (delayed)
-missing module named numpy.core.asanyarray - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.intp - imported by numpy.core (top-level), numpy.linalg.linalg (top-level), numpy.testing._private.utils (top-level)
-missing module named numpy.core.atleast_2d - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.product - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.amax - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.amin - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.moveaxis - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.geterrobj - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.errstate - imported by numpy.core (top-level), numpy.linalg.linalg (top-level), numpy.testing._private.utils (delayed)
-missing module named numpy.core.finfo - imported by numpy.core (top-level), numpy.linalg.linalg (top-level), numpy.lib.polynomial (top-level)
-missing module named numpy.core.isfinite - imported by numpy.core (top-level), numpy.linalg.linalg (top-level), numpy.testing._private.utils (delayed)
-missing module named numpy.core.sum - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.fastCopyAndTranspose - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.sqrt - imported by numpy.core (top-level), numpy.linalg.linalg (top-level), numpy.fft._pocketfft (top-level)
-missing module named numpy.core.multiply - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.add - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.dot - imported by numpy.core (top-level), numpy.linalg.linalg (top-level), numpy.lib.polynomial (top-level)
-missing module named numpy.core.Inf - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.all - imported by numpy.core (top-level), numpy.linalg.linalg (top-level), numpy.testing._private.utils (delayed)
-missing module named numpy.core.newaxis - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.complexfloating - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.inexact - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.cdouble - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.csingle - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.double - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.single - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.intc - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.empty_like - imported by numpy.core (top-level), numpy.linalg.linalg (top-level)
-missing module named numpy.core.empty - imported by numpy.core (top-level), numpy.linalg.linalg (top-level), numpy.testing._private.utils (top-level), numpy.fft.helper (top-level)
-missing module named numpy.core.zeros - imported by numpy.core (top-level), numpy.linalg.linalg (top-level), numpy.fft._pocketfft (top-level)
-missing module named numpy.core.asarray - imported by numpy.core (top-level), numpy.linalg.linalg (top-level), numpy.lib.utils (top-level), numpy.fft._pocketfft (top-level), numpy.fft.helper (top-level)
-missing module named numpy.core.array - imported by numpy.core (top-level), numpy.linalg.linalg (top-level), numpy.testing._private.utils (top-level), numpy.lib.polynomial (top-level)
-missing module named numpy.eye - imported by numpy (delayed), numpy.core.numeric (delayed)
-missing module named 'nose.util' - imported by numpy.testing._private.noseclasses (top-level)
-missing module named psutil - imported by numpy.testing._private.utils (delayed, optional)
-missing module named win32pdh - imported by numpy.testing._private.utils (delayed, conditional)
-missing module named bottleneck - imported by pyqtgraph.imageview.ImageView (optional)
-missing module named shiboken6 - imported by pyqtgraph.Qt (conditional), pyqtgraph.graphicsItems.ScatterPlotItem (conditional)
-missing module named shiboken2 - imported by pyqtgraph.Qt (conditional), pyqtgraph.graphicsItems.ScatterPlotItem (conditional)
-missing module named OpenGL - imported by pyqtgraph.graphicsItems.PlotCurveItem (delayed)
-missing module named pyqtgraph.PlotItem - imported by pyqtgraph (top-level), pyqtgraph.exporters.Matplotlib (top-level), pyqtgraph.exporters.CSVExporter (top-level), pyqtgraph.exporters.HDF5Exporter (top-level)
