From 1918520cc928da29acd5f8cb95e6c5d62ccbc6e8 Mon Sep 17 00:00:00 2001
From: FrankCV2048 <1395405735@qq.com>
Date: Thu, 5 Sep 2024 23:01:15 +0800
Subject: [PATCH] =?UTF-8?q?update=20=E6=9B=B4=E6=96=B0=E9=83=A8=E5=88=86UI?=
 =?UTF-8?q?=EF=BC=8C=E5=A2=9E=E5=8A=A0=E9=80=9F=E5=BA=A6=E8=AE=BE=E7=BD=AE?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 CU/Feeding.py       |   2 +
 Constant.py         |   4 +-
 Model/RobotModel.py |   7 +-
 Seting.ini          |   4 +-
 app.py              | 176 +++++++++++++-------
 ui_untitled.py      | 277 ++++++++++++++++++-------------
 untitled.ui         | 386 +++++++++++++++++++++++++++++++-------------
 7 files changed, 575 insertions(+), 281 deletions(-)

diff --git a/CU/Feeding.py b/CU/Feeding.py
index 48d3174..459d04f 100644
--- a/CU/Feeding.py
+++ b/CU/Feeding.py
@@ -1,3 +1,4 @@
+import Constant
 from Model.Position import Real_Position, Detection_Position
 from enum import Enum
 from COM.COM_Robot import RobotClient
@@ -119,6 +120,7 @@ class Feeding():
     def sendTargPosition(self,real_position):
         from Model.RobotModel import Instruction
         position_instruction = Instruction()
+        position_instruction.speed = Constant.speed
         position_instruction.m0 = real_position.X
         position_instruction.m1 = real_position.Y
         position_instruction.m2 = real_position.Z
diff --git a/Constant.py b/Constant.py
index abf8950..fbc4db2 100644
--- a/Constant.py
+++ b/Constant.py
@@ -1 +1,3 @@
-position_accuracy=0.02
\ No newline at end of file
+position_accuracy = 0.02
+manual_adjust_accuracy = 1
+speed = 10
\ No newline at end of file
diff --git a/Model/RobotModel.py b/Model/RobotModel.py
index 0274033..ebbf8ef 100644
--- a/Model/RobotModel.py
+++ b/Model/RobotModel.py
@@ -1,3 +1,8 @@
+from enum import Enum
+class MoveType(Enum):
+    AXIS = 4
+    WORLD = 10
+
 class DATARequest:
     def __init__(self):
         self.dsID = 'www.hc-system.com.RemoteMonitor'
@@ -113,7 +118,7 @@ class Instruction:
         self.smooth = 0
 
     def toString(self):
-        model_str = f'"oneshot":"{self.oneshot}","action":"{self.action}","m0":"{self.m0}","m1":"{self.m1}","m2":"{self.m2}",' \
+        model_str = f'"oneshot":"{self.oneshot}","action":"{self.action.value}","m0":"{self.m0}","m1":"{self.m1}","m2":"{self.m2}",' \
                     f'"m3":"{self.m3}","m4":"{self.m4}","m5":"{self.m5}","ckStatus":"{self.ckStatus}","speed":"{self.speed}",' \
                     f'"delay":"{self.delay}","smooth":"{self.smooth}"'
         return model_str
diff --git a/Seting.ini b/Seting.ini
index dff6486..0a93d03 100644
--- a/Seting.ini
+++ b/Seting.ini
@@ -2,8 +2,8 @@
 
 
 [Robot_Feed]
-IPAddress=192.168.10.4
-Port=502
+IPAddress=192.168.3.5
+Port=8114
 j1_min=-150
 j1_max=+150
 j2_min=-150
diff --git a/app.py b/app.py
index f5d5865..844e38b 100644
--- a/app.py
+++ b/app.py
@@ -3,10 +3,12 @@ import json
 import queue
 import sys
 from multiprocessing import Process
-from PySide6.QtCore import QThread, Signal, Slot
+from PySide6.QtCore import QThread, Signal, Slot, QObject, QEvent
 from PySide6.QtGui import QIntValidator, QStandardItemModel, QStandardItem, Qt
-from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton
+from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton, QLabel
 from datetime import datetime
+
+import Constant
 from CU.Command import FeedCommand
 from CU.Feeding import FeedLine, FeedingConfig, Feeding, FeedStatus
 from Vision.camera_coordinate_dete import Detection
@@ -21,6 +23,9 @@ from Model.Position import Real_Position, Detection_Position
 from threading import Thread
 from CU.Command import Status
 
+
+
+
 class MainWindow(QMainWindow,Ui_MainWindow):
     def __init__(self):
         super(MainWindow, self).__init__()
@@ -33,12 +38,6 @@ class MainWindow(QMainWindow,Ui_MainWindow):
 
 
     def init_UI(self):
-        self.horizontalSlider_J1.sliderReleased.connect(self.slider_valueChanged)
-        self.horizontalSlider_J2.sliderReleased.connect(self.slider_valueChanged)
-        self.horizontalSlider_J3.sliderReleased.connect(self.slider_valueChanged)
-        self.horizontalSlider_J4.sliderReleased.connect(self.slider_valueChanged)
-        self.horizontalSlider_J5.sliderReleased.connect(self.slider_valueChanged)
-        self.horizontalSlider_J6.sliderReleased.connect(self.slider_valueChanged)
         self.pushButton_num1.clicked.connect(self.send_num_button_click)
         self.pushButton_num2.clicked.connect(self.send_num_button_click)
         self.pushButton_num3.clicked.connect(self.send_num_button_click)
@@ -55,6 +54,26 @@ class MainWindow(QMainWindow,Ui_MainWindow):
         self.lineEdit_j5.returnPressed.connect(self.send_position_returnPressed)
         self.lineEdit_j6.returnPressed.connect(self.send_position_returnPressed)
 
+        self.pushButton_j1_sub.clicked.connect(self.send_subOneAsix_button_click)
+        self.pushButton_j2_sub.clicked.connect(self.send_subOneAsix_button_click)
+        self.pushButton_j3_sub.clicked.connect(self.send_subOneAsix_button_click)
+        self.pushButton_j4_sub.clicked.connect(self.send_subOneAsix_button_click)
+        self.pushButton_j5_sub.clicked.connect(self.send_subOneAsix_button_click)
+        self.pushButton_j6_sub.clicked.connect(self.send_subOneAsix_button_click)
+
+        self.pushButton_j1_add.clicked.connect(self.send_addOneAsix_button_click)
+        self.pushButton_j2_add.clicked.connect(self.send_addOneAsix_button_click)
+        self.pushButton_j3_add.clicked.connect(self.send_addOneAsix_button_click)
+        self.pushButton_j4_add.clicked.connect(self.send_addOneAsix_button_click)
+        self.pushButton_j5_add.clicked.connect(self.send_addOneAsix_button_click)
+        self.pushButton_j6_add.clicked.connect(self.send_addOneAsix_button_click)
+
+        self.pushButton_speed.setText(str(Constant.speed))
+        self.pushButton_speed.clicked.connect(self.send_setSpeed_label_doubelClick)
+        self.lineEdit_speed.returnPressed.connect(self.send_setSpeed_lineEdit_returePressed)
+
+
+
         self.lineEdit_num.returnPressed.connect(self.send_custom_num_returnPressed)
         int_validator = QIntValidator(0, 100, self.lineEdit_num)
         self.lineEdit_num.setValidator(int_validator)
@@ -63,6 +82,7 @@ class MainWindow(QMainWindow,Ui_MainWindow):
         self.pushButton_startFeed.clicked.connect(self.send_startFeed_button_click)
         self.pushButton_stack_feedSet.clicked.connect(self.send_stack_feedSet_button_click)
 
+        self.horizontalSlider_feedingNum.blockSignals(True)
         self.horizontalSlider_feedingNum.setMinimum(0)
 
         model = QStandardItemModel(4, 6, self)  # 4行6列
@@ -98,11 +118,13 @@ class MainWindow(QMainWindow,Ui_MainWindow):
 
         # 设置模型到表视图
         self.tableView_feedSeting.setModel(model)
+        self.lineEdit_speed.hide()
+
 
     def init_Run(self):
         self.robotClient = None
         self.configReader = configparser.ConfigParser()
-        self.detection =  Detection()
+        self.detection = Detection()
         self.command_position_quene = Queue()
         self.status_address = DataAddress()
         self.feedLine_dict = {}
@@ -112,6 +134,7 @@ class MainWindow(QMainWindow,Ui_MainWindow):
         self.configReader.read('Seting.ini')
         ip = self.configReader.get('Robot_Feed', 'IPAddress')
         port = int(self.configReader.get('Robot_Feed', 'Port'))
+
         self.robotClient = RobotClient(ip, port, self.command_position_quene, self.status_address)
         self.feeding = Feeding(self.robotClient,self.detection)  # 临时
         self.last_time=time.time()
@@ -224,6 +247,60 @@ class MainWindow(QMainWindow,Ui_MainWindow):
         else:
             self.pushButton_num_free.hide()
 
