diff --git a/DM/DM_Motor_controller.py b/DM/DM_Motor_controller.py index ac55f1b..48b44f7 100644 --- a/DM/DM_Motor_controller.py +++ b/DM/DM_Motor_controller.py @@ -241,7 +241,14 @@ def reset_motor(): if __name__ == '__main__': # 首先在吸附位置处进行 设置零点位置 set_zero_position() + + reset_motor() set_dm_motor_speed(30) - set_ori_position(282.6) + set_drop_position(282.6) + set_ori_position(-282.6) + + # 起始位置：吸附位置 + move_to_drop_position() move_to_ori_position() + diff --git a/RK1106/stepper_motor.py b/RK1106/stepper_motor.py index c0f272f..cd0117b 100644 --- a/RK1106/stepper_motor.py +++ b/RK1106/stepper_motor.py @@ -195,7 +195,7 @@ def align_wire(speed: int, cycle: float): GLOBAL_MOTOR.rotate(pulse_frequency=speed, rounds=cycle, direction=0) time.sleep(5) # 暂停5秒 # 远离电机方向 顺时针 - GLOBAL_MOTOR.rotate(pulse_frequency=speed,rounds=10.0, direction=1) + GLOBAL_MOTOR.rotate(pulse_frequency=speed,rounds=cycle, direction=1) time.sleep(5) # 暂停5秒 except ImportError: diff --git a/UI/ui_3d.py b/UI/ui_3d.py index ebcade9..206026a 100644 --- a/UI/ui_3d.py +++ b/UI/ui_3d.py @@ -6,24 +6,105 @@ # @File : 3D.py # @Desc : 界面上的线条3D显示 ''' -from PySide6.QtWidgets import QApplication, QMainWindow, QWidget, QVBoxLayout -from matplotlib.backends.backend_qtagg import FigureCanvasQTAgg as FigureCanvas -import matplotlib.pyplot as plt import sys -# 线条类型A -class Target3DWidgetA(QWidget): - def __init__(self, parent=None): +from PySide6.QtWidgets import QApplication, QWidget, QVBoxLayout +from matplotlib.backends.backend_qtagg import FigureCanvasQTAgg as FigureCanvas +import matplotlib.pyplot as plt +from PySide6.QtCore import Qt + + +class Target3DWidget(QWidget): + """ + 3D显示窗口，支持类型A和类型B + """ + + VERTICES_A = [ + # 底部截面（Z=0平面） + (0, 3, 0), (100, 3, 0), + (100, 3, 0), (100, 0, 0), + # 中间截面（Z=0.5平面） + (0, 0.5, 0.5), (0, 3, 0.5), + (0, 3, 0.5), (100, 3, 0.5), + (100, 3, 0.5), (100, 0.5, 0.5), + (100, 0.5, 0.5), (0, 0.5, 0.5), + # 顶部界面（Z=2平面） + (0, 0, 2), (0, 0.5, 2), + (0, 0.5, 2), (100, 0.5, 2), + (100, 0.5, 2), (100, 0, 2), + (100, 0, 2), (0, 0, 2), + # z方向的连线 + (0, 3, 0.5), (0, 3, 0), + (100, 3, 0.5), (100, 3, 0), + (0, 0.5, 2), (0, 0.5, 0.5), + (100, 0.5, 2), (100, 0.5, 0.5), + (100, 0, 2), (100, 0, 0), + ] + + VERTICES_B = [ + # 底部截面（Z=0平面） + (0, 3, 0), (100, 3, 0), + (100, 3, 0), (100, 0, 0), + # 中间截面（Z=0.5平面） + (0, 0.5, 0.5), (0, 2.5, 0.5), + (100, 2.5, 0.5), (100, 0.5, 0.5), + (100, 0.5, 0.5), (0, 0.5, 0.5), + # 中间截面（Z=1平面） + (0, 2.5, 1), (0, 3, 1), + (0, 3, 1), (100, 3, 1), + (100, 3, 1), (100, 2.5, 1), + (100, 2.5, 1), (0, 2.5, 1), + # 顶部界面（Z=2平面） + (0, 0, 2), (0, 0.5, 2), + (0, 0.5, 2), (100, 0.5, 2), + (100, 0.5, 2), (100, 0, 2), + (100, 0, 2), (0, 0, 2), + # z方向的连线 + (0, 3, 1), (0, 3, 0), + (100, 3, 1), (100, 3, 0), + (0, 0.5, 2), (0, 0.5, 0.5), + (100, 0.5, 2), (100, 0.5, 0.5), + (100, 0, 2), (100, 0, 0), + (0, 2.5, 1), (0, 2.5, 0.5), + (100, 2.5, 1), (100, 2.5, 0.5) + ] + + ANNOTATIONS_A = [ + ("a", 100, 0.25, 2, 'red'), + ("b", 100, 0.5, 1.25, 'magenta'), + ("c", 100, 1, 0, 'green'), + ("d", 100, 3, 0.25, 'blue'), + ] + + ANNOTATIONS_B = [ + ("a", 100, 0.25, 2, 'red'), + ("b", 100, 0.5, 1.25, 'magenta'), + ("c", 100, 1, 0, 'green'), + ("d", 100, 3, 0.5, 'blue'), + ("e", 100, 2.5, 0.6, 'orange'), + ("f", 100, 2.75, 1, 'purple') + ] + + def __init__(self, index: int = 0, parent=None): super().