-missing module named numba - imported by pyqtgraph.util.numba_helper (delayed, conditional, optional), pyqtgraph.functions_numba (top-level)
-missing module named cPickle - imported by pyqtgraph.multiprocess.processes (optional), pyqtgraph.multiprocess.remoteproxy (optional)
-missing module named __builtin__ - imported by pyqtgraph.python2_3 (conditional), pyqtgraph.multiprocess.remoteproxy (optional), pkg_resources._vendor.pyparsing (conditional), setuptools._vendor.pyparsing (conditional)
-missing module named test2 - imported by pyqtgraph.reload (conditional)
-missing module named test1 - imported by pyqtgraph.reload (conditional)
-missing module named PyQt4 - imported by pyqtgraph.reload (conditional, optional)
-missing module named PySide6 - imported by pyqtgraph.Qt (conditional, optional)
-missing module named 'PyQt6.QtWidgets' - imported by pyqtgraph.Qt (conditional)
-missing module named 'PyQt6.QtGui' - imported by pyqtgraph.Qt (conditional)
-missing module named pyside2uic - imported by pyqtgraph.Qt (delayed, conditional, optional)

python_gui/gui/main.py

@@ -34,6 +34,13 @@ class MyWindow(QMainWindow, Ui_MainWindow):
         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)
         self.wifi_command_pushButton_3.clicked.connect(self.wifi_command_pushButton_3_clicked)
+        self.TA_pushButton.clicked.connect(self.TA_pushButton_clicked)
+        self.SA_pushButton.clicked.connect(self.SA_pushButton_clicked)
+        self.SV_pushButton.clicked.connect(self.SV_pushButton_clicked)
+        self.VP1_pushButton.clicked.connect(self.VP1_pushButton_clicked)
+        self.VI1_pushButton.clicked.connect(self.VI1_pushButton_clicked)
+        self.VP2_pushButton.clicked.connect(self.VP2_pushButton_clicked)
+        self.VI2_pushButton.clicked.connect(self.VI2_pushButton_clicked)
     # 设置实例
     def CreateItems(self):
         # 定时器-绘图刷新
@@ -111,11 +118,25 @@ class MyWindow(QMainWindow, Ui_MainWindow):
         self.udp.send_message(self.wifi_command_lineEdit_2.text())
     def wifi_command_pushButton_3_clicked(self):
         self.udp.send_message(self.wifi_command_lineEdit_3.text())
+    def TA_pushButton_clicked(self):
+        self.udp.send_message("TA"+self.TA_doubleSpinBox.text())
+    def SA_pushButton_clicked(self):
+        self.udp.send_message("SA"+self.SA_doubleSpinBox.text())
+    def SV_pushButton_clicked(self):
+        self.udp.send_message("SV"+self.SV_doubleSpinBox.text())
+    def VP1_pushButton_clicked(self):
+        self.udp.send_message("VP1"+self.VP1_doubleSpinBox.text())
+    def VI1_pushButton_clicked(self):
+        self.udp.send_message("VI1"+self.VI1_doubleSpinBox.text())
+    def VP2_pushButton_clicked(self):
+        self.udp.send_message("VP2"+self.VP2_doubleSpinBox.text())
+    def VI2_pushButton_clicked(self):
+        self.udp.send_message("VI2"+self.VI2_doubleSpinBox.text())
+
+    # WIFI设置点击后判断有无接收到esp32发来的数据
     def wifi_config_pushButton_clicked(self):
         if self.wifi_open_flag == 0:
             try:
-                # self.re_item = ['k','g','l','t']
-                # self.plot_init()
                 self.variable_init()
                 self.CreateItems()
                 print(self.wifi_IP_lineEdit.text(),type(self.wifi_IP_lineEdit.text()))
@@ -128,7 +149,6 @@ class MyWindow(QMainWindow, Ui_MainWindow):
                 recv_data = recv_data[:-1]
                 recv_data = recv_data.split(',')
                 """处理接受的信息"""
-                # recv_data = [40,50,60]
                 for i, data in enumerate(recv_data):
                     self.re_item.append(''.join(re.split(r'[^A-Za-z]', data)))
                 print(self.re_item)

python_gui/gui/main_ui.py

@@ -55,7 +55,7 @@ class Ui_MainWindow(object):
         self.tool_layout_2.setContentsMargins(0, 0, 0, 0)
         self.tool_layout_2.setObjectName("tool_layout_2")
         self.groupBox_3 = QtWidgets.QGroupBox(self.centralwidget)
-        self.groupBox_3.setGeometry(QtCore.QRect(10, 10, 291, 321))
