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master
45coll 2021-08-25 16:23:23 +08:00
parent c3b32954a5
commit c8ae6eecc0
12 changed files with 608 additions and 105 deletions
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63
arduino/main/i2c.ino Normal file
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@ -0,0 +1,63 @@
/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
This software may be distributed and modified under the terms of the GNU
General Public License version 2 (GPL2) as published by the Free Software
Foundation and appearing in the file GPL2.TXT included in the packaging of
this file. Please note that GPL2 Section 2[b] requires that all works based
on this software must also be made publicly available under the terms of
the GPL2 ("Copyleft").
Contact information
-------------------
Kristian Lauszus, TKJ Electronics
Web : http://www.tkjelectronics.com
e-mail : kristianl@tkjelectronics.com
*/
const uint8_t IMUAddress = 0x68; // AD0 is logic low on the PCB
const uint16_t I2C_TIMEOUT = 1000; // Used to check for errors in I2C communication
uint8_t i2cWrite(uint8_t registerAddress, uint8_t data, bool sendStop) {
return i2cWrite(registerAddress, &data, 1, sendStop); // Returns 0 on success
}
uint8_t i2cWrite(uint8_t registerAddress, uint8_t *data, uint8_t length, bool sendStop) {
Wire.beginTransmission(IMUAddress);
Wire.write(registerAddress);
Wire.write(data, length);
uint8_t rcode = Wire.endTransmission(sendStop); // Returns 0 on success
if (rcode) {
Serial.print(F("i2cWrite failed: "));
Serial.println(rcode);
}
return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission
}
uint8_t i2cRead(uint8_t registerAddress, uint8_t *data, uint8_t nbytes) {
uint32_t timeOutTimer;
Wire.beginTransmission(IMUAddress);
Wire.write(registerAddress);
uint8_t rcode = Wire.endTransmission(false); // Don't release the bus
if (rcode) {
Serial.print(F("i2cRead failed: "));
Serial.println(rcode);
return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission
}
Wire.requestFrom(IMUAddress, nbytes, (uint8_t)true); // Send a repeated start and then release the bus after reading
for (uint8_t i = 0; i < nbytes; i++) {
if (Wire.available())
data[i] = Wire.read();
else {
timeOutTimer = micros();
while (((micros() - timeOutTimer) < I2C_TIMEOUT) && !Wire.available());
if (Wire.available())
data[i] = Wire.read();
else {
Serial.println(F("i2cRead timeout"));
return 5; // This error value is not already taken by endTransmission
}
}
}
return 0; // Success
}

175
arduino/main/main.ino
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@ -9,17 +9,44 @@ Deng's FOC 闭环速度控制例程 测试库：SimpleFOC 2.1.1 测试硬件：
#include <SimpleFOC.h>
#include <WiFi.h>
#include <AsyncUDP.h> //引用以使用异步UDP
#include <Kalman.h> // Source: https://github.com/TKJElectronics/KalmanFilter
Kalman kalmanZ;
#define gyroZ_OFF -0.72
/* ----IMU Data---- */
float PID_P = 8; //
float PID_I = 0; //
float PID_D = 0; //
double accX, accY, accZ;
double gyroX, gyroY, gyroZ;
int16_t tempRaw;
double gyroZangle; // Angle calculate using the gyro only
