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上位机更新

master
zrg 2021-12-14 20:10:47 +08:00
parent 0cb2804cb4
commit 551bc6828f
25 changed files with 440 additions and 30779 deletions
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18
README.md
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@ -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。
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。
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. 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**

14
arduino/main/main.ino
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@ -139,13 +139,13 @@ float nan = EEPROM.readFloat(0);
if(isnan(nan))
{
Serial.println("frist write");
EEPROM.writeFloat(0, target_angle);
EEPROM.writeFloat(4, swing_up_voltage);
EEPROM.writeFloat(8, swing_up_angle);
EEPROM.writeFloat(12, v_p_1);
EEPROM.writeFloat(16, v_i_1);
EEPROM.writeFloat(20, v_p_2);
EEPROM.writeFloat(24, v_i_2);
EEPROM.writeFloat(0, target_angle); delay(10);
EEPROM.writeFloat(4, swing_up_voltage); delay(10);
EEPROM.writeFloat(8, swing_up_angle); delay(10);
EEPROM.writeFloat(12, v_p_1); delay(10);
EEPROM.writeFloat(16, v_i_1); delay(10);
EEPROM.writeFloat(20, v_p_2); delay(10);
EEPROM.writeFloat(24, v_i_2); delay(10);
EEPROM.commit();
}
else

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('c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6',
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('tk\\icons.tcl',
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('tk\\msgbox.tcl',
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('tk\\obsolete.tcl',
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('tk\\tearoff.tcl',
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'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\text.tcl',
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'DATA'),
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'DATA'),
('tk\\xmfbox.tcl',
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'DATA'),
('tk\\ttk\\altTheme.tcl',
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'DATA'),
('tk\\ttk\\aquaTheme.tcl',
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'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',
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'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',
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('tk\\ttk\\fonts.tcl',
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'DATA'),
('tk\\ttk\\menubutton.tcl',
'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\menubutton.tcl',
'DATA'),
('tk\\ttk\\notebook.tcl',
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'DATA'),
('tk\\ttk\\panedwindow.tcl',
'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\ttk\\panedwindow.tcl',
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('tk\\ttk\\progress.tcl',
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('tk\\ttk\\scale.tcl',
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('tk\\ttk\\sizegrip.tcl',
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'DATA'),
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'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',
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('tk\\msgs\\en.msg',
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('tk\\msgs\\en_gb.msg',
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('tk\\msgs\\es.msg',
'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\msgs\\es.msg',
'DATA'),
('tk\\msgs\\fr.msg',
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('tk\\msgs\\hu.msg',
'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\msgs\\hu.msg',
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('tk\\msgs\\it.msg',
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'DATA'),
('tk\\msgs\\nl.msg',
'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\msgs\\nl.msg',
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('tk\\msgs\\pl.msg',
'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\msgs\\pl.msg',
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('tk\\msgs\\pt.msg',
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('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',
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('tk\\images\\logo64.gif',
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('tk\\images\\logoLarge.gif',
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('tk\\images\\logoMed.gif',
'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\images\\logoMed.gif',
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('tk\\images\\pwrdLogo.eps',
'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\images\\pwrdLogo.eps',
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('tk\\images\\pwrdLogo100.gif',
'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\images\\pwrdLogo100.gif',
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'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\images\\pwrdLogo75.gif',
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'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\images\\README',
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('tk\\images\\tai-ku.gif',
'c:\\users\\coll\\appdata\\local\\programs\\python\\python37\\tcl\\tk8.6\\images\\tai-ku.gif',
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19
python_gui/gui/build/main/Tree-02.toc
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<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
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python_gui/gui/build/main/warn-main.txt
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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)

23404
python_gui/gui/build/main/xref-main.html
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26
python_gui/gui/main.py
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@ -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)

138
python_gui/gui/main_ui.py
View File

@ -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"))

263
python_gui/gui/main_ui.ui
View File

@ -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">

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