+        self.groupBox_3.setGeometry(QtCore.QRect(10, 10, 291, 381))
         self.groupBox_3.setObjectName("groupBox_3")
         self.horizontalLayoutWidget_7 = QtWidgets.QWidget(self.groupBox_3)
         self.horizontalLayoutWidget_7.setGeometry(QtCore.QRect(10, 30, 271, 31))
@@ -93,6 +93,128 @@ class Ui_MainWindow(object):
         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.horizontalLayoutWidget_13 = QtWidgets.QWidget(self.groupBox_3)
+        self.horizontalLayoutWidget_13.setGeometry(QtCore.QRect(10, 160, 271, 31))
+        self.horizontalLayoutWidget_13.setObjectName("horizontalLayoutWidget_13")
+        self.horizontalLayout_17 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_13)
+        self.horizontalLayout_17.setContentsMargins(0, 0, 0, 0)
+        self.horizontalLayout_17.setObjectName("horizontalLayout_17")
+        self.label_16 = QtWidgets.QLabel(self.horizontalLayoutWidget_13)
+        self.label_16.setObjectName("label_16")
+        self.horizontalLayout_17.addWidget(self.label_16)
+        self.TA_doubleSpinBox = QtWidgets.QDoubleSpinBox(self.horizontalLayoutWidget_13)
+        self.TA_doubleSpinBox.setDecimals(1)
+        self.TA_doubleSpinBox.setMaximum(120.0)
+        self.TA_doubleSpinBox.setSingleStep(0.5)
+        self.TA_doubleSpinBox.setProperty("value", 89.5)
+        self.TA_doubleSpinBox.setObjectName("TA_doubleSpinBox")
+        self.horizontalLayout_17.addWidget(self.TA_doubleSpinBox)
+        self.TA_pushButton = QtWidgets.QPushButton(self.horizontalLayoutWidget_13)
+        self.TA_pushButton.setObjectName("TA_pushButton")
+        self.horizontalLayout_17.addWidget(self.TA_pushButton)
+        self.horizontalLayoutWidget_12 = QtWidgets.QWidget(self.groupBox_3)
+        self.horizontalLayoutWidget_12.setGeometry(QtCore.QRect(10, 190, 271, 31))
+        self.horizontalLayoutWidget_12.setObjectName("horizontalLayoutWidget_12")
+        self.horizontalLayout_16 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_12)
+        self.horizontalLayout_16.setContentsMargins(0, 0, 0, 0)
+        self.horizontalLayout_16.setObjectName("horizontalLayout_16")
+        self.label_15 = QtWidgets.QLabel(self.horizontalLayoutWidget_12)
+        self.label_15.setObjectName("label_15")
+        self.horizontalLayout_16.addWidget(self.label_15)
+        self.SV_doubleSpinBox = QtWidgets.QDoubleSpinBox(self.horizontalLayoutWidget_12)
+        self.SV_doubleSpinBox.setDecimals(1)
+        self.SV_doubleSpinBox.setSingleStep(0.1)
+        self.SV_doubleSpinBox.setProperty("value", 1.8)
+        self.SV_doubleSpinBox.setObjectName("SV_doubleSpinBox")
+        self.horizontalLayout_16.addWidget(self.SV_doubleSpinBox)
+        self.SV_pushButton = QtWidgets.QPushButton(self.horizontalLayoutWidget_12)
+        self.SV_pushButton.setObjectName("SV_pushButton")
+        self.horizontalLayout_16.addWidget(self.SV_pushButton)
+        self.horizontalLayoutWidget_14 = QtWidgets.QWidget(self.groupBox_3)
+        self.horizontalLayoutWidget_14.setGeometry(QtCore.QRect(10, 220, 271, 31))
+        self.horizontalLayoutWidget_14.setObjectName("horizontalLayoutWidget_14")
+        self.horizontalLayout_18 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_14)
+        self.horizontalLayout_18.setContentsMargins(0, 0, 0, 0)
+        self.horizontalLayout_18.setObjectName("horizontalLayout_18")
+        self.label_17 = QtWidgets.QLabel(self.horizontalLayoutWidget_14)
+        self.label_17.setObjectName("label_17")
+        self.horizontalLayout_18.addWidget(self.label_17)
+        self.SA_doubleSpinBox = QtWidgets.QDoubleSpinBox(self.horizontalLayoutWidget_14)
+        self.SA_doubleSpinBox.setDecimals(1)
+        self.SA_doubleSpinBox.setProperty("value", 15.0)
+        self.SA_doubleSpinBox.setObjectName("SA_doubleSpinBox")
+        self.horizontalLayout_18.addWidget(self.SA_doubleSpinBox)
+        self.SA_pushButton = QtWidgets.QPushButton(self.horizontalLayoutWidget_14)
+        self.SA_pushButton.setObjectName("SA_pushButton")