double compAngleZ; // Calculated angle using a complementary filter
double kalAngleZ; // Calculated angle using a Kalman filter
uint32_t timer;
uint8_t i2cData[14]; // Buffer for I2C data
/* ----FOC Data---- */
// driver instance
double acc2rotation(double x, double y);
const char *ssid = "esp32";
const char *password = "12345678";
AsyncUDP udp; //创建UDP对象
unsigned int localUdpPort = 2333; //本地端口号
unsigned int broadcastPort = localUdpPort;
MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);
TwoWire I2Cone = TwoWire(0);
TwoWire I2Ctwo = TwoWire(1);
//倒立摆参数
float LQR_K1 = 200; //摇摆到平衡
float LQR_K2 = 15; //
float LQR_K3 = 0.15; //
//电机参数
BLDCMotor motor = BLDCMotor(5);
@ -28,6 +55,7 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22);
//命令设置
int target_velocity = 0;
int target_angle = 149;
void onPacketCallBack(AsyncUDPPacket packet)
{
target_velocity = atoi((char*)(packet.data()));
@ -38,7 +66,45 @@ void onPacketCallBack(AsyncUDPPacket packet)
void setup() {
Serial.begin(115200);
//wifi初始化
// kalman mpu6050 init
Wire.begin(19, 18,400000);// Set I2C frequency to 400kHz
i2cData[0] = 7; // Set the sample rate to 1000Hz - 8kHz/(7+1) = 1000Hz
i2cData[1] = 0x00; // Disable FSYNC and set 260 Hz Acc filtering, 256 Hz Gyro filtering, 8 KHz sampling
i2cData[2] = 0x00; // Set Gyro Full Scale Range to ±250deg/s
i2cData[3] = 0x00; // Set Accelerometer Full Scale Range to ±2g
while (i2cWrite(0x19, i2cData, 4, false))
; // Write to all four registers at once
while (i2cWrite(0x6B, 0x01, true))
; // PLL with X axis gyroscope reference and disable sleep mode
while (i2cRead(0x75, i2cData, 1))
;
if (i2cData[0] != 0x68)
{ // Read "WHO_AM_I" register
Serial.print(F("Error reading sensor"));
while (1)
;
}
delay(100); // Wait for sensor to stabilize
/* Set kalman and gyro starting angle */
while (i2cRead(0x3B, i2cData, 6))
;
accX = (int16_t)((i2cData[0] << 8) | i2cData[1]);
accY = (int16_t)((i2cData[2] << 8) | i2cData[3]);
accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]);
double pitch = acc2rotation(accX, accY);
kalmanZ.setAngle(pitch);
gyroZangle = pitch;
timer = micros();
Serial.println("kalman mpu6050 init");
//wifi初始化
WiFi.mode(WIFI_AP);
while(!WiFi.softAP(ssid, password)){}; //启动AP
Serial.println("AP启动成功");
@ -46,69 +112,136 @@ void setup() {
{
}
udp.onPacket(onPacketCallBack); //注册收到数据包事件
I2Cone.begin(23, 5, 400000); //SDA,SCL
sensor.init(&I2Cone);
I2Ctwo.begin(23, 5, 400000); //SDA,SCL
sensor.init(&I2Ctwo);
//连接motor对象与传感器对象
motor.linkSensor(&sensor);
//供电电压设置 [V]
driver.voltage_power_supply = 12;
driver.init();
//连接电机和driver对象
motor.linkDriver(&driver);
//FOC模型选择
motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
//运动控制模式设置
motor.controller = MotionControlType::velocity;
//速度PI环设置
motor.PID_velocity.P = 1.5;
motor.PID_velocity.I = 20;
//最大电机限制电机
motor.voltage_limit = 12;
//速度低通滤波时间常数
motor.LPF_velocity.Tf = 0.01;
//设置最大速度限制
motor.velocity_limit = 40;
motor.useMonitoring(Serial);
//初始化电机
motor.init();
//初始化 FOC
motor.initFOC();
Serial.println(F("Motor ready."));
Serial.println(F("Set the target velocity using serial terminal:"));