+    def send_subOneAsix_button_click(self):
+        btn_str = self.sender().objectName()
+        Constant.manual_adjust_accuracy = float(self.lineEdit_manual_adjust_accuracy.text())
+        x1 = self.horizontalSlider_J1.value()
+        x2 = self.horizontalSlider_J2.value()
+        x3 = self.horizontalSlider_J3.value()
+        x4 = self.horizontalSlider_J4.value()
+        x5 = self.horizontalSlider_J5.value()
+        x6 = self.horizontalSlider_J6.value()
+        if 'j1' in btn_str:
+            x1 = x1 - Constant.manual_adjust_accuracy
+        elif 'j2' in btn_str:
+            x2 = x2 - Constant.manual_adjust_accuracy
+            pass
+        elif 'j3' in btn_str:
+            x3 = x3 - Constant.manual_adjust_accuracy
+            pass
+        elif 'j4' in btn_str:
+            x4 = x4 - Constant.manual_adjust_accuracy
+            pass
+        elif 'j5' in btn_str:
+            x5 = x5 - Constant.manual_adjust_accuracy
+            pass
+        elif 'j6' in btn_str:
+            x6 = x6 - Constant.manual_adjust_accuracy
+        self.send_position_command(x1,x2,x3,x4,x5,x6,MoveType.AXIS)
+
+
+    def send_addOneAsix_button_click(self, btn):
+        btn_str = self.sender().objectName()
+        Constant.manual_adjust_accuracy = float(self.lineEdit_manual_adjust_accuracy.text())
+        x1 = self.horizontalSlider_J1.value()
+        x2 = self.horizontalSlider_J2.value()
+        x3 = self.horizontalSlider_J3.value()
+        x4 = self.horizontalSlider_J4.value()
+        x5 = self.horizontalSlider_J5.value()
+        x6 = self.horizontalSlider_J6.value()
+        if 'j1' in btn_str:
+            x1 = x1 + Constant.manual_adjust_accuracy
+        elif 'j2' in btn_str:
+            x2 = x2 + Constant.manual_adjust_accuracy
+            pass
+        elif 'j3' in btn_str:
+            x3 = x3 + Constant.manual_adjust_accuracy
+            pass
+        elif 'j4' in btn_str:
+            x4 = x4 + Constant.manual_adjust_accuracy
+            pass
+        elif 'j5' in btn_str:
+            x5 = x5 + Constant.manual_adjust_accuracy
+            pass
+        elif 'j6' in btn_str:
+            x6 = x6 + Constant.manual_adjust_accuracy
+        self.send_position_command(x1, x2, x3, x4, x5, x6, move_type=MoveType.AXIS)
 
 
     def send_addNum_button_click(self):
@@ -242,34 +319,7 @@ class MainWindow(QMainWindow,Ui_MainWindow):
     def send_stack_feedSet_button_click(self):
         self.stackedWidget_feed.setCurrentIndex(1)
 
-    def slider_valueChanged(self):
 
-        now_time = time.time()
-        if(now_time-self.last_time) < 2:
-            return
-        self.last_time = now_time
-        position_instruction = Instruction()
-        position_instruction.m0 = self.horizontalSlider_J1.value()
-        position_instruction.m1 = self.horizontalSlider_J2.value()
-        position_instruction.m2 = self.horizontalSlider_J3.value()
-        position_instruction.m3 = self.horizontalSlider_J4.value()
-        position_instruction.m4 = self.horizontalSlider_J5.value()
-        position_instruction.m5 = self.horizontalSlider_J6.value()
-
-
-
-        self.lineEdit_j1.setText(str(self.horizontalSlider_J1.value()))
-        self.lineEdit_j2.setText(str(self.horizontalSlider_J2.value()))
-        self.lineEdit_j3.setText(str(self.horizontalSlider_J3.value()))
-        self.lineEdit_j4.setText(str(self.horizontalSlider_J4.value()))
-        self.lineEdit_j5.setText(str(self.horizontalSlider_J5.value()))
-        self.lineEdit_j6.setText(str(self.horizontalSlider_J6.value()))
-
-        instruction_command = CMDInstructRequest()
-        instruction_command.instructions.append(position_instruction)
-        request_command = instruction_command.toString()
-        print(request_command)
-        self.robotClient.add_sendQuene(request_command)
 
     def on_button_click(self):
         self.button.setText("Clicked!")
@@ -282,21 +332,34 @@ class MainWindow(QMainWindow,Ui_MainWindow):
         #     self.robotClient.add_sendQuene(request_command)
         return
     def send_position_returnPressed(self):
+
+        self.send_position_command(float(self.lineEdit_j1.text()),
+                                   float(self.lineEdit_j2.text()),
+                                   float(self.lineEdit_j3.text()),
+                                   float(self.lineEdit_j4.text()),
+                                   float(self.lineEdit_j5.text()),
+                                   float(self.lineEdit_j6.text()))
+
+    def send_setSpeed_label_doubelClick(self):
+        self.pushButton_speed.hide()
+        self.lineEdit_speed.show()
+        pass
+    def send_setSpeed_lineEdit_returePressed(self):
+        Constant.speed = float(self.lineEdit_speed.text())
+        self.lineEdit_speed.hide()
+        self.pushButton_speed.setText(str(Constant.speed))
+        self.pushButton_speed.show()
+        pass
+
+    def send_position_command(self,x1,x2,x3,x4,x5,x6,move_type:MoveType=MoveType.WORLD):
         position_instruction = Instruction()
-        position_instruction.m0 = int(self.lineEdit_j1.text())
-        position_instruction.m1 = int(self.lineEdit_j2.text())
-        position_instruction.m2 = int(self.lineEdit_j3.text())
-        position_instruction.m3 = int(self.lineEdit_j4.text())
-        position_instruction.m4 = int(self.lineEdit_j5.text())
-        position_instruction.m5 = int(self.lineEdit_j6.text())
-
-        self.horizontalSlider_J1.setValue(int(self.lineEdit_j1.text()))
-        self.horizontalSlider_J2.setValue(int(self.lineEdit_j2.text()))
-        self.horizontalSlider_J3.setValue(int(self.lineEdit_j3.text()))
-        self.horizontalSlider_J4.setValue(int(self.lineEdit_j4.text()))
-        self.horizontalSlider_J5.setValue(int(self.lineEdit_j5.text()))
-        self.horizontalSlider_J6.setValue(int(self.lineEdit_j6.text()))
-
+        position_instruction.m0 = float(x1)
+        position_instruction.m1 = float(x2)
+        position_instruction.m2 = float(x3)
+        position_instruction.m3 = float(x4)
+        position_instruction.m4 = float(x5)
+        position_instruction.m5 = float(x6)
+        position_instruction.action = move_type
         instruction_command = CMDInstructRequest()
         instruction_command.instructions.append(position_instruction)
         request_command = instruction_command.toString()
@@ -304,11 +367,6 @@ class MainWindow(QMainWindow,Ui_MainWindow):
         self.robotClient.add_sendQuene(request_command)
 
 
-
-
-    
-
-
     def run(self):
         while True:
             time.sleep(0.2)
@@ -352,6 +410,12 @@ class MainWindow(QMainWindow,Ui_MainWindow):
         self.horizontalSlider_J5.setValue(self.status_address.axis_4)
         self.horizontalSlider_J6.setValue(self.status_address.axis_5)
 
+        self.label_j1.setText(str(self.status_address.axis_0))
+        self.label_j2.setText(str(self.status_address.axis_1))
+        self.label_j3.setText(str(self.status_address.axis_2))
+        self.label_j4.setText(str(self.status_address.axis_3))
+        self.label_j5.setText(str(self.status_address.axis_4))
+        self.label_j6.setText(str(self.status_address.axis_5))
 
 
 
@@ -378,8 +442,6 @@ class MainWindow(QMainWindow,Ui_MainWindow):
                             }
                         """)
 