__init__(parent) + self._index = index + + self.setWindowFlags(Qt.Window | Qt.FramelessWindowHint) # 无边框窗口 + self.setAttribute(Qt.WA_TranslucentBackground) # 设置背景为透明 + self.setStyleSheet("background: transparent;") + self.init_3d_plot() self.setLayout(QVBoxLayout()) + self.layout().setContentsMargins(0, 0, 0, 0) # 移除布局的内边距 self.layout().addWidget(self.canvas) def init_3d_plot(self): # 3D画布 - self.fig = plt.figure(figsize=(15, 6)) + self.fig = plt.figure() + self.fig.patch.set_facecolor('none') # 设置figure背景透明 self.canvas = FigureCanvas(self.fig) self.ax = self.fig.add_subplot(111, projection='3d') + self.ax.set_facecolor('none') # 设置axes背景透明 # 绘制3D形状 self.draw_target_shape() @@ -41,9 +122,9 @@ class Target3DWidgetA(QWidget): self.ax.set_zticklabels([]) # 2. 隐藏刻度线（针对3D轴的特殊设置） - self.ax.tick_params(axis='x', which='both', length=0) # X轴刻度线长度设为0 - self.ax.tick_params(axis='y', which='both', length=0) # Y轴刻度线长度设为0 - self.ax.tick_params(axis='z', which='both', length=0) # Z轴刻度线长度设为0 + self.ax.tick_params(axis='x', which='both', length=0) # X轴刻度线长度设为0 + self.ax.tick_params(axis='y', which='both', length=0) # Y轴刻度线长度设为0 + self.ax.tick_params(axis='z', which='both', length=0) # Z轴刻度线长度设为0 # 轴范围保留（保证3D图形显示范围正确） self.ax.set_xlim(0, 120) @@ -55,31 +136,7 @@ class Target3DWidgetA(QWidget): def draw_target_shape(self): """绘制3D结构""" - vertices = [ - # 底部截面（Z=0平面） - (0, 3, 0), (100, 3, 0), - (100, 3, 0), (100, 0, 0), - - # 中间截面（Z=0.5平面） - (0, 0.5, 0.5), (0, 3, 0.5), - (0, 3, 0.5), (100, 3, 0.5), - (100, 3, 0.5), (100, 0.5, 0.5), - (100, 0.5, 0.5), (0, 0.5, 0.5), - - # 顶部界面（Z=2平面） - (0, 0, 2), (0, 0.5, 2), - (0, 0.5, 2), (100, 0.5, 2), - (100, 0.5, 2), (100, 0, 2), - (100, 0, 2), (0, 0, 2), - - # z方向的连线 - (0, 3, 0.5), (0, 3, 0), - (100, 3, 0.5), (100, 3, 0), - (0, 0.5, 2), (0, 0.5, 0.5), - (100, 0.5, 2), (100, 0.5, 0.5), - (100, 0, 2), (100, 0, 0), - ] - + vertices = self.VERTICES_A if self._index == 0 else self.VERTICES_B # 绘制所有棱边 for i in range(0, len(vertices), 2): x = [vertices[i][0], vertices[i + 1][0]] @@ -89,138 +146,32 @@ class Target3DWidgetA(QWidget): def add_annotations(self): """标注位置（适配X轴1cm单位）""" - annotations = [ - ("a", 100, 0, 1, 'red'), - ("b", 100, 1, 0, 'green'), - ("c", 100, 3, 0.25, 'blue'), - ("d", 50, 2, 0, 'magenta') - ] - for text, x, y, z, color in annotations: - self.ax.text(x, y, z, text, fontsize=14, color=color, weight='bold') - -# 线条类型B -class Target3DWidgetB(QWidget): - def __init__(self, parent=None): - super().__init__(parent) - self.init_3d_plot() - self.setLayout(QVBoxLayout()) - self.layout().addWidget(self.canvas) - - def init_3d_plot(self): - # 3D画布 - self.fig = plt.figure(figsize=(15, 6)) - self.canvas = FigureCanvas(self.fig) - self.ax = self.fig.add_subplot(111, projection='3d') - - # 绘制3D形状 - self.draw_target_shape() - # 添加标注 - self.add_annotations() - - # ========== 核心修改：X/Y/Z轴统一为1cm单位 ========== - self.ax.set_xlabel('X') - self.ax.set_ylabel('Y') - self.ax.set_zlabel('Z') - - # 1. 