}
char s[255];
int t_v;
int lim_v = 20;
void loop() {
while (i2cRead(0x3B, i2cData, 14));
accX = (int16_t)((i2cData[0] << 8) | i2cData[1]);
accY = (int16_t)((i2cData[2] << 8) | i2cData[3]);
accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]);
tempRaw = (int16_t)((i2cData[6] << 8) | i2cData[7]);
gyroX = (int16_t)((i2cData[8] << 8) | i2cData[9]);
gyroY = (int16_t)((i2cData[10] << 8) | i2cData[11]);
gyroZ = (int16_t)((i2cData[12] << 8) | i2cData[13]);
double dt = (double)(micros() - timer) / 1000000; // Calculate delta time
timer = micros();
double pitch = acc2rotation(accX, accY);
double gyroZrate = gyroZ / 131.0; // Convert to deg/s
kalAngleZ = kalmanZ.getAngle(pitch, gyroZrate + gyroZ_OFF, dt);
gyroZangle += (gyroZrate + gyroZ_OFF) * dt;
compAngleZ = 0.93 * (compAngleZ + (gyroZrate + gyroZ_OFF) * dt) + 0.07 * pitch;
// Reset the gyro angle when it has drifted too much
if (gyroZangle < -180 || gyroZangle > 180)
gyroZangle = kalAngleZ;
sprintf(s, "%.2f",kalAngleZ); //将100转为16进制表示的字符串
// target_velocity = -angle_pid(kalAngleZ);
// if (abs(target_velocity)>lim_v)
// target_velocity = -target_velocity;
// if (target_velocity >lim_v)
// target_velocity = lim_v;
// if (target_velocity<-lim_v)
// target_velocity = -lim_v;
Serial.print(motor.shaft_velocity);Serial.print("\t");
Serial.print(target_velocity);Serial.print("\t");
Serial.print(target_angle);Serial.print("\t");
Serial.print(kalAngleZ);Serial.print("\t");
Serial.print("\r\n");
motor.loopFOC();
motor.move(target_velocity);
//可以使用该方法广播信息
IPAddress broadcastAddr((~(uint32_t)WiFi.subnetMask())|((uint32_t)WiFi.localIP())); //计算广播地址
udp.writeTo((const unsigned char*)s, strlen(s), broadcastAddr, localUdpPort); //广播数据
}
/* mpu6050加速度转换为角度
acc2rotation(ax, ay)
acc2rotation(az, ay) */
double acc2rotation(double x, double y)
{
if (y < 0)
{
return atan(x / y) / 1.570796 * 90 + 180;
}
else if (x < 0)
{
return (atan(x / y) / 1.570796 * 90 + 360);
}
else
{
return (atan(x / y) / 1.570796 * 90);
}
}
unsigned long lastTime;
double errSum, lastErr;
int angle_pid(double now_angle)
{
/*How long since we last calculated*/
unsigned long now = millis();
double timeChange = (double)(now - lastTime);
/*Compute all the working error variables*/
double error = target_angle-now_angle;
errSum += (error * timeChange);
double dErr = (error - lastErr) / timeChange;
/*Compute PID Output*/
int Output = PID_P * error + PID_I * errSum + PID_D * dErr;
/*Remember some variables for next time*/
lastErr = error;
lastTime = now;
return Output;
}

63
arduino/udp_kalman/i2c.ino Normal file
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@ -0,0 +1,63 @@
/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
This software may be distributed and modified under the terms of the GNU
General Public License version 2 (GPL2) as published by the Free Software
Foundation and appearing in the file GPL2.TXT included in the packaging of
this file. Please note that GPL2 Section 2[b] requires that all works based
on this software must also be made publicly available under the terms of
the GPL2 ("Copyleft").