-    def send_position_command(self, position):
-        self.robotClient.add_sendQuene(position)
 
 
 if __name__ == "__main__":
diff --git a/ui_untitled.py b/ui_untitled.py
index d4f91c7..c501551 100644
--- a/ui_untitled.py
+++ b/ui_untitled.py
@@ -169,98 +169,98 @@ class Ui_MainWindow(object):
         self.label_maxNum_2.setStyleSheet(u"font: 9pt \"\u6977\u4f53\";")
         self.frame_7 = QFrame(self.frame_6)
         self.frame_7.setObjectName(u"frame_7")
-        self.frame_7.setGeometry(QRect(500, 200, 331, 251))
+        self.frame_7.setGeometry(QRect(500, 190, 331, 281))
         self.frame_7.setStyleSheet(u"background-color: rgb(85, 170, 255);")
         self.frame_7.setFrameShape(QFrame.Shape.StyledPanel)
         self.frame_7.setFrameShadow(QFrame.Shadow.Raised)
         self.horizontalSlider_J1 = QSlider(self.frame_7)
         self.horizontalSlider_J1.setObjectName(u"horizontalSlider_J1")
-        self.horizontalSlider_J1.setGeometry(QRect(60, 20, 221, 22))
+        self.horizontalSlider_J1.setGeometry(QRect(65, 50, 171, 22))
         self.horizontalSlider_J1.setOrientation(Qt.Orientation.Horizontal)
         self.label_j1_min = QLabel(self.frame_7)
         self.label_j1_min.setObjectName(u"label_j1_min")
-        self.label_j1_min.setGeometry(QRect(60, 0, 31, 21))
+        self.label_j1_min.setGeometry(QRect(65, 30, 31, 21))
         self.label_j1_max = QLabel(self.frame_7)
         self.label_j1_max.setObjectName(u"label_j1_max")
-        self.label_j1_max.setGeometry(QRect(260, 0, 31, 21))
+        self.label_j1_max.setGeometry(QRect(215, 30, 31, 21))
         self.label_j2_min = QLabel(self.frame_7)
         self.label_j2_min.setObjectName(u"label_j2_min")
-        self.label_j2_min.setGeometry(QRect(60, 40, 53, 21))
+        self.label_j2_min.setGeometry(QRect(65, 70, 53, 21))
         self.label_j2_max = QLabel(self.frame_7)
         self.label_j2_max.setObjectName(u"label_j2_max")
-        self.label_j2_max.setGeometry(QRect(260, 40, 21, 21))
+        self.label_j2_max.setGeometry(QRect(215, 70, 21, 21))
         self.horizontalSlider_J2 = QSlider(self.frame_7)
         self.horizontalSlider_J2.setObjectName(u"horizontalSlider_J2")
-        self.horizontalSlider_J2.setGeometry(QRect(60, 60, 221, 22))
+        self.horizontalSlider_J2.setGeometry(QRect(65, 90, 171, 22))
         self.horizontalSlider_J2.setOrientation(Qt.Orientation.Horizontal)
         self.label_j3_min = QLabel(self.frame_7)
         self.label_j3_min.setObjectName(u"label_j3_min")
-        self.label_j3_min.setGeometry(QRect(60, 80, 53, 21))
+        self.label_j3_min.setGeometry(QRect(65, 110, 53, 21))
         self.label_j3_max = QLabel(self.frame_7)
         self.label_j3_max.setObjectName(u"label_j3_max")
-        self.label_j3_max.setGeometry(QRect(260, 80, 21, 21))
+        self.label_j3_max.setGeometry(QRect(215, 110, 21, 21))
         self.horizontalSlider_J3 = QSlider(self.frame_7)
         self.horizontalSlider_J3.setObjectName(u"horizontalSlider_J3")
-        self.horizontalSlider_J3.setGeometry(QRect(60, 100, 221, 22))
+        self.horizontalSlider_J3.setGeometry(QRect(65, 130, 171, 22))
         self.horizontalSlider_J3.setOrientation(Qt.Orientation.Horizontal)
         self.label_j5_min = QLabel(self.frame_7)
         self.label_j5_min.setObjectName(u"label_j5_min")
-        self.label_j5_min.setGeometry(QRect(60, 160, 53, 21))
+        self.label_j5_min.setGeometry(QRect(65, 190, 53, 21))
         self.horizontalSlider_J5 = QSlider(self.frame_7)
         self.horizontalSlider_J5.setObjectName(u"horizontalSlider_J5")
-        self.horizontalSlider_J5.setGeometry(QRect(60, 180, 221, 22))
+        self.horizontalSlider_J5.setGeometry(QRect(65, 210, 171, 22))
         self.horizontalSlider_J5.setOrientation(Qt.Orientation.Horizontal)
         self.label_j5_max = QLabel(self.frame_7)
         self.label_j5_max.setObjectName(u"label_j5_max")
-        self.label_j5_max.setGeometry(QRect(260, 160, 21, 21))
+        self.label_j5_max.setGeometry(QRect(215, 190, 21, 21))
         self.label_j6_min = QLabel(self.frame_7)
         self.label_j6_min.setObjectName(u"label_j6_min")
-        self.label_j6_min.setGeometry(QRect(60, 200, 53, 21))
+        self.label_j6_min.setGeometry(QRect(65, 230, 53, 21))
         self.horizontalSlider_J6 = QSlider(self.frame_7)
         self.horizontalSlider_J6.setObjectName(u"horizontalSlider_J6")
-        self.horizontalSlider_J6.setGeometry(QRect(60, 220, 221, 22))
+        self.horizontalSlider_J6.setGeometry(QRect(65, 250, 171, 22))
         self.horizontalSlider_J6.setOrientation(Qt.Orientation.Horizontal)
         self.label_j6_max = QLabel(self.frame_7)
         self.label_j6_max.setObjectName(u"label_j6_max")
-        self.label_j6_max.setGeometry(QRect(260, 200, 21, 21))
+        self.label_j6_max.setGeometry(QRect(215, 230, 21, 21))
         self.label_j4_min = QLabel(self.frame_7)
         self.label_j4_min.setObjectName(u"label_j4_min")
-        self.label_j4_min.setGeometry(QRect(60, 120, 53, 21))
+        self.label_j4_min.setGeometry(QRect(65, 150, 53, 21))
         self.horizontalSlider_J4 = QSlider(self.frame_7)
         self.horizontalSlider_J4.setObjectName(u"horizontalSlider_J4")
-        self.horizontalSlider_J4.setGeometry(QRect(60, 140, 221, 22))
+        self.horizontalSlider_J4.setGeometry(QRect(65, 170, 171, 22))
         self.horizontalSlider_J4.setOrientation(Qt.Orientation.Horizontal)
         self.label_j4_max = QLabel(self.frame_7)
         self.label_j4_max.setObjectName(u"label_j4_max")
-        self.label_j4_max.setGeometry(QRect(260, 120, 21, 21))
+        self.label_j4_max.setGeometry(QRect(215, 150, 21, 21))
         self.label_26 = QLabel(self.frame_7)
         self.label_26.setObjectName(u"label_26")
-        self.label_26.setGeometry(QRect(10, 20, 21, 21))
+        self.label_26.setGeometry(QRect(15, 50, 21, 21))
         self.label_26.setStyleSheet(u"font: 700 9pt \"Microsoft YaHei UI\";")
         self.label_27 = QLabel(self.frame_7)
         self.label_27.setObjectName(u"label_27")
-        self.label_27.setGeometry(QRect(10, 60, 21, 21))
+        self.label_27.setGeometry(QRect(15, 90, 21, 21))
         self.label_27.setStyleSheet(u"font: 700 9pt \"Microsoft YaHei UI\";")
         self.label_28 = QLabel(self.frame_7)
         self.label_28.setObjectName(u"label_28")
-        self.label_28.setGeometry(QRect(10, 100, 21, 21))
+        self.label_28.setGeometry(QRect(15, 130, 21, 21))
         self.label_28.setStyleSheet(u"font: 700 9pt \"Microsoft YaHei UI\";")
         self.label_29 = QLabel(self.frame_7)
         self.label_29.setObjectName(u"label_29")
-        self.label_29.setGeometry(QRect(10, 140, 21, 21))
+        self.label_29.setGeometry(QRect(15, 170, 21, 21))
         self.label_29.setStyleSheet(u"font: 700 9pt \"Microsoft YaHei UI\";")
         self.label_30 = QLabel(self.frame_7)
         self.label_30.setObjectName(u"label_30")
-        self.label_30.setGeometry(QRect(10, 180, 21, 21))
+        self.label_30.setGeometry(QRect(15, 210, 21, 21))
         self.label_30.setStyleSheet(u"font: 700 9pt \"Microsoft YaHei UI\";")
         self.label_31 = QLabel(self.frame_7)
         self.label_31.setObjectName(u"label_31")
-        self.label_31.setGeometry(QRect(10, 220, 21, 21))
+        self.label_31.setGeometry(QRect(15, 250, 21, 21))
         self.label_31.setStyleSheet(u"font: 700 9pt \"Microsoft YaHei UI\";")
-        self.pushButton_39 = QPushButton(self.frame_7)
-        self.pushButton_39.setObjectName(u"pushButton_39")
-        self.pushButton_39.setGeometry(QRect(290, 20, 31, 21))
-        self.pushButton_39.setStyleSheet(u"*{\n"
+        self.pushButton_j1_add = QPushButton(self.frame_7)
+        self.pushButton_j1_add.setObjectName(u"pushButton_j1_add")
+        self.pushButton_j1_add.setGeometry(QRect(245, 50, 31, 21))
