feat: 初始化项目，添加电机控制、CAN通信、QT界面等模块

motor_control/can_main.py

@@ -0,0 +1,93 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+'''
+# @Time    : 2025/7/21
+# @Author  : hx
+# @File    : can_main.py
+'''
+
+import can
+import time
+
+# 导入你写的 generate_position_command 函数
+from motor_control_can_all import generate_position_command
+
+
+# ========================================
+# 发送CAN帧函数
+# ========================================
+def send_can_frame(data, can_id=0x01, channel='vcan0', interface='socketcan'):
+    """
+    发送CAN帧
+    :param data: 7字节的列表
+    :param can_id: CAN ID
+    :param channel: CAN 通道
+    :param interface: 总线类型
+    """
+    try:
+        bus = can.interface.Bus(channel=channel, interface=interface)
+        msg = can.Message(arbitration_id=can_id, data=data, is_extended_id=False)
+        bus.send(msg)
+        print(f"[发送CAN帧] ID={can_id:02X} 数据=[{', '.join(f'0x{x:02X}' for x in data)}]")
+        bus.shutdown()
+    except Exception as e:
+        print(f"[发送失败] {e}")
+
+
+# ========================================
+# 监听CAN反馈函数
+# ========================================
+def listen_can_feedback(channel='vcan0', interface='socketcan', timeout=2.0):
+    """
+    监听是否有CAN反馈数据
+    :param channel: CAN 通道
+    :param interface: 总线类型
+    :param timeout: 等待反馈的超时时间（秒）
+    """
+    try:
+        bus = can.interface.Bus(channel=channel, interface=interface)
+        print(f"[监听反馈] 等待来自 {channel} 的反馈（{timeout}秒超时）...")
+        msg = bus.recv(timeout=timeout)
+        if msg:
+            print(f"[收到反馈] ID={msg.arbitration_id:02X} 数据=[{', '.join(f'0x{x:02X}' for x in msg.data)}]")
+        else:
+            print("[未收到反馈]")
+        bus.shutdown()
+    except Exception as e:
+        print(f"[监听失败] {e}")
+
+
+# ========================================
+# 主函数：发送位置控制指令并监听反馈
+# ========================================
+
+def can_motor_contral(direction=0, angle=100, microstep=32, can_id=0x01, channel='vcan0', listen_feedback=False):
+    print("=== 开始发送CAN位置控制指令 ===")
+    print(f"参数：方向={direction}（0=逆时针，1=顺时针），角度={angle}°，细分={microstep}")
+
+    # 生成CAN数据帧
+    can_data = generate_position_command(direction=direction, microstep=microstep, angle=angle)
+    print(f"生成的CAN数据帧: [{', '.join(f'0x{x:02X}' for x in can_data)}]")
+
+    # 发送CAN帧
+    send_can_frame(can_data, can_id=can_id, channel=channel)
+
+    # 如果启用监听，等待反馈
+    if listen_feedback:
+        listen_can_feedback(channel=channel)
+
+    print("=== 电机控制流程完成 ===")
+
+# ========================================
+# 程序入口（直接运行时使用）
+# ========================================
+if __name__ == "__main__":
+    # 这里写死参数，方便调试
+    can_motor_contral(
+        direction=1,           # 顺时针
+        angle=180,             # 180度
+        microstep=16,          # 细分值16
+        can_id=0x02,           # CAN ID 0x02
+        channel='vcan0',       # 使用虚拟CAN
+        listen_feedback=True   # 是否监听反馈
+    )