Contact information
-------------------
Kristian Lauszus, TKJ Electronics
Web : http://www.tkjelectronics.com
e-mail : kristianl@tkjelectronics.com
*/
const uint8_t IMUAddress = 0x68; // AD0 is logic low on the PCB
const uint16_t I2C_TIMEOUT = 1000; // Used to check for errors in I2C communication
uint8_t i2cWrite(uint8_t registerAddress, uint8_t data, bool sendStop) {
return i2cWrite(registerAddress, &data, 1, sendStop); // Returns 0 on success
}
uint8_t i2cWrite(uint8_t registerAddress, uint8_t *data, uint8_t length, bool sendStop) {
Wire.beginTransmission(IMUAddress);
Wire.write(registerAddress);
Wire.write(data, length);
uint8_t rcode = Wire.endTransmission(sendStop); // Returns 0 on success
if (rcode) {
Serial.print(F("i2cWrite failed: "));
Serial.println(rcode);
}
return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission
}
uint8_t i2cRead(uint8_t registerAddress, uint8_t *data, uint8_t nbytes) {
uint32_t timeOutTimer;
Wire.beginTransmission(IMUAddress);
Wire.write(registerAddress);
uint8_t rcode = Wire.endTransmission(false); // Don't release the bus
if (rcode) {
Serial.print(F("i2cRead failed: "));
Serial.println(rcode);
return rcode; // See: http://arduino.cc/en/Reference/WireEndTransmission
}
Wire.requestFrom(IMUAddress, nbytes, (uint8_t)true); // Send a repeated start and then release the bus after reading
for (uint8_t i = 0; i < nbytes; i++) {
if (Wire.available())
data[i] = Wire.read();
else {
timeOutTimer = micros();
while (((micros() - timeOutTimer) < I2C_TIMEOUT) && !Wire.available());
if (Wire.available())
data[i] = Wire.read();
else {
Serial.println(F("i2cRead timeout"));
return 5; // This error value is not already taken by endTransmission
}
}
}
return 0; // Success
}

98
arduino/udp_kalman/kalman.ino Normal file
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@ -0,0 +1,98 @@
#include <Wire.h>
#include <Kalman.h> // Source: https://github.com/TKJElectronics/KalmanFilter
#define gyroZ_OFF -0.72
Kalman kalmanZ;
/* ----IMU Data---- */
double accX, accY, accZ;
double gyroX, gyroY, gyroZ;
int16_t tempRaw;
double gyroZangle; // Angle calculate using the gyro only
double compAngleZ; // Calculated angle using a complementary filter
double kalAngleZ; // Calculated angle using a Kalman filter
uint32_t timer;
uint8_t i2cData[14]; // Buffer for I2C data
/* ----FOC Data---- */
// driver instance
double acc2rotation(double x, double y);
void kalman_init(){
Wire.begin(19, 18,400000);// Set I2C frequency to 400kHz
i2cData[0] = 7; // Set the sample rate to 1000Hz - 8kHz/(7+1) = 1000Hz
i2cData[1] = 0x00; // Disable FSYNC and set 260 Hz Acc filtering, 256 Hz Gyro filtering, 8 KHz sampling
i2cData[2] = 0x00; // Set Gyro Full Scale Range to ±250deg/s
i2cData[3] = 0x00; // Set Accelerometer Full Scale Range to ±2g
while (i2cWrite(0x19, i2cData, 4, false))
; // Write to all four registers at once
while (i2cWrite(0x6B, 0x01, true))
; // PLL with X axis gyroscope reference and disable sleep mode
while (i2cRead(0x75, i2cData, 1))
;
if (i2cData[0] != 0x68)
{ // Read "WHO_AM_I" register
Serial.print(F("Error reading sensor"));
while (1)
;
}
delay(100); // Wait for sensor to stabilize
/* Set kalman and gyro starting angle */
while (i2cRead(0x3B, i2cData, 6))
;
accX = (int16_t)((i2cData[0] << 8) | i2cData[1]);
accY = (int16_t)((i2cData[2] << 8) | i2cData[3]);
accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]);
double pitch = acc2rotation(accX, accY);
kalmanZ.setAngle(pitch);
gyroZangle = pitch;
timer = micros();
}