+        self.pushButton_j1_add.setStyleSheet(u"*{\n"
 "background-color: #E7EAEA;\n"
 "border-radius: 10px;\n"
 "font: 10pt \"\u6977\u4f53\";\n"
@@ -273,11 +273,11 @@ class Ui_MainWindow(object):
 "}\n"
 "")
         icon = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.ListAdd))
-        self.pushButton_39.setIcon(icon)
-        self.pushButton_40 = QPushButton(self.frame_7)
-        self.pushButton_40.setObjectName(u"pushButton_40")
-        self.pushButton_40.setGeometry(QRect(25, 20, 31, 21))
-        self.pushButton_40.setStyleSheet(u"*{\n"
+        self.pushButton_j1_add.setIcon(icon)
+        self.pushButton_j1_sub = QPushButton(self.frame_7)
+        self.pushButton_j1_sub.setObjectName(u"pushButton_j1_sub")
+        self.pushButton_j1_sub.setGeometry(QRect(30, 50, 31, 21))
+        self.pushButton_j1_sub.setStyleSheet(u"*{\n"
 "background-color: #E7EAEA;\n"
 "border-radius: 10px;\n"
 "font: 10pt \"\u6977\u4f53\";\n"
@@ -290,11 +290,11 @@ class Ui_MainWindow(object):
 "}\n"
 "")
         icon1 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.ListRemove))
-        self.pushButton_40.setIcon(icon1)
-        self.pushButton_41 = QPushButton(self.frame_7)
-        self.pushButton_41.setObjectName(u"pushButton_41")
-        self.pushButton_41.setGeometry(QRect(25, 60, 31, 21))
-        self.pushButton_41.setStyleSheet(u"*{\n"
+        self.pushButton_j1_sub.setIcon(icon1)
+        self.pushButton_j2_sub = QPushButton(self.frame_7)
+        self.pushButton_j2_sub.setObjectName(u"pushButton_j2_sub")
+        self.pushButton_j2_sub.setGeometry(QRect(30, 90, 31, 21))
+        self.pushButton_j2_sub.setStyleSheet(u"*{\n"
 "background-color: #E7EAEA;\n"
 "border-radius: 10px;\n"
 "font: 10pt \"\u6977\u4f53\";\n"
@@ -306,11 +306,11 @@ class Ui_MainWindow(object):
 "	background-color: rgb(255, 0, 0);\n"
 "}\n"
 "")
-        self.pushButton_41.setIcon(icon1)
-        self.pushButton_42 = QPushButton(self.frame_7)
-        self.pushButton_42.setObjectName(u"pushButton_42")
-        self.pushButton_42.setGeometry(QRect(290, 60, 31, 21))
-        self.pushButton_42.setStyleSheet(u"*{\n"
+        self.pushButton_j2_sub.setIcon(icon1)
+        self.pushButton_j2_add = QPushButton(self.frame_7)
+        self.pushButton_j2_add.setObjectName(u"pushButton_j2_add")
+        self.pushButton_j2_add.setGeometry(QRect(245, 90, 31, 21))
+        self.pushButton_j2_add.setStyleSheet(u"*{\n"
 "background-color: #E7EAEA;\n"
 "border-radius: 10px;\n"
 "font: 10pt \"\u6977\u4f53\";\n"
@@ -322,11 +322,11 @@ class Ui_MainWindow(object):
 "	background-color:rgb(85, 85, 255);\n"
 "}\n"
 "")
-        self.pushButton_42.setIcon(icon)
-        self.pushButton_43 = QPushButton(self.frame_7)
-        self.pushButton_43.setObjectName(u"pushButton_43")
-        self.pushButton_43.setGeometry(QRect(25, 100, 31, 21))
-        self.pushButton_43.setStyleSheet(u"*{\n"
+        self.pushButton_j2_add.setIcon(icon)
+        self.pushButton_j3_sub = QPushButton(self.frame_7)
+        self.pushButton_j3_sub.setObjectName(u"pushButton_j3_sub")
+        self.pushButton_j3_sub.setGeometry(QRect(30, 130, 31, 21))
+        self.pushButton_j3_sub.setStyleSheet(u"*{\n"
 "background-color: #E7EAEA;\n"
 "border-radius: 10px;\n"
 "font: 10pt \"\u6977\u4f53\";\n"
@@ -338,11 +338,11 @@ class Ui_MainWindow(object):
 "	background-color: rgb(255, 0, 0);\n"
 "}\n"
 "")
-        self.pushButton_43.setIcon(icon1)
-        self.pushButton_44 = QPushButton(self.frame_7)
-        self.pushButton_44.setObjectName(u"pushButton_44")
-        self.pushButton_44.setGeometry(QRect(290, 100, 31, 21))
-        self.pushButton_44.setStyleSheet(u"*{\n"
+        self.pushButton_j3_sub.setIcon(icon1)
+        self.pushButton_j3_add = QPushButton(self.frame_7)
+        self.pushButton_j3_add.setObjectName(u"pushButton_j3_add")
+        self.pushButton_j3_add.setGeometry(QRect(245, 130, 31, 21))
+        self.pushButton_j3_add.setStyleSheet(u"*{\n"
 "background-color: #E7EAEA;\n"
 "border-radius: 10px;\n"
 "font: 10pt \"\u6977\u4f53\";\n"
@@ -354,11 +354,11 @@ class Ui_MainWindow(object):
 "	background-color:rgb(85, 85, 255);\n"
 "}\n"
 "")
-        self.pushButton_44.setIcon(icon)
-        self.pushButton_45 = QPushButton(self.frame_7)
-        self.pushButton_45.setObjectName(u"pushButton_45")
-        self.pushButton_45.setGeometry(QRect(290, 140, 31, 21))
-        self.pushButton_45.setStyleSheet(u"*{\n"
+        self.pushButton_j3_add.setIcon(icon)
+        self.pushButton_j4_add = QPushButton(self.frame_7)
+        self.pushButton_j4_add.setObjectName(u"pushButton_j4_add")
+        self.pushButton_j4_add.setGeometry(QRect(245, 170, 31, 21))
+        self.pushButton_j4_add.setStyleSheet(u"*{\n"
 "background-color: #E7EAEA;\n"
 "border-radius: 10px;\n"
 "font: 10pt \"\u6977\u4f53\";\n"
@@ -370,11 +370,11 @@ class Ui_MainWindow(object):
 "	background-color:rgb(85, 85, 255);\n"
 "}\n"
 "")
-        self.pushButton_45.setIcon(icon)
-        self.pushButton_46 = QPushButton(self.frame_7)
-        self.pushButton_46.setObjectName(u"pushButton_46")
-        self.pushButton_46.setGeometry(QRect(25, 180, 31, 21))
-        self.pushButton_46.setStyleSheet(u"*{\n"
+        self.pushButton_j4_add.setIcon(icon)
+        self.pushButton_j5_sub = QPushButton(self.frame_7)
+        self.pushButton_j5_sub.setObjectName(u"pushButton_j5_sub")
+        self.pushButton_j5_sub.setGeometry(QRect(30, 210, 31, 21))
+        self.pushButton_j5_sub.setStyleSheet(u"*{\n"
 "background-color: #E7EAEA;\n"
 "border-radius: 10px;\n"
 "font: 10pt \"\u6977\u4f53\";\n"
@@ -386,11 +386,11 @@ class Ui_MainWindow(object):
 "	background-color: rgb(255, 0, 0);\n"
 "}\n"
 "")
-        self.pushButton_46.setIcon(icon1)
-        self.pushButton_47 = QPushButton(self.frame_7)
-        self.pushButton_47.setObjectName(u"pushButton_47")
-        self.pushButton_47.setGeometry(QRect(290, 220, 31, 21))
-        self.pushButton_47.setStyleSheet(u"*{\n"
+        self.pushButton_j5_sub.setIcon(icon1)
+        self.pushButton_j6_add = QPushButton(self.frame_7)
+        self.pushButton_j6_add.setObjectName(u"pushButton_j6_add")
+        self.pushButton_j6_add.setGeometry(QRect(245, 250, 31, 21))
+        self.pushButton_j6_add.setStyleSheet(u"*{\n"
 "background-color: #E7EAEA;\n"
 "border-radius: 10px;\n"
 "font: 10pt \"\u6977\u4f53\";\n"
@@ -402,11 +402,11 @@ class Ui_MainWindow(object):
 "	background-color:rgb(85, 85, 255);\n"
 "}\n"
 "")
-        self.pushButton_47.setIcon(icon)
-        self.pushButton_48 = QPushButton(self.frame_7)
-        self.pushButton_48.setObjectName(u"pushButton_48")
-        self.pushButton_48.setGeometry(QRect(25, 220, 31, 21))
-        self.pushButton_48.setStyleSheet(u"*{\n"
+        self.pushButton_j6_add.setIcon(icon)
+        self.pushButton_j6_sub = QPushButton(self.frame_7)
+        self.pushButton_j6_sub.setObjectName(u"pushButton_j6_sub")
+        self.pushButton_j6_sub.setGeometry(QRect(30, 250, 31, 21))
+        self.pushButton_j6_sub.setStyleSheet(u"*{\n"
 "background-color: #E7EAEA;\n"
 "border-radius: 10px;\n"
 "font: 10pt \"\u6977\u4f53\";\n"
@@ -418,11 +418,11 @@ class Ui_MainWindow(object):
 "	background-color: rgb(255, 0, 0);\n"
 "}\n"
 "")
-        self.pushButton_48.setIcon(icon1)
-        self.pushButton_49 = QPushButton(self.frame_7)
-        self.pushButton_49.setObjectName(u"pushButton_49")
-        self.pushButton_49.setGeometry(QRect(25, 140, 31, 21))
-        self.pushButton_49.setStyleSheet(u"*{\n"
+        self.pushButton_j6_sub.setIcon(icon1)
+        self.pushButton_j4_sub = QPushButton(self.frame_7)
+        self.pushButton_j4_sub.setObjectName(u"pushButton_j4_sub")
+        self.pushButton_j4_sub.setGeometry(QRect(30, 170, 31, 21))
+        self.pushButton_j4_sub.setStyleSheet(u"*{\n"
 "background-color: #E7EAEA;\n"
 "border-radius: 10px;\n"
