feat: 初始化项目，添加电机控制、CAN通信、QT界面等模块

qt/calculate/trajectory.py

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+# trajectory.py
+
+import numpy as np
+
+def circle_trajectory(center=(80, 0), radius=40, num_points=60):
+    """ 圆形轨迹 """
+    angles = np.linspace(0, 2 * np.pi, num_points)
+    x_list = center[0] + radius * np.cos(angles)
+    y_list = center[1] + radius * np.sin(angles)
+    return x_list, y_list
+
+def line_trajectory(start=(40, 0), end=(120, 0), num_points=60):
+    """ 直线轨迹 """
+    t = np.linspace(0, 1, num_points)
+    x_list = start[0] + t * (end[0] - start[0])
+    y_list = start[1] + t * (end[1] - start[1])
+    return x_list, y_list
+
+def ellipse_trajectory(center=(80, 0), rx=50, ry=25, num_points=60):
+    """ 椭圆轨迹 """
+    angles = np.linspace(0, 2 * np.pi, num_points)
+    x_list = center[0] + rx * np.cos(angles)
+    y_list = center[1] + ry * np.sin(angles)
+    return x_list, y_list
+
+def square_trajectory(side=60, num_points=60):
+    """ 正方形轨迹 """
+    x_list, y_list = [], []
+    for i in range(num_points):
+        t = i / num_points
+        if t < 0.25:
+            x = 80 + 60 * t * 4
+            y = 0
+        elif t < 0.5:
+            x = 140
+            y = 0 + 60 * (t - 0.25) * 4
+        elif t < 0.75:
+            x = 140 - 60 * (t - 0.5) * 4
+            y = 60
+        else:
+            x = 80
+            y = 60 - 60 * (t - 0.75) * 4
+        x_list.append(x)
+        y_list.append(y)
+    return x_list, y_list
+
+def triangle_trajectory(base_length=100, height=80, num_points=60):
+    """ 三角形轨迹 """
+    x_list, y_list = [], []
+    points = [(80, 0), (130, 80), (30, 80), (80, 0)]
+    for i in range(num_points):
+        idx = int(i / num_points * 3)
+        t = (i % (num_points // 3)) / (num_points // 3)
+        x = points[idx][0] + t * (points[idx+1][0] - points[idx][0])
+        y = points[idx][1] + t * (points[idx+1][1] - points[idx][1])
+        x_list.append(x)
+        y_list.append(y)
+    return x_list, y_list
+
+def custom_trajectory(custom_x, custom_y):
+    """ 自定义轨迹，输入两个列表即可 """
+    return custom_x, custom_y