double kalman_read(){
while (i2cRead(0x3B, i2cData, 14));
accX = (int16_t)((i2cData[0] << 8) | i2cData[1]);
accY = (int16_t)((i2cData[2] << 8) | i2cData[3]);
accZ = (int16_t)((i2cData[4] << 8) | i2cData[5]);
tempRaw = (int16_t)((i2cData[6] << 8) | i2cData[7]);
gyroX = (int16_t)((i2cData[8] << 8) | i2cData[9]);
gyroY = (int16_t)((i2cData[10] << 8) | i2cData[11]);
gyroZ = (int16_t)((i2cData[12] << 8) | i2cData[13]);
double dt = (double)(micros() - timer) / 1000000; // Calculate delta time
timer = micros();
double pitch = acc2rotation(accX, accY);
double gyroZrate = gyroZ / 131.0; // Convert to deg/s
kalAngleZ = kalmanZ.getAngle(pitch, gyroZrate + gyroZ_OFF, dt);
gyroZangle += (gyroZrate + gyroZ_OFF) * dt;
compAngleZ = 0.93 * (compAngleZ + (gyroZrate + gyroZ_OFF) * dt) + 0.07 * pitch;
// Reset the gyro angle when it has drifted too much
if (gyroZangle < -180 || gyroZangle > 180)
gyroZangle = kalAngleZ;
return kalAngleZ;
}
/* mpu6050加速度转换为角度
acc2rotation(ax, ay)
acc2rotation(az, ay) */
double acc2rotation(double x, double y)
{
if (y < 0)
{
return atan(x / y) / 1.570796 * 90 + 180;
}
else if (x < 0)
{
return (atan(x / y) / 1.570796 * 90 + 360);
}
else
{
return (atan(x / y) / 1.570796 * 90);
}
}

68
arduino/udp_kalman/udp_kalman.ino Normal file
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@ -0,0 +1,68 @@
#include <WiFi.h>
#include <AsyncUDP.h> //引用以使用异步UDP
#include<Wire.h>
const char *ssid = "esp32";
const char *password = "12345678";
double kalZ;
AsyncUDP udp; //创建UDP对象
unsigned int localUdpPort = 2333; //本地端口号
unsigned int broadcastPort = localUdpPort;
//const char *broadcastData = "broadcast data";
const uint8_t broadcastData[] = {"broadcast data"};
void onPacketCallBack(AsyncUDPPacket packet)
{
Serial.print("UDP数据包来源类型: ");
Serial.println(packet.isBroadcast() ? "广播数据" : (packet.isMulticast() ? "组播" : "单播"));
Serial.print("远端地址及端口号: ");
Serial.print(packet.remoteIP());
Serial.print(":");
Serial.println(packet.remotePort());
Serial.print("目标地址及端口号: ");
Serial.print(packet.localIP());
Serial.print(":");
Serial.println(packet.localPort());
Serial.print("数据长度: ");
Serial.println(packet.length());
Serial.print("数据内容: ");
Serial.write(packet.data(), packet.length());
Serial.println();
// packet.print("reply data");
// broadcastPort = packet.remotePort();
}
void setup()
{
Serial.begin(115200);
// kalman mpu6050 init
kalman_init();
//wifi初始化
WiFi.mode(WIFI_AP);
while(!WiFi.softAP(ssid, password)){}; //启动AP
Serial.println("AP启动成功");
while (!udp.listen(localUdpPort)) //等待udp监听设置成功
{
}
udp.onPacket(onPacketCallBack); //注册收到数据包事件
}
char s[255];
void loop()
{
kalZ = kalman_read();
Serial.print(kalZ);Serial.print("\t");
sprintf(s, "%.2f", kalZ); //将100转为16进制表示的字符串
// Serial.println(strlen(s));
delay(10);
// udp.broadcastTo(broadcastData, broadcastPort); //可以使用该方法广播信息
IPAddress broadcastAddr((~(uint32_t)WiFi.subnetMask())|((uint32_t)WiFi.localIP())); //计算广播地址
udp.writeTo((const unsigned char*)s, strlen(s), broadcastAddr, localUdpPort); //广播数据
}

0
arduino/udp_test1/udp_test1/udp_test1.ino → arduino/udp_test1/udp_test1.ino
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0
arduino/wifi_test/wifi_test/wifi_test.ino → arduino/wifi_test/wifi_test.ino
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python_gui/gui/__pycache__/main_ui.cpython-37.pyc
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python_gui/gui/__pycache__/wifi_udp.cpython-37.pyc
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58
python_gui/gui/main.py