 "font: 10pt \"\u6977\u4f53\";\n"
@@ -434,11 +434,11 @@ class Ui_MainWindow(object):
 "	background-color: rgb(255, 0, 0);\n"
 "}\n"
 "")
-        self.pushButton_49.setIcon(icon1)
-        self.pushButton_50 = QPushButton(self.frame_7)
-        self.pushButton_50.setObjectName(u"pushButton_50")
-        self.pushButton_50.setGeometry(QRect(290, 180, 31, 21))
-        self.pushButton_50.setStyleSheet(u"*{\n"
+        self.pushButton_j4_sub.setIcon(icon1)
+        self.pushButton_j5_add = QPushButton(self.frame_7)
+        self.pushButton_j5_add.setObjectName(u"pushButton_j5_add")
+        self.pushButton_j5_add.setGeometry(QRect(245, 210, 31, 21))
+        self.pushButton_j5_add.setStyleSheet(u"*{\n"
 "background-color: #E7EAEA;\n"
 "border-radius: 10px;\n"
 "font: 10pt \"\u6977\u4f53\";\n"
@@ -450,28 +450,52 @@ class Ui_MainWindow(object):
 "	background-color:rgb(85, 85, 255);\n"
 "}\n"
 "")
-        self.pushButton_50.setIcon(icon)
+        self.pushButton_j5_add.setIcon(icon)
         self.lineEdit_j1 = QLineEdit(self.frame_7)
         self.lineEdit_j1.setObjectName(u"lineEdit_j1")
-        self.lineEdit_j1.setGeometry(QRect(140, 3, 41, 21))
+        self.lineEdit_j1.setGeometry(QRect(285, 50, 41, 21))
         self.lineEdit_j2 = QLineEdit(self.frame_7)
         self.lineEdit_j2.setObjectName(u"lineEdit_j2")
-        self.lineEdit_j2.setGeometry(QRect(140, 41, 41, 21))
+        self.lineEdit_j2.setGeometry(QRect(285, 90, 41, 21))
         self.lineEdit_j3 = QLineEdit(self.frame_7)
         self.lineEdit_j3.setObjectName(u"lineEdit_j3")
-        self.lineEdit_j3.setGeometry(QRect(140, 82, 41, 21))
+        self.lineEdit_j3.setGeometry(QRect(285, 130, 41, 21))
         self.lineEdit_j4 = QLineEdit(self.frame_7)
         self.lineEdit_j4.setObjectName(u"lineEdit_j4")
-        self.lineEdit_j4.setGeometry(QRect(140, 120, 41, 21))
+        self.lineEdit_j4.setGeometry(QRect(285, 170, 41, 21))
         self.lineEdit_j5 = QLineEdit(self.frame_7)
         self.lineEdit_j5.setObjectName(u"lineEdit_j5")
-        self.lineEdit_j5.setGeometry(QRect(140, 162, 41, 21))
+        self.lineEdit_j5.setGeometry(QRect(285, 210, 41, 21))
         self.lineEdit_j6 = QLineEdit(self.frame_7)
         self.lineEdit_j6.setObjectName(u"lineEdit_j6")
-        self.lineEdit_j6.setGeometry(QRect(140, 200, 41, 21))
+        self.lineEdit_j6.setGeometry(QRect(285, 250, 41, 21))
+        self.label_j1 = QLabel(self.frame_7)
+        self.label_j1.setObjectName(u"label_j1")
+        self.label_j1.setGeometry(QRect(125, 32, 53, 15))
+        self.label_j2 = QLabel(self.frame_7)
+        self.label_j2.setObjectName(u"label_j2")
+        self.label_j2.setGeometry(QRect(125, 70, 53, 15))
+        self.label_j3 = QLabel(self.frame_7)
+        self.label_j3.setObjectName(u"label_j3")
+        self.label_j3.setGeometry(QRect(125, 110, 53, 15))
+        self.label_j4 = QLabel(self.frame_7)
+        self.label_j4.setObjectName(u"label_j4")
+        self.label_j4.setGeometry(QRect(125, 150, 53, 15))
+        self.label_j5 = QLabel(self.frame_7)
+        self.label_j5.setObjectName(u"label_j5")
+        self.label_j5.setGeometry(QRect(125, 190, 53, 15))
+        self.label_j6 = QLabel(self.frame_7)
+        self.label_j6.setObjectName(u"label_j6")
+        self.label_j6.setGeometry(QRect(125, 230, 53, 15))
+        self.lineEdit_manual_adjust_accuracy = QLineEdit(self.frame_7)
+        self.lineEdit_manual_adjust_accuracy.setObjectName(u"lineEdit_manual_adjust_accuracy")
+        self.lineEdit_manual_adjust_accuracy.setGeometry(QRect(110, 10, 61, 21))
+        self.label_manual_adjust_accuracy = QLabel(self.frame_7)
+        self.label_manual_adjust_accuracy.setObjectName(u"label_manual_adjust_accuracy")
+        self.label_manual_adjust_accuracy.setGeometry(QRect(50, 13, 53, 15))
         self.textEdit_log = QTextEdit(self.frame_6)
         self.textEdit_log.setObjectName(u"textEdit_log")
-        self.textEdit_log.setGeometry(QRect(10, 280, 481, 171))
+        self.textEdit_log.setGeometry(QRect(10, 280, 481, 191))
         self.textEdit_log.setStyleSheet(u"*{\n"
 "	background-image: url(:/bg/Image/robot.png);\n"
 "	background-color: #E6ECF5;\n"
@@ -677,7 +701,7 @@ class Ui_MainWindow(object):
         self.stackedWidget_num.addWidget(self.page_10)
         self.pushButton_20 = QPushButton(self.frame_6)
         self.pushButton_20.setObjectName(u"pushButton_20")
-        self.pushButton_20.setGeometry(QRect(750, 470, 91, 31))
+        self.pushButton_20.setGeometry(QRect(750, 480, 91, 31))
         self.pushButton_20.setStyleSheet(u"*{\n"
 "background-color: #1CB2B1;\n"
 "font: 9pt \"\u6977\u4f53\";\n"
@@ -694,7 +718,7 @@ class Ui_MainWindow(object):
         self.pushButton_20.setIcon(icon2)
         self.pushButton_startFeed = QPushButton(self.frame_6)
         self.pushButton_startFeed.setObjectName(u"pushButton_startFeed")
-        self.pushButton_startFeed.setGeometry(QRect(350, 470, 91, 31))
+        self.pushButton_startFeed.setGeometry(QRect(350, 480, 91, 31))
         self.pushButton_startFeed.setStyleSheet(u"*{\n"
 "background-color: #499C54;\n"
 "font: 9pt \"\u6977\u4f53\";\n"
@@ -710,7 +734,7 @@ class Ui_MainWindow(object):
         self.pushButton_startFeed.setIcon(icon3)
         self.pushButton_reset = QPushButton(self.frame_6)
         self.pushButton_reset.setObjectName(u"pushButton_reset")
-        self.pushButton_reset.setGeometry(QRect(450, 470, 91, 31))
+        self.pushButton_reset.setGeometry(QRect(450, 480, 91, 31))
         self.pushButton_reset.setStyleSheet(u"*{\n"
 "background-color: #FFFFBF;\n"
 "font: 9pt \"\u6977\u4f53\";\n"
@@ -726,7 +750,7 @@ class Ui_MainWindow(object):
         self.pushButton_reset.setIcon(icon4)
         self.pushButton_21 = QPushButton(self.frame_6)
         self.pushButton_21.setObjectName(u"pushButton_21")
-        self.pushButton_21.setGeometry(QRect(650, 470, 91, 31))
+        self.pushButton_21.setGeometry(QRect(650, 480, 91, 31))
         self.pushButton_21.setStyleSheet(u"\n"
 "*{\n"
 "background-color: #1062B3;\n"
@@ -744,7 +768,7 @@ class Ui_MainWindow(object):
         self.pushButton_21.setIcon(icon5)
         self.pushButton_17 = QPushButton(self.frame_6)
         self.pushButton_17.setObjectName(u"pushButton_17")
-        self.pushButton_17.setGeometry(QRect(550, 470, 91, 31))
+        self.pushButton_17.setGeometry(QRect(550, 480, 91, 31))
         self.pushButton_17.setStyleSheet(u"*{\n"
 "background-color: rgb(255, 0, 0);\n"
 "font: 9pt \"\u6977\u4f53\";\n"
@@ -759,6 +783,28 @@ class Ui_MainWindow(object):
 "")
         icon6 = QIcon(QIcon.fromTheme(QIcon.ThemeIcon.WindowClose))
         self.pushButton_17.setIcon(icon6)
+        self.lineEdit_speed = QLineEdit(self.frame_6)
+        self.lineEdit_speed.setObjectName(u"lineEdit_speed")
+        self.lineEdit_speed.setGeometry(QRect(110, 490, 113, 21))
+        self.label_2 = QLabel(self.frame_6)
+        self.label_2.setObjectName(u"label_2")
+        self.label_2.setGeometry(QRect(20, 493, 81, 16))
+        self.pushButton_speed = QPushButton(self.frame_6)
+        self.pushButton_speed.setObjectName(u"pushButton_speed")
+        self.pushButton_speed.setGeometry(QRect(100, 490, 75, 23))
+        self.pushButton_speed.setStyleSheet(u"\n"
+"*{background-color: #F9FAFC;\n"
+"border: 1px solid #dcdfe6;\n"
+"border-radius: 10px;\n"
+"font: 10pt \"\u6977\u4f53\";\n"
+"}\n"
+"*:hover {\n"
+"    background-color: lightgreen;\n"
+"    color: black;\n"
+"}*:pressed {\n"
+"        background-color: red;\n"
+"        color: white;\n"
+"    }")
         self.stackedWidget_feed.addWidget(self.page_6)
         self.page_7 = QWidget()
         self.page_7.setObjectName(u"page_7")
@@ -876,18 +922,27 @@ class Ui_MainWindow(object):
         self.label_29.setText(QCoreApplication.translate("MainWindow", u"J4", None))