清空刻度数值（隐藏刻度数字） - self.ax.set_xticklabels([]) - self.ax.set_yticklabels([]) - self.ax.set_zticklabels([]) - - # 2. 隐藏刻度线（针对3D轴的特殊设置） - self.ax.tick_params(axis='x', which='both', length=0) # X轴刻度线长度设为0 - self.ax.tick_params(axis='y', which='both', length=0) # Y轴刻度线长度设为0 - self.ax.tick_params(axis='z', which='both', length=0) # Z轴刻度线长度设为0 - - # 轴范围保留（保证3D图形显示范围正确） - self.ax.set_xlim(0, 120) - self.ax.set_ylim(0, 5) - self.ax.set_zlim(0, 5) - - # 调整视角（适配X轴1cm刻度） - self.ax.view_init(elev=20, azim=60) - - def draw_target_shape(self): - """绘制3D结构""" - vertices = [ - # 底部截面（Z=0平面） - (0, 3, 0), (100, 3, 0), - (100, 3, 0), (100, 0, 0), - - # 中间截面（Z=0.5平面） - (0, 0.5, 0.5), (0, 2.5, 0.5), - (100, 2.5, 0.5), (100, 0.5, 0.5), - (100, 0.5, 0.5), (0, 0.5, 0.5), - - # 中间截面（Z=1平面） - (0, 2.5, 1),(0, 3, 1), - (0, 3, 1), (100, 3, 1), - (100, 3, 1), (100, 2.5, 1), - (100, 2.5, 1), (0, 2.5, 1), - - # 顶部界面（Z=2平面） - (0, 0, 2), (0, 0.5, 2), - (0, 0.5, 2), (100, 0.5, 2), - (100, 0.5, 2), (100, 0, 2), - (100, 0, 2), (0, 0, 2), - - # z方向的连线 - (0, 3, 1), (0, 3, 0), - (100, 3, 1), (100, 3, 0), - (0, 0.5, 2), (0, 0.5, 0.5), - (100, 0.5, 2), (100, 0.5, 0.5), - (100, 0, 2), (100, 0, 0), - (0, 2.5, 1),(0, 2.5, 0.5), - (100, 2.5, 1),(100, 2.5, 0.5) - ] - - # 绘制所有棱边 - for i in range(0, len(vertices), 2): - x = [vertices[i][0], vertices[i + 1][0]] - y = [vertices[i][1], vertices[i + 1][1]] - z = [vertices[i][2], vertices[i + 1][2]] - self.ax.plot(x, y, z, color='black', linewidth=2) - - def add_annotations(self): - """标注位置（适配X轴1cm单位）""" - annotations = [ - ("a", 100, 0, 1, 'red'), - ("b", 100, 1, 0, 'green'), - ("c", 100, 3, 0.5, 'blue'), - ("d", 50, 2, 0, 'magenta') - ] + annotations = self.ANNOTATIONS_A if self._index == 0 else self.ANNOTATIONS_B for text, x, y, z, color in annotations: self.ax.text(x, y, z, text, fontsize=14, color=color, weight='bold') -class MainWindowA(QMainWindow): - def __init__(self): - super().__init__() - self.setWindowTitle("3D视图（X/Y/Z单位：1cm）") - self.setGeometry(100, 100, 1200, 700) # 加宽窗口，适配X轴1cm刻度 - self.setCentralWidget(Target3DWidgetA()) - -class MainWindowB(QMainWindow): - def __init__(self): - super().__init__() - self.setWindowTitle("3D视图（X/Y/Z单位：1cm）") - self.setGeometry(100, 100, 1200, 700) # 加宽窗口，适配X轴1cm刻度 - self.setCentralWidget(Target3DWidgetB()) - -def ui_3d_a(): +# ----------对外接口---------- +def show(x: int, y: int, w: int, h: int, index: int): + """ + 显示3D视图窗口 + :param x: 窗口横坐标 + :param y: 窗口纵坐标 + :param w: 窗口宽度 + :param h: 窗口高度 + :param index: 窗口索引，0为A视图，1为B视图 + """ + if index not in (0, 1): + raise ValueError("index must be 0 or 1") + app = QApplication(sys.argv) - window = MainWindowA() + window = Target3DWidget(index) + window.setGeometry(x, y, w, h) window.show() sys.exit(app.exec()) -def ui_3d_b(): - app = QApplication(sys.argv) - window = MainWindowB() - window.show() - sys.exit(app.exec()) # ----------测试接口---------- if __name__ == '__main__': - # ui_3d_a() - ui_3d_b() - + show(100, 100, 700, 700, 0) # 显示A视图窗口 + # show(100, 100, 700, 700, 1) # 显示B视图窗口