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@ -7,6 +7,14 @@ import numpy as np
import pyqtgraph as pg
RED_COLOR = (255, 92, 92)
GREEN_COLOR = (57, 217, 138)
BLUE_COLOR = (91, 141, 236)
ORANGE_COLOR = (253, 172, 66)
YELLOW_COLOR = (255,255,51)
PURPLE_COLOR = (75,0,130)
MAROON_COLOR = (222,184,135)
class MyWindow(QMainWindow, Ui_MainWindow):
def __init__(self, parent=None):
super(MyWindow, self).__init__(parent)
@ -31,7 +39,7 @@ class MyWindow(QMainWindow, Ui_MainWindow):
# 定时器-绘图刷新
self.timer = QtCore.QTimer()
self.timer.timeout.connect(self.update_plot)
self.timer.start(50)
self.timer.start(20)
# wifi udp
self.udp = udp()
# self.wifi_IP_lineEdit.setText(self.udp.user_ip)
@ -43,21 +51,39 @@ class MyWindow(QMainWindow, Ui_MainWindow):
self.now_velocity = 0
self.close_flag = 1
def plot_init(self):
# 图表可视化数组
self.v_list = []
self.v_list.append(np.zeros(300))
self.timeArray = np.arange(-300, 0, 1)
# 绘图对象
self.pw = pg.PlotWidget()
self.curve = self.pw.plot(pen='y')
self.gridLayout.addWidget(self.pw)
self.plotWidget = pg.PlotWidget()
self.plotWidget.showGrid(x=True, y=True, alpha=0.5)
# 图表可视化数组
self.signals = ['now_Angle', 'tag_Angle']
self.signal_tooltip = ['now_Angle ', 'tag_Angle']
self.signalColors = [RED_COLOR, BLUE_COLOR]
self.signalIcons = ['reddot', 'bluedot']
self.numberOfSamples = 300
self.signalDataArrays = []
self.signalPlots = []
self.signalPlotFlags = []
self.timeArray = np.arange(-self.numberOfSamples, 0, 1)
for (sig, sigColor, tooltip) in zip(self.signals, self.signalColors, self.signal_tooltip):
# define signal plot data array
self.signalDataArrays.append(np.zeros(self.numberOfSamples))
# configure signal plot parameters
signalPen = pg.mkPen(color=sigColor, width=1.5)
self.signalPlots.append(pg.PlotDataItem(self.timeArray,
self.signalDataArrays[-1],
pen=signalPen, name=tooltip))
self.plotWidget.addItem(self.signalPlots[-1])
# is plotted flag
self.signalPlotFlags.append(True)
self.gridLayout.addWidget(self.plotWidget)
# 滑条绑定
def velocity_horizontalSlider_valueChanged(self):
self.target_velocity = self.velocity_horizontalSlider.value()
self.velocity_lineEdit.setText(str(self.target_velocity))
self.udp.send_message(str(self.velocity_lineEdit))
self.udp.send_message(str(self.target_velocity))
print(str(self.target_velocity))
def wifi_config_pushButton_clicked(self):
try:
print(self.wifi_IP_lineEdit.text(),type(self.wifi_IP_lineEdit.text()))
@ -82,9 +108,15 @@ class MyWindow(QMainWindow, Ui_MainWindow):
self.udp_data = recv_data
def update_plot(self):
if self.wifi_recv_flag:
self.v_list[0] = np.roll(self.v_list[0], -1)
self.v_list[0][-1] = self.udp_data
self.curve.setData(self.timeArray, self.v_list[0]) # 在绘图部件中绘制折线图
self.signalDataArrays[0] = np.roll(self.signalDataArrays[0], -1)
self.signalDataArrays[0][-1] = self.udp_data
self.signalDataArrays[1] = np.roll(self.signalDataArrays[1], -1)
self.signalDataArrays[1][-1] = self.angle_lineEdit.text()
# self.curve.setData(self.timeArray, self.v_list[0]) # 在绘图部件中绘制折线图
for i, plotFlag in enumerate(self.signalPlotFlags):
self.signalPlots[i].setData(self.timeArray, self.signalDataArrays[i])
self.signalPlots[i].updateItems()
self.signalPlots[i].sigPlotChanged.emit(self.signalPlots[i])
def closeEvent(self, a0: QtGui.QCloseEvent) -> None:
self.close_flag = 0

54
python_gui/gui/main_ui.py
View File

@ -14,23 +14,9 @@ from PyQt5 import QtCore, QtGui, QtWidgets
class Ui_MainWindow(object):
def setupUi(self, MainWindow):
MainWindow.setObjectName("MainWindow")
MainWindow.resize(800, 600)