         self.label_30.setText(QCoreApplication.translate("MainWindow", u"J5", None))
         self.label_31.setText(QCoreApplication.translate("MainWindow", u"J6", None))
-        self.pushButton_39.setText("")
-        self.pushButton_40.setText("")
-        self.pushButton_41.setText("")
-        self.pushButton_42.setText("")
-        self.pushButton_43.setText("")
-        self.pushButton_44.setText("")
-        self.pushButton_45.setText("")
-        self.pushButton_46.setText("")
-        self.pushButton_47.setText("")
-        self.pushButton_48.setText("")
-        self.pushButton_49.setText("")
-        self.pushButton_50.setText("")
+        self.pushButton_j1_add.setText("")
+        self.pushButton_j1_sub.setText("")
+        self.pushButton_j2_sub.setText("")
+        self.pushButton_j2_add.setText("")
+        self.pushButton_j3_sub.setText("")
+        self.pushButton_j3_add.setText("")
+        self.pushButton_j4_add.setText("")
+        self.pushButton_j5_sub.setText("")
+        self.pushButton_j6_add.setText("")
+        self.pushButton_j6_sub.setText("")
+        self.pushButton_j4_sub.setText("")
+        self.pushButton_j5_add.setText("")
+        self.label_j1.setText("")
+        self.label_j2.setText("")
+        self.label_j3.setText("")
+        self.label_j4.setText("")
+        self.label_j5.setText("")
+        self.label_j6.setText("")
+        self.lineEdit_manual_adjust_accuracy.setText(QCoreApplication.translate("MainWindow", u"1", None))
+        self.lineEdit_manual_adjust_accuracy.setPlaceholderText(QCoreApplication.translate("MainWindow", u"0.001-20", None))
+        self.label_manual_adjust_accuracy.setText(QCoreApplication.translate("MainWindow", u"\u8c03\u6574\u95f4\u9694\uff1a", None))
         self.textEdit_log.setHtml(QCoreApplication.translate("MainWindow", u"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n"
 "<html><head><meta name=\"qrichtext\" content=\"1\" /><meta charset=\"utf-8\" /><style type=\"text/css\">\n"
 "p, li { white-space: pre-wrap; }\n"
@@ -917,6 +972,10 @@ class Ui_MainWindow(object):
         self.pushButton_reset.setText(QCoreApplication.translate("MainWindow", u"\u590d\u4f4d", None))
         self.pushButton_21.setText(QCoreApplication.translate("MainWindow", u"\u8c03\u8bd5", None))
         self.pushButton_17.setText(QCoreApplication.translate("MainWindow", u"\u6025\u505c", None))
+        self.lineEdit_speed.setText(QCoreApplication.translate("MainWindow", u"10", None))
+        self.lineEdit_speed.setPlaceholderText(QCoreApplication.translate("MainWindow", u"\u8f93\u5165\u6574\u6570\uff0c\u5207\u52ff\u8d85\u901f", None))
+        self.label_2.setText(QCoreApplication.translate("MainWindow", u"\u5f53\u524d\u81ea\u52a8\u901f\u5ea6\uff1a", None))
+        self.pushButton_speed.setText(QCoreApplication.translate("MainWindow", u"PushButton", None))
         self.tabWidget.setTabText(self.tabWidget.indexOf(self.tab), QCoreApplication.translate("MainWindow", u"\u6295\u6599", None))
         self.pushButton_2.setText(QCoreApplication.translate("MainWindow", u"PushButton", None))
         self.pushButton.setText(QCoreApplication.translate("MainWindow", u"PushButton", None))
diff --git a/untitled.ui b/untitled.ui
index 4c802ad..826bc68 100644
--- a/untitled.ui
+++ b/untitled.ui
@@ -270,7 +270,7 @@ QSlider::sub-page:horizontal
            <enum>Qt::Orientation::Horizontal</enum>
           </property>
          </widget>
-         <widget class="QLabel" name="label_maxNum_2">
+         <widget class="QLabel" name="label_maxNum">
           <property name="geometry">
            <rect>
             <x>800</x>
@@ -290,9 +290,9 @@ QSlider::sub-page:horizontal
           <property name="geometry">
            <rect>
             <x>500</x>
-            <y>200</y>
+            <y>190</y>
             <width>331</width>
-            <height>251</height>
+            <height>281</height>
            </rect>
           </property>
           <property name="styleSheet">
@@ -307,9 +307,9 @@ QSlider::sub-page:horizontal
           <widget class="QSlider" name="horizontalSlider_J1">
            <property name="geometry">
             <rect>
-             <x>60</x>
-             <y>20</y>
-             <width>221</width>
+             <x>65</x>
+             <y>50</y>
+             <width>171</width>
              <height>22</height>
             </rect>
            </property>
@@ -320,8 +320,8 @@ QSlider::sub-page:horizontal
           <widget class="QLabel" name="label_j1_min">
            <property name="geometry">
             <rect>
-             <x>60</x>
-             <y>0</y>
+             <x>65</x>
+             <y>30</y>
              <width>31</width>
              <height>21</height>
             </rect>
@@ -333,8 +333,8 @@ QSlider::sub-page:horizontal
           <widget class="QLabel" name="label_j1_max">
            <property name="geometry">
             <rect>
-             <x>260</x>
-             <y>0</y>
+             <x>215</x>
+             <y>30</y>
              <width>31</width>
              <height>21</height>
             </rect>
@@ -346,8 +346,8 @@ QSlider::sub-page:horizontal
           <widget class="QLabel" name="label_j2_min">
            <property name="geometry">
             <rect>
-             <x>60</x>
-             <y>40</y>
+             <x>65</x>
+             <y>70</y>
              <width>53</width>
              <height>21</height>
             </rect>
@@ -359,8 +359,8 @@ QSlider::sub-page:horizontal
           <widget class="QLabel" name="label_j2_max">
            <property name="geometry">
             <rect>
-             <x>260</x>
-             <y>40</y>
+             <x>215</x>
+             <y>70</y>
              <width>21</width>
              <height>21</height>
             </rect>
@@ -372,9 +372,9 @@ QSlider::sub-page:horizontal
           <widget class="QSlider" name="horizontalSlider_J2">
            <property name="geometry">
             <rect>
-             <x>60</x>
-             <y>60</y>
-             <width>221</width>
+             <x>65</x>
+             <y>90</y>
+             <width>171</width>
              <height>22</height>
             </rect>
            </property>
@@ -385,8 +385,8 @@ QSlider::sub-page:horizontal
           <widget class="QLabel" name="label_j3_min">
            <property name="geometry">
             <rect>
-             <x>60</x>
-             <y>80</y>
+             <x>65</x>
+             <y>110</y>
              <width>53</width>
              <height>21</height>
             </rect>
@@ -398,8 +398,8 @@ QSlider::sub-page:horizontal
           <widget class="QLabel" name="label_j3_max">
            <property name="geometry">
             <rect>
-             <x>260</x>
-             <y>80</y>
+             <x>215</x>
+             <y>110</y>
              <width>21</width>
              <height>21</height>
             </rect>
@@ -411,9 +411,9 @@ QSlider::sub-page:horizontal
           <widget class="QSlider" name="horizontalSlider_J3">
            <property name="geometry">
             <rect>
-             <x>60</x>
-             <y>100</y>
-             <width>221</width>
+             <x>65</x>
+             <y>130</y>
+             <width>171</width>
              <height>22</height>
             </rect>
            </property>
@@ -424,8 +424,8 @@ QSlider::sub-page:horizontal
           <widget class="QLabel" name="label_j5_min">
            <property name="geometry">
             <rect>
-             <x>60</x>
-             <y>160</y>
+             <x>65</x>
+             <y>190</y>
              <width>53</width>
              <height>21</height>
             </rect>
@@ -437,9 +437,9 @@ QSlider::sub-page:horizontal
           <widget class="QSlider" name="horizontalSlider_J5">
            <property name="geometry">
             <rect>
-             <x>60</x>
