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更新界面+更新步进电机bug和达妙电机调试接口

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pengqi
2026-02-27 17:24:03 +08:00
parent 8d2e91b8b3
commit 9b7ff4b98f
3 changed files with 119 additions and 161 deletions
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9
DM/DM_Motor_controller.py
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@ -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:

209
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),
@ -80,37 +41,70 @@ 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')
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)
]
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):
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()
@ -142,38 +136,7 @@ class Target3DWidgetB(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, 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)
]
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