feat: 初始化项目，添加电机控制、CAN通信、QT界面等模块

test_chuankou.py

@@ -0,0 +1,55 @@
+from calculate.calculate_angle import main_of_5dof
+
+# control_with_serial.py
+
+
+# 📡 初始化串口连接
+def init_serial(port=SERIAL_PORT, baud_rate=BAUD_RATE):
+    try:
+        ser = serial.Serial(port, baud_rate, timeout=TIMEOUT)
+        print(f"串口已连接: {port} @ {baud_rate}")
+        return ser
+    except Exception as e:
+        print(f"无法打开串口 {port}: {e}")
+        return None
+
+# 📤 发送角度到串口
+def send_angles(ser, theta1_deg, theta4_deg):
+    # 格式：theta1_deg,theta4_deg\n
+    data = f"{int(theta1_deg)},{int(theta4_deg)}\n"
+    try:
+        ser.write(data.encode())
+        print(f"已发送角度: theta1 = {theta1_deg}°, theta4 = {theta4_deg}°")
+    except Exception as e:
+        print(f"发送失败: {e}")
+
+# 🚀 主程序入口
+if __name__ == "__main__":
+    # 调用你的轨迹规划函数
+    angles_list = main_of_5dof(
+        trajectory_type='line',
+        start=(0, 0),
+        end=(200, 300),
+        show_animation=False
+    )
+
+    # 初始化串口
+    ser = init_serial()
+    if ser is None:
+        exit(1)
+
+    # 遍历角度列表并发送
+    for i, (theta1, theta4) in enumerate(angles_list):
+        theta1_deg = np.degrees(theta1)
+        theta4_deg = np.degrees(theta4)
+
+        print(f"第 {i} 帧角度: theta1 = {theta1_deg:.2f}°, theta4 = {theta4_deg:.2f}°")
+        send_angles(ser, theta1_deg, theta4_deg)
+
+        # 可选：每帧之间加延迟，控制发送速度
+        import time
+        time.sleep(0.05)  # 每帧间隔 50ms
+
+    # 关闭串口
+    ser.close()
+    print("串口已关闭")