146 lines
4.6 KiB
Python
146 lines
4.6 KiB
Python
import sys
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import numpy as np
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import matplotlib
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matplotlib.use('Qt5Agg') # 必须在导入 pyplot 前设置
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from PyQt5.QtWidgets import QApplication, QDialog, QVBoxLayout
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from PyQt5.QtGui import QStandardItemModel, QStandardItem # ✅ 正确的模块
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from calculate.trajectory import circle_trajectory, line_trajectory
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from calculate.ik import inverseF
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from matplotlib.figure import Figure
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from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
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from matplotlib.animation import FuncAnimation
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# 导入你生成的界面
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from untitled import Ui_Dialog
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import matplotlib.pyplot as plt
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# 设置中文字体和解决负号显示问题
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plt.rcParams['font.sans-serif'] = ['SimHei', 'WenQuanYi Zen Hei', 'FangSong'] # 按优先级选择字体
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plt.rcParams['axes.unicode_minus'] = False # 显示负号 -
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# 杆长参数
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L1 = 250
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L2 = 300
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L3 = 300
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L4 = 250
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L0 = 250
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class MyDialog(QDialog, Ui_Dialog):
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def __init__(self):
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super().__init__()
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self.setupUi(self)
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# ****** 新增：为 listView 初始化模型 ******
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self.angle_model = QStandardItemModel(self.listView)
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self.listView.setModel(self.angle_model)
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# 创建 matplotlib 图形
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self.figure = Figure(figsize=(8, 6), dpi=100)
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self.ax = self.figure.add_subplot(111)
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self.ax.set_xlim(-300, 500)
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self.ax.set_ylim(0, 500)
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self.ax.set_aspect('equal')
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self.ax.grid(True)
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self.ax.set_title("五连杆沿轨迹运动")
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# 创建画布
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self.canvas = FigureCanvas(self.figure)
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self.widget.setLayout(QVBoxLayout())
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self.widget.layout().addWidget(self.canvas)
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# 添加 line 对象
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self.line, = self.ax.plot([], [], 'r-o', linewidth=2, markersize=6)
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# 初始化轨迹数据
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self.x_list = []
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self.y_list = []
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self.ani = None # 动画对象
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# 连接按钮
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self.pushButton.clicked.connect(self.start_line_trajectory)
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self.pushButton_2.clicked.connect(self.start_circle_trajectory)
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def start_line_trajectory(self):
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# 清除旧的角度数据显示
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self.angle_model.clear()
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self.ax.set_title("五连杆 - 直线轨迹运动")
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x, y = line_trajectory(start=(125, 300), end=(125, 400))
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self.start_animation(x, y)
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def start_circle_trajectory(self):
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# 清除旧的角度数据显示
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self.angle_model.clear()
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self.ax.set_title("五连杆 - 圆形轨迹运动")
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x, y = circle_trajectory(center=(100, 200), radius=40)
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self.start_animation(x, y)
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def start_animation(self, x_list, y_list):
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self.x_list = x_list
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self.y_list = y_list
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# 安全停止旧动画
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try:
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if self.ani is not None and self.ani.event_source is not None:
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self.ani.event_source.stop()
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except:
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pass # 忽略停止过程中的任何异常
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# 动画函数
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def draw_frame(i):
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x = x_list[i]
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y = y_list[i]
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try:
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theta1, theta4 = inverseF(x, y, L1, L2, L3, L4, L0)
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# ****** 新增：将弧度转换为角度并显示 ******
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theta1_deg = np.degrees(theta1)
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theta4_deg = np.degrees(theta4)
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angle_text = f"点 {i}: θ1={theta1_deg:.1f}°, θ4={theta4_deg:.1f}°"
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# 限制 listView 只显示最近 10 条
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if self.angle_model.rowCount() >= 10:
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self.angle_model.removeRow(0)
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# 创建新项并添加
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item = QStandardItem(angle_text)
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self.angle_model.appendRow(item)
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# 左侧电机臂末端
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x2 = L1 * np.cos(theta1)
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y2 = L1 * np.sin(theta1)
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# 右侧电机臂末端
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x4 = L4 * np.cos(theta4) + L0
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y4 = L4 * np.sin(theta4)
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# 构建点序列
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x_coords = [0, x2, x, x4, L0]
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y_coords = [0, y2, y, y4, 0]
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self.line.set_data(x_coords, y_coords)
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except Exception as e:
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print(f"第 {i} 帧错误: {e}")
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return self.line,
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# 创建新动画
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self.ani = FuncAnimation(
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self.figure,
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draw_frame,
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frames=len(x_list),
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interval=100,
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repeat=False ,
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blit=False # PyQt 中 blit=True 有时有问题，先设 False
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)
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self.canvas.draw()
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if __name__ == "__main__":
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app = QApplication(sys.argv)
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dialog = MyDialog()
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dialog.show()
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sys.exit(app.exec_()) |