pengqi/wire_controlsystem
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

更新界面+更新步进电机bug和达妙电机调试接口

Browse Source
This commit is contained in:
pengqi
2026-02-27 17:24:03 +08:00
parent 8d2e91b8b3
commit 9b7ff4b98f
3 changed files with 119 additions and 161 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
DM/DM_Motor_controller.py
View File

@ -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()

2
RK1106/stepper_motor.py
View File

@ -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:

239
UI/ui_3d.py
View File

@ -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
class Target3DWidgetA(QWidget):
def __init__(self, parent=None):
super().__init__(parent)
self.init_3d_plot()
self.setLayout(QVBoxLayout())
self.layout().addWidget(self.canvas)
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
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()
class Target3DWidget(QWidget):
"""
3D显示窗口，支持类型A和类型B
"""
# ========== 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 = [
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),
@ -80,90 +41,24 @@ class Target3DWidgetA(QWidget):
(100, 0, 2), (100, 0, 0),
]
# 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, 0.25, '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 = [
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),
@ -174,6 +69,74 @@ class Target3DWidgetB(QWidget):
(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()
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()
# 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 = 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]]
@ -183,44 +146,32 @@ class Target3DWidgetB(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, 0.5, '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())
# ----------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")
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()
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