+        self.horizontalLayout_18.addWidget(self.SA_pushButton)
+        self.horizontalLayoutWidget_15 = QtWidgets.QWidget(self.groupBox_3)
+        self.horizontalLayoutWidget_15.setGeometry(QtCore.QRect(10, 250, 271, 31))
+        self.horizontalLayoutWidget_15.setObjectName("horizontalLayoutWidget_15")
+        self.horizontalLayout_19 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_15)
+        self.horizontalLayout_19.setContentsMargins(0, 0, 0, 0)
+        self.horizontalLayout_19.setObjectName("horizontalLayout_19")
+        self.label_18 = QtWidgets.QLabel(self.horizontalLayoutWidget_15)
+        self.label_18.setObjectName("label_18")
+        self.horizontalLayout_19.addWidget(self.label_18)
+        self.VP1_doubleSpinBox = QtWidgets.QDoubleSpinBox(self.horizontalLayoutWidget_15)
+        self.VP1_doubleSpinBox.setSingleStep(0.1)
+        self.VP1_doubleSpinBox.setProperty("value", 0.7)
+        self.VP1_doubleSpinBox.setObjectName("VP1_doubleSpinBox")
+        self.horizontalLayout_19.addWidget(self.VP1_doubleSpinBox)
+        self.VP1_pushButton = QtWidgets.QPushButton(self.horizontalLayoutWidget_15)
+        self.VP1_pushButton.setObjectName("VP1_pushButton")
+        self.horizontalLayout_19.addWidget(self.VP1_pushButton)
+        self.horizontalLayoutWidget_16 = QtWidgets.QWidget(self.groupBox_3)
+        self.horizontalLayoutWidget_16.setGeometry(QtCore.QRect(10, 280, 271, 31))
+        self.horizontalLayoutWidget_16.setObjectName("horizontalLayoutWidget_16")
+        self.horizontalLayout_20 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_16)
+        self.horizontalLayout_20.setContentsMargins(0, 0, 0, 0)
+        self.horizontalLayout_20.setObjectName("horizontalLayout_20")
+        self.label_19 = QtWidgets.QLabel(self.horizontalLayoutWidget_16)
+        self.label_19.setObjectName("label_19")
+        self.horizontalLayout_20.addWidget(self.label_19)
+        self.VI1_doubleSpinBox = QtWidgets.QDoubleSpinBox(self.horizontalLayoutWidget_16)
+        self.VI1_doubleSpinBox.setSingleStep(0.5)
+        self.VI1_doubleSpinBox.setProperty("value", 20.0)
+        self.VI1_doubleSpinBox.setObjectName("VI1_doubleSpinBox")
+        self.horizontalLayout_20.addWidget(self.VI1_doubleSpinBox)
+        self.VI1_pushButton = QtWidgets.QPushButton(self.horizontalLayoutWidget_16)
+        self.VI1_pushButton.setObjectName("VI1_pushButton")
+        self.horizontalLayout_20.addWidget(self.VI1_pushButton)
+        self.horizontalLayoutWidget_17 = QtWidgets.QWidget(self.groupBox_3)
+        self.horizontalLayoutWidget_17.setGeometry(QtCore.QRect(10, 310, 271, 31))
+        self.horizontalLayoutWidget_17.setObjectName("horizontalLayoutWidget_17")
+        self.horizontalLayout_21 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_17)
+        self.horizontalLayout_21.setContentsMargins(0, 0, 0, 0)
+        self.horizontalLayout_21.setObjectName("horizontalLayout_21")
+        self.label_20 = QtWidgets.QLabel(self.horizontalLayoutWidget_17)
+        self.label_20.setObjectName("label_20")
+        self.horizontalLayout_21.addWidget(self.label_20)
+        self.VP2_doubleSpinBox = QtWidgets.QDoubleSpinBox(self.horizontalLayoutWidget_17)
+        self.VP2_doubleSpinBox.setSingleStep(0.1)
+        self.VP2_doubleSpinBox.setProperty("value", 0.3)
+        self.VP2_doubleSpinBox.setObjectName("VP2_doubleSpinBox")
+        self.horizontalLayout_21.addWidget(self.VP2_doubleSpinBox)
+        self.VP2_pushButton = QtWidgets.QPushButton(self.horizontalLayoutWidget_17)
+        self.VP2_pushButton.setObjectName("VP2_pushButton")
+        self.horizontalLayout_21.addWidget(self.VP2_pushButton)
+        self.horizontalLayoutWidget_18 = QtWidgets.QWidget(self.groupBox_3)
+        self.horizontalLayoutWidget_18.setGeometry(QtCore.QRect(10, 340, 271, 31))
+        self.horizontalLayoutWidget_18.setObjectName("horizontalLayoutWidget_18")
+        self.horizontalLayout_22 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_18)
+        self.horizontalLayout_22.setContentsMargins(0, 0, 0, 0)