-             <y>180</y>
-             <width>221</width>
+             <x>65</x>
+             <y>210</y>
+             <width>171</width>
              <height>22</height>
             </rect>
            </property>
@@ -450,8 +450,8 @@ QSlider::sub-page:horizontal
           <widget class="QLabel" name="label_j5_max">
            <property name="geometry">
             <rect>
-             <x>260</x>
-             <y>160</y>
+             <x>215</x>
+             <y>190</y>
              <width>21</width>
              <height>21</height>
             </rect>
@@ -463,8 +463,8 @@ QSlider::sub-page:horizontal
           <widget class="QLabel" name="label_j6_min">
            <property name="geometry">
             <rect>
-             <x>60</x>
-             <y>200</y>
+             <x>65</x>
+             <y>230</y>
              <width>53</width>
              <height>21</height>
             </rect>
@@ -476,9 +476,9 @@ QSlider::sub-page:horizontal
           <widget class="QSlider" name="horizontalSlider_J6">
            <property name="geometry">
             <rect>
-             <x>60</x>
-             <y>220</y>
-             <width>221</width>
+             <x>65</x>
+             <y>250</y>
+             <width>171</width>
              <height>22</height>
             </rect>
            </property>
@@ -489,8 +489,8 @@ QSlider::sub-page:horizontal
           <widget class="QLabel" name="label_j6_max">
            <property name="geometry">
             <rect>
-             <x>260</x>
-             <y>200</y>
+             <x>215</x>
+             <y>230</y>
              <width>21</width>
              <height>21</height>
             </rect>
@@ -502,8 +502,8 @@ QSlider::sub-page:horizontal
           <widget class="QLabel" name="label_j4_min">
            <property name="geometry">
             <rect>
-             <x>60</x>
-             <y>120</y>
+             <x>65</x>
+             <y>150</y>
              <width>53</width>
              <height>21</height>
             </rect>
@@ -515,9 +515,9 @@ QSlider::sub-page:horizontal
           <widget class="QSlider" name="horizontalSlider_J4">
            <property name="geometry">
             <rect>
-             <x>60</x>
-             <y>140</y>
-             <width>221</width>
+             <x>65</x>
+             <y>170</y>
+             <width>171</width>
              <height>22</height>
             </rect>
            </property>
@@ -528,8 +528,8 @@ QSlider::sub-page:horizontal
           <widget class="QLabel" name="label_j4_max">
            <property name="geometry">
             <rect>
-             <x>260</x>
-             <y>120</y>
+             <x>215</x>
+             <y>150</y>
              <width>21</width>
              <height>21</height>
             </rect>
@@ -541,8 +541,8 @@ QSlider::sub-page:horizontal
           <widget class="QLabel" name="label_26">
            <property name="geometry">
             <rect>
-             <x>10</x>
-             <y>20</y>
+             <x>15</x>
+             <y>50</y>
              <width>21</width>
              <height>21</height>
             </rect>
@@ -557,8 +557,8 @@ QSlider::sub-page:horizontal
           <widget class="QLabel" name="label_27">
            <property name="geometry">
             <rect>
-             <x>10</x>
-             <y>60</y>
+             <x>15</x>
+             <y>90</y>
              <width>21</width>
              <height>21</height>
             </rect>
@@ -573,8 +573,8 @@ QSlider::sub-page:horizontal
           <widget class="QLabel" name="label_28">
            <property name="geometry">
             <rect>
-             <x>10</x>
-             <y>100</y>
+             <x>15</x>
+             <y>130</y>
              <width>21</width>
              <height>21</height>
             </rect>
@@ -589,8 +589,8 @@ QSlider::sub-page:horizontal
           <widget class="QLabel" name="label_29">
            <property name="geometry">
             <rect>
-             <x>10</x>
-             <y>140</y>
+             <x>15</x>
+             <y>170</y>
              <width>21</width>
              <height>21</height>
             </rect>
@@ -605,8 +605,8 @@ QSlider::sub-page:horizontal
           <widget class="QLabel" name="label_30">
            <property name="geometry">
             <rect>
-             <x>10</x>
-             <y>180</y>
+             <x>15</x>
+             <y>210</y>
              <width>21</width>
              <height>21</height>
             </rect>
@@ -621,8 +621,8 @@ QSlider::sub-page:horizontal
           <widget class="QLabel" name="label_31">
            <property name="geometry">
             <rect>
-             <x>10</x>
-             <y>220</y>
+             <x>15</x>
+             <y>250</y>
              <width>21</width>
              <height>21</height>
             </rect>
@@ -634,11 +634,11 @@ QSlider::sub-page:horizontal
             <string>J6</string>
            </property>
           </widget>
-          <widget class="QPushButton" name="pushButton_39">
+          <widget class="QPushButton" name="pushButton_j1_add">
            <property name="geometry">
             <rect>
-             <x>290</x>
-             <y>20</y>
+             <x>245</x>
+             <y>50</y>
              <width>31</width>
              <height>21</height>
             </rect>
@@ -664,11 +664,11 @@ font: 10pt &quot;楷体&quot;;
             <iconset theme="QIcon::ThemeIcon::ListAdd"/>
            </property>
           </widget>
-          <widget class="QPushButton" name="pushButton_40">
+          <widget class="QPushButton" name="pushButton_j1_sub">
            <property name="geometry">
             <rect>
-             <x>25</x>
-             <y>20</y>
+             <x>30</x>
+             <y>50</y>
              <width>31</width>
              <height>21</height>
             </rect>
@@ -694,11 +694,11 @@ font: 10pt &quot;楷体&quot;;
             <iconset theme="QIcon::ThemeIcon::ListRemove"/>
            </property>
           </widget>
-          <widget class="QPushButton" name="pushButton_41">
+          <widget class="QPushButton" name="pushButton_j2_sub">
            <property name="geometry">
             <rect>
-             <x>25</x>
-             <y>60</y>
+             <x>30</x>
+             <y>90</y>
              <width>31</width>
              <height>21</height>
             </rect>
@@ -724,11 +724,11 @@ font: 10pt &quot;楷体&quot;;
             <iconset theme="QIcon::ThemeIcon::ListRemove"/>
            </property>
           </widget>
-          <widget class="QPushButton" name="pushButton_42">
+          <widget class="QPushButton" name="pushButton_j2_add">
            <property name="geometry">
             <rect>
-             <x>290</x>
-             <y>60</y>
+             <x>245</x>
+             <y>90</y>
              <width>31</width>
              <height>21</height>
             </rect>
@@ -754,11 +754,11 @@ font: 10pt &quot;楷体&quot;;
             <iconset theme="QIcon::ThemeIcon::ListAdd"/>
            </property>
           </widget>
-          <widget class="QPushButton" name="pushButton_43">
+          <widget class="QPushButton" name="pushButton_j3_sub">
            <property name="geometry">
             <rect>
-             <x>25</x>
-             <y>100</y>
+             <x>30</x>
+             <y>130</y>
              <width>31</width>
              <height>21</height>
             </rect>
@@ -784,11 +784,11 @@ font: 10pt &quot;楷体&quot;;
             <iconset theme="QIcon::ThemeIcon::ListRemove"/>
            </property>
           </widget>
-          <widget class="QPushButton" name="pushButton_44">
+          <widget class="QPushButton" name="pushButton_j3_add">
            <property name="geometry">
             <rect>
-             <x>290</x>
-             <y>100</y>