MainWindow.resize(800, 749)
self.centralwidget = QtWidgets.QWidget(MainWindow)
self.centralwidget.setObjectName("centralwidget")
self.velocity_horizontalSlider = QtWidgets.QSlider(self.centralwidget)
self.velocity_horizontalSlider.setGeometry(QtCore.QRect(470, 420, 261, 22))
self.velocity_horizontalSlider.setMinimum(-100)
self.velocity_horizontalSlider.setMaximum(100)
self.velocity_horizontalSlider.setOrientation(QtCore.Qt.Horizontal)
self.velocity_horizontalSlider.setTickPosition(QtWidgets.QSlider.TicksAbove)
self.velocity_horizontalSlider.setTickInterval(10)
self.velocity_horizontalSlider.setObjectName("velocity_horizontalSlider")
self.velocity_lineEdit = QtWidgets.QLineEdit(self.centralwidget)
self.velocity_lineEdit.setGeometry(QtCore.QRect(580, 460, 113, 21))
self.velocity_lineEdit.setObjectName("velocity_lineEdit")
self.label = QtWidgets.QLabel(self.centralwidget)
self.label.setGeometry(QtCore.QRect(520, 460, 51, 16))
self.label.setObjectName("label")
self.gridLayoutWidget = QtWidgets.QWidget(self.centralwidget)
self.gridLayoutWidget.setGeometry(QtCore.QRect(180, 20, 581, 361))
self.gridLayoutWidget.setObjectName("gridLayoutWidget")
@ -57,6 +43,38 @@ class Ui_MainWindow(object):
self.wifi_recv_open_pushButton.setEnabled(False)
self.wifi_recv_open_pushButton.setGeometry(QtCore.QRect(180, 380, 93, 28))
self.wifi_recv_open_pushButton.setObjectName("wifi_recv_open_pushButton")
self.horizontalLayoutWidget_2 = QtWidgets.QWidget(self.centralwidget)
self.horizontalLayoutWidget_2.setGeometry(QtCore.QRect(570, 440, 104, 31))
self.horizontalLayoutWidget_2.setObjectName("horizontalLayoutWidget_2")
self.horizontalLayout_2 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_2)
self.horizontalLayout_2.setContentsMargins(0, 0, 0, 0)
self.horizontalLayout_2.setObjectName("horizontalLayout_2")
self.label = QtWidgets.QLabel(self.horizontalLayoutWidget_2)
self.label.setObjectName("label")
self.horizontalLayout_2.addWidget(self.label)
self.velocity_lineEdit = QtWidgets.QLineEdit(self.horizontalLayoutWidget_2)
self.velocity_lineEdit.setObjectName("velocity_lineEdit")
self.horizontalLayout_2.addWidget(self.velocity_lineEdit)
self.velocity_horizontalSlider = QtWidgets.QSlider(self.centralwidget)
self.velocity_horizontalSlider.setGeometry(QtCore.QRect(410, 420, 261, 22))
self.velocity_horizontalSlider.setMinimum(-150)
self.velocity_horizontalSlider.setMaximum(150)
self.velocity_horizontalSlider.setOrientation(QtCore.Qt.Horizontal)
self.velocity_horizontalSlider.setTickPosition(QtWidgets.QSlider.TicksAbove)
self.velocity_horizontalSlider.setTickInterval(10)
self.velocity_horizontalSlider.setObjectName("velocity_horizontalSlider")
self.horizontalLayoutWidget_3 = QtWidgets.QWidget(self.centralwidget)
self.horizontalLayoutWidget_3.setGeometry(QtCore.QRect(400, 440, 134, 31))
self.horizontalLayoutWidget_3.setObjectName("horizontalLayoutWidget_3")
self.horizontalLayout_3 = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget_3)
self.horizontalLayout_3.setContentsMargins(0, 0, 0, 0)
self.horizontalLayout_3.setObjectName("horizontalLayout_3")
self.label_2 = QtWidgets.QLabel(self.horizontalLayoutWidget_3)
self.label_2.setObjectName("label_2")
self.horizontalLayout_3.addWidget(self.label_2)
self.angle_lineEdit = QtWidgets.QLineEdit(self.horizontalLayoutWidget_3)
self.angle_lineEdit.setObjectName("angle_lineEdit")
self.horizontalLayout_3.addWidget(self.angle_lineEdit)
MainWindow.setCentralWidget(self.centralwidget)
self.menubar = QtWidgets.QMenuBar(MainWindow)