+        self.horizontalLayout_22.setObjectName("horizontalLayout_22")
+        self.label_21 = QtWidgets.QLabel(self.horizontalLayoutWidget_18)
+        self.label_21.setObjectName("label_21")
+        self.horizontalLayout_22.addWidget(self.label_21)
+        self.VI2_doubleSpinBox = QtWidgets.QDoubleSpinBox(self.horizontalLayoutWidget_18)
+        self.VI2_doubleSpinBox.setSingleStep(0.5)
+        self.VI2_doubleSpinBox.setProperty("value", 10.0)
+        self.VI2_doubleSpinBox.setObjectName("VI2_doubleSpinBox")
+        self.horizontalLayout_22.addWidget(self.VI2_doubleSpinBox)
+        self.VI2_pushButton = QtWidgets.QPushButton(self.horizontalLayoutWidget_18)
+        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.setObjectName("groupBox_4")
@@ -236,6 +358,20 @@ class Ui_MainWindow(object):
         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.label_16.setText(_translate("MainWindow", "期望角度TA"))
+        self.TA_pushButton.setText(_translate("MainWindow", "发送"))
+        self.label_15.setText(_translate("MainWindow", "摇摆电压SV"))
+        self.SV_pushButton.setText(_translate("MainWindow", "发送"))
+        self.label_17.setText(_translate("MainWindow", "摇摆角度SA"))
+        self.SA_pushButton.setText(_translate("MainWindow", "发送"))
+        self.label_18.setText(_translate("MainWindow", "速度环P1"))
+        self.VP1_pushButton.setText(_translate("MainWindow", "发送"))
+        self.label_19.setText(_translate("MainWindow", "速度环I1"))
+        self.VI1_pushButton.setText(_translate("MainWindow", "发送"))
+        self.label_20.setText(_translate("MainWindow", "速度环P2"))
+        self.VP2_pushButton.setText(_translate("MainWindow", "发送"))
+        self.label_21.setText(_translate("MainWindow", "速度环I2"))
+        self.VI2_pushButton.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"))

python_gui/gui/main_ui.ui

@@ -108,7 +108,7 @@
       <x>10</x>
       <y>10</y>
       <width>291</width>
-      <height>321</height>
+      <height>381</height>
      </rect>
     </property>
     <property name="title">
@@ -180,6 +180,267 @@
       </item>
      </layout>
     </widget>
+    <widget class="QWidget" name="horizontalLayoutWidget_13">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>160</y>
+       <width>271</width>
+       <height>31</height>
+      </rect>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout_17">
+      <item>
+       <widget class="QLabel" name="label_16">
+        <property name="text">
+         <string>期望角度TA</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QDoubleSpinBox" name="TA_doubleSpinBox">
+        <property name="decimals">
+         <number>1</number>
+        </property>
+        <property name="maximum">
+         <double>120.000000000000000</double>
+        </property>
+        <property name="singleStep">
+         <double>0.500000000000000</double>
+        </property>
+        <property name="value">
+         <double>89.500000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="TA_pushButton">
+        <property name="text">
+         <string>发送</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+    <widget class="QWidget" name="horizontalLayoutWidget_12">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>190</y>
+       <width>271</width>
+       <height>31</height>
+      </rect>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout_16">
+      <item>
+       <widget class="QLabel" name="label_15">
+        <property name="text">
+         <string>摇摆电压SV</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QDoubleSpinBox" name="SV_doubleSpinBox">
+        <property name="decimals">
+         <number>1</number>
+        </property>
+        <property name="singleStep">
+         <double>0.100000000000000</double>
+        </property>
+        <property name="value">
+         <double>1.800000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="SV_pushButton">
+        <property name="text">
+         <string>发送</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+    <widget class="QWidget" name="horizontalLayoutWidget_14">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>220</y>
