更新界面+更新步进电机bug和达妙电机调试接口

DM/DM_Motor_controller.py

@@ -242,6 +242,13 @@ 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()
+    

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:

UI/ui_3d.py

@@ -6,72 +6,33 @@
 # @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
+from PySide6.QtWidgets import QApplication, QWidget, QVBoxLayout
-class Target3DWidgetA(QWidget):
+from matplotlib.backends.backend_qtagg import FigureCanvasQTAgg as FigureCanvas
-    def __init__(self, parent=None):
+import matplotlib.pyplot as plt
-        super().__init__(parent)
+from PySide6.QtCore import Qt
-        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
+class Target3DWidget(QWidget):
-        self.draw_target_shape()
+    """
-        # 添加标注
+    3D显示窗口，支持类型A和类型B
-        self.add_annotations()
+    """
     
-        # ========== 核心修改：X/Y/Z轴统一为1cm单位 ==========
+    VERTICES_A = [
-        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, 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),
@@ -80,37 +41,70 @@ class Target3DWidgetA(QWidget):
         (100, 0, 2), (100, 0, 0),
     ]
     
-        # 绘制所有棱边
+    VERTICES_B = [
-        for i in range(0, len(vertices), 2):
+        # 底部截面（Z=0平面）
-            x = [vertices[i][0], vertices[i + 1][0]]
+        (0, 3, 0), (100, 3, 0),
-            y = [vertices[i][1], vertices[i + 1][1]]
+        (100, 3, 0), (100, 0, 0),
-            z = [vertices[i][2], vertices[i + 1][2]]
+        # 中间截面（Z=0.5平面）
-            self.ax.plot(x, y, z, color='black', linewidth=2)
+        (0, 0.5, 0.5), (0, 2.5, 0.5),
-
+        (100, 2.5, 0.5), (100, 0.5, 0.5),
-    def add_annotations(self):
+        (100, 0.5, 0.5), (0, 0.5, 0.5),
-        """标注位置（适配X轴1cm单位）"""
+        # 中间截面（Z=1平面）
-        annotations = [
+        (0, 2.5, 1), (0, 3, 1),
-            ("a", 100, 0, 1, 'red'),
+        (0, 3, 1), (100, 3, 1),
-            ("b", 100, 1, 0, 'green'),
+        (100, 3, 1), (100, 2.5, 1),
-            ("c", 100, 3, 0.25, 'blue'),
+        (100, 2.5, 1), (0, 2.5, 1),
-            ("d", 50, 2, 0, 'magenta')
+        # 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)
     ]
-        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
+    ANNOTATIONS_A = [
-class Target3DWidgetB(QWidget):
+        ("a", 100, 0.25, 2, 'red'),
-    def __init__(self, parent=None):
+        ("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()
@@ -142,38 +136,7 @@ class Target3DWidgetB(QWidget):
 
     def draw_target_shape(self):
         """绘制3D结构"""
-        vertices = [
+        vertices = self.VERTICES_A if self._index == 0 else self.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)
-        ]
-
         # 绘制所有棱边
         for i in range(0, len(vertices), 2):
             x = [vertices[i][0], vertices[i + 1][0]]
@@ -183,44 +146,32 @@ class Target3DWidgetB(QWidget):
 
     def add_annotations(self):
         """标注位置（适配X轴1cm单位）"""
-        annotations = [
+        annotations = self.ANNOTATIONS_A if self._index == 0 else self.ANNOTATIONS_B
-            ("a", 100, 0, 1, 'red'),
-            ("b", 100, 1, 0, 'green'),
-            ("c", 100, 3, 0.5, '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')
 
 
-class MainWindowA(QMainWindow):
+# ----------对外接口----------
-    def __init__(self):
+def show(x: int, y: int, w: int, h: int, index: int):
-        super().__init__()
+    """
-        self.setWindowTitle("3D视图（X/Y/Z单位：1cm）")
+    显示3D视图窗口
-        self.setGeometry(100, 100, 1200, 700)  # 加宽窗口，适配X轴1cm刻度
+    :param x: 窗口横坐标
-        self.setCentralWidget(Target3DWidgetA())
+    :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")
     
-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():
     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()
+    show(100, 100, 700, 700, 0)   # 显示A视图窗口
-    ui_3d_b()
+    # show(100, 100, 700, 700, 1)     # 显示B视图窗口
-