self.menubar.setGeometry(QtCore.QRect(0, 0, 800, 26))
@ -72,9 +90,11 @@ class Ui_MainWindow(object):
def retranslateUi(self, MainWindow):
_translate = QtCore.QCoreApplication.translate
MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow"))
self.velocity_lineEdit.setText(_translate("MainWindow", "0"))
self.label.setText(_translate("MainWindow", "速度："))
self.groupBox.setTitle(_translate("MainWindow", "wifi_IP"))
self.wifi_IP_lineEdit.setText(_translate("MainWindow", "192.168.4.2"))
self.wifi_config_pushButton.setText(_translate("MainWindow", "设置"))
self.wifi_recv_open_pushButton.setText(_translate("MainWindow", "打开"))
self.label.setText(_translate("MainWindow", "速度："))
self.velocity_lineEdit.setText(_translate("MainWindow", "0"))
self.label_2.setText(_translate("MainWindow", "目标角度："))
self.angle_lineEdit.setText(_translate("MainWindow", "149"))

130
python_gui/gui/main_ui.ui
View File

@ -7,64 +7,13 @@
<x>0</x>
<y>0</y>
<width>800</width>
<height>600</height>
<height>749</height>
</rect>
</property>
<property name="windowTitle">
<string>MainWindow</string>
</property>
<widget class="QWidget" name="centralwidget">
<widget class="QSlider" name="velocity_horizontalSlider">
<property name="geometry">
<rect>
<x>470</x>
<y>420</y>
<width>261</width>
<height>22</height>
</rect>
</property>
<property name="minimum">
<number>-100</number>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="tickPosition">
<enum>QSlider::TicksAbove</enum>
</property>
<property name="tickInterval">
<number>10</number>
</property>
</widget>
<widget class="QLineEdit" name="velocity_lineEdit">
<property name="geometry">
<rect>
<x>580</x>
<y>460</y>
<width>113</width>
<height>21</height>
</rect>
</property>
<property name="text">
<string>0</string>
</property>
</widget>
<widget class="QLabel" name="label">
<property name="geometry">
<rect>
<x>520</x>
<y>460</y>
<width>51</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>速度：</string>
</property>
</widget>
<widget class="QWidget" name="gridLayoutWidget">
<property name="geometry">
<rect>
@ -134,6 +83,83 @@
<string>打开</string>
</property>
</widget>
<widget class="QWidget" name="horizontalLayoutWidget_2">
<property name="geometry">
<rect>
<x>570</x>
<y>440</y>
<width>104</width>
<height>31</height>
</rect>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>速度：</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="velocity_lineEdit">
<property name="text">
<string>0</string>
</property>
</widget>
</item>
</layout>
</widget>
<widget class="QSlider" name="velocity_horizontalSlider">
<property name="geometry">
<rect>
<x>410</x>
<y>420</y>
<width>261</width>
<height>22</height>
</rect>
</property>
<property name="minimum">
<number>-150</number>
</property>
<property name="maximum">
<number>150</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="tickPosition">
<enum>QSlider::TicksAbove</enum>
</property>
<property name="tickInterval">
<number>10</number>
</property>
</widget>
<widget class="QWidget" name="horizontalLayoutWidget_3">
<property name="geometry">
<rect>
<x>400</x>
<y>440</y>
<width>134</width>
<height>31</height>
</rect>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QLabel" name="label_2">
<property name="text">
<string>目标角度：</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="angle_lineEdit">
<property name="text">
<string>149</string>
</property>
</widget>
</item>
</layout>
</widget>
</widget>
<widget class="QMenuBar" name="menubar">
<property name="geometry">