+       <width>271</width>
+       <height>31</height>
+      </rect>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout_18">
+      <item>
+       <widget class="QLabel" name="label_17">
+        <property name="text">
+         <string>摇摆角度SA</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QDoubleSpinBox" name="SA_doubleSpinBox">
+        <property name="decimals">
+         <number>1</number>
+        </property>
+        <property name="value">
+         <double>15.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="SA_pushButton">
+        <property name="text">
+         <string>发送</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+    <widget class="QWidget" name="horizontalLayoutWidget_15">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>250</y>
+       <width>271</width>
+       <height>31</height>
+      </rect>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout_19">
+      <item>
+       <widget class="QLabel" name="label_18">
+        <property name="text">
+         <string>速度环P1</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QDoubleSpinBox" name="VP1_doubleSpinBox">
+        <property name="singleStep">
+         <double>0.100000000000000</double>
+        </property>
+        <property name="value">
+         <double>0.700000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="VP1_pushButton">
+        <property name="text">
+         <string>发送</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+    <widget class="QWidget" name="horizontalLayoutWidget_16">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>280</y>
+       <width>271</width>
+       <height>31</height>
+      </rect>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout_20">
+      <item>
+       <widget class="QLabel" name="label_19">
+        <property name="text">
+         <string>速度环I1</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QDoubleSpinBox" name="VI1_doubleSpinBox">
+        <property name="singleStep">
+         <double>0.500000000000000</double>
+        </property>
+        <property name="value">
+         <double>20.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="VI1_pushButton">
+        <property name="text">
+         <string>发送</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+    <widget class="QWidget" name="horizontalLayoutWidget_17">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>310</y>
+       <width>271</width>
+       <height>31</height>
+      </rect>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout_21">
+      <item>
+       <widget class="QLabel" name="label_20">
+        <property name="text">
+         <string>速度环P2</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QDoubleSpinBox" name="VP2_doubleSpinBox">
+        <property name="singleStep">
+         <double>0.100000000000000</double>
+        </property>
+        <property name="value">
+         <double>0.300000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="VP2_pushButton">
+        <property name="text">
+         <string>发送</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+    <widget class="QWidget" name="horizontalLayoutWidget_18">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>340</y>
+       <width>271</width>
+       <height>31</height>
+      </rect>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout_22">
+      <item>
+       <widget class="QLabel" name="label_21">
+        <property name="text">
+         <string>速度环I2</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QDoubleSpinBox" name="VI2_doubleSpinBox">
+        <property name="singleStep">
+         <double>0.500000000000000</double>
+        </property>
+        <property name="value">
+         <double>10.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="VI2_pushButton">
+        <property name="text">
+         <string>发送</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
    </widget>
    <widget class="QGroupBox" name="groupBox_4">
     <property name="geometry">