+             <x>245</x>
+             <y>130</y>
              <width>31</width>
              <height>21</height>
             </rect>
@@ -814,11 +814,11 @@ font: 10pt &quot;楷体&quot;;
             <iconset theme="QIcon::ThemeIcon::ListAdd"/>
            </property>
           </widget>
-          <widget class="QPushButton" name="pushButton_45">
+          <widget class="QPushButton" name="pushButton_j4_add">
            <property name="geometry">
             <rect>
-             <x>290</x>
-             <y>140</y>
+             <x>245</x>
+             <y>170</y>
              <width>31</width>
              <height>21</height>
             </rect>
@@ -844,11 +844,11 @@ font: 10pt &quot;楷体&quot;;
             <iconset theme="QIcon::ThemeIcon::ListAdd"/>
            </property>
           </widget>
-          <widget class="QPushButton" name="pushButton_46">
+          <widget class="QPushButton" name="pushButton_j5_sub">
            <property name="geometry">
             <rect>
-             <x>25</x>
-             <y>180</y>
+             <x>30</x>
+             <y>210</y>
              <width>31</width>
              <height>21</height>
             </rect>
@@ -874,11 +874,11 @@ font: 10pt &quot;楷体&quot;;
             <iconset theme="QIcon::ThemeIcon::ListRemove"/>
            </property>
           </widget>
-          <widget class="QPushButton" name="pushButton_47">
+          <widget class="QPushButton" name="pushButton_j6_add">
            <property name="geometry">
             <rect>
-             <x>290</x>
-             <y>220</y>
+             <x>245</x>
+             <y>250</y>
              <width>31</width>
              <height>21</height>
             </rect>
@@ -904,11 +904,11 @@ font: 10pt &quot;楷体&quot;;
             <iconset theme="QIcon::ThemeIcon::ListAdd"/>
            </property>
           </widget>
-          <widget class="QPushButton" name="pushButton_48">
+          <widget class="QPushButton" name="pushButton_j6_sub">
            <property name="geometry">
             <rect>
-             <x>25</x>
-             <y>220</y>
+             <x>30</x>
+             <y>250</y>
              <width>31</width>
              <height>21</height>
             </rect>
@@ -934,11 +934,11 @@ font: 10pt &quot;楷体&quot;;
             <iconset theme="QIcon::ThemeIcon::ListRemove"/>
            </property>
           </widget>
-          <widget class="QPushButton" name="pushButton_49">
+          <widget class="QPushButton" name="pushButton_j4_sub">
            <property name="geometry">
             <rect>
-             <x>25</x>
-             <y>140</y>
+             <x>30</x>
+             <y>170</y>
              <width>31</width>
              <height>21</height>
             </rect>
@@ -964,11 +964,11 @@ font: 10pt &quot;楷体&quot;;
             <iconset theme="QIcon::ThemeIcon::ListRemove"/>
            </property>
           </widget>
-          <widget class="QPushButton" name="pushButton_50">
+          <widget class="QPushButton" name="pushButton_j5_add">
            <property name="geometry">
             <rect>
-             <x>290</x>
-             <y>180</y>
+             <x>245</x>
+             <y>210</y>
              <width>31</width>
              <height>21</height>
             </rect>
@@ -997,8 +997,8 @@ font: 10pt &quot;楷体&quot;;
           <widget class="QLineEdit" name="lineEdit_j1">
            <property name="geometry">
             <rect>
-             <x>140</x>
-             <y>3</y>
+             <x>285</x>
+             <y>50</y>
              <width>41</width>
              <height>21</height>
             </rect>
@@ -1007,8 +1007,8 @@ font: 10pt &quot;楷体&quot;;
           <widget class="QLineEdit" name="lineEdit_j2">
            <property name="geometry">
             <rect>
-             <x>140</x>
-             <y>41</y>
+             <x>285</x>
+             <y>90</y>
              <width>41</width>
              <height>21</height>
             </rect>
@@ -1017,8 +1017,8 @@ font: 10pt &quot;楷体&quot;;
           <widget class="QLineEdit" name="lineEdit_j3">
            <property name="geometry">
             <rect>
-             <x>140</x>
-             <y>82</y>
+             <x>285</x>
+             <y>130</y>
              <width>41</width>
              <height>21</height>
             </rect>
@@ -1027,8 +1027,8 @@ font: 10pt &quot;楷体&quot;;
           <widget class="QLineEdit" name="lineEdit_j4">
            <property name="geometry">
             <rect>
-             <x>140</x>
-             <y>120</y>
+             <x>285</x>
+             <y>170</y>
              <width>41</width>
              <height>21</height>
             </rect>
@@ -1037,8 +1037,8 @@ font: 10pt &quot;楷体&quot;;
           <widget class="QLineEdit" name="lineEdit_j5">
            <property name="geometry">
             <rect>
-             <x>140</x>
-             <y>162</y>
+             <x>285</x>
+             <y>210</y>
              <width>41</width>
              <height>21</height>
             </rect>
@@ -1047,13 +1047,120 @@ font: 10pt &quot;楷体&quot;;
           <widget class="QLineEdit" name="lineEdit_j6">
            <property name="geometry">
             <rect>
-             <x>140</x>
-             <y>200</y>
+             <x>285</x>
+             <y>250</y>
              <width>41</width>
              <height>21</height>
             </rect>
            </property>
           </widget>
+          <widget class="QLabel" name="label_j1">
+           <property name="geometry">
+            <rect>
+             <x>125</x>
+             <y>32</y>
+             <width>53</width>
+             <height>15</height>
+            </rect>
+           </property>
+           <property name="text">
+            <string/>
+           </property>
+          </widget>
+          <widget class="QLabel" name="label_j2">
+           <property name="geometry">
+            <rect>
+             <x>125</x>
+             <y>70</y>
+             <width>53</width>
+             <height>15</height>
+            </rect>
+           </property>
+           <property name="text">
+            <string/>
+           </property>
+          </widget>
+          <widget class="QLabel" name="label_j3">
+           <property name="geometry">
+            <rect>
+             <x>125</x>
+             <y>110</y>
+             <width>53</width>
+             <height>15</height>
+            </rect>
+           </property>
+           <property name="text">
+            <string/>
+           </property>
+          </widget>
+          <widget class="QLabel" name="label_j4">
+           <property name="geometry">
+            <rect>
+             <x>125</x>
+             <y>150</y>
+             <width>53</width>
+             <height>15</height>
+            </rect>
+           </property>
+           <property name="text">
+            <string/>
+           </property>
+          </widget>
+          <widget class="QLabel" name="label_j5">
+           <property name="geometry">
+            <rect>
+             <x>125</x>
+             <y>190</y>
+             <width>53</width>
+             <height>15</height>
+            </rect>
+           </property>
+           <property name="text">
+            <string/>
+           </property>
+          </widget>
+          <widget class="QLabel" name="label_j6">
+           <property name="geometry">
+            <rect>
+             <x>125</x>
+             <y>230</y>
+             <width>53</width>
+             <height>15</height>
+            </rect>
+           </property>
+           <property name="text">
+            <string/>
+           </property>
+          </widget>
+          <widget class="QLineEdit" name="lineEdit_manual_adjust_accuracy">
+           <property name="geometry">
+            <rect>
+             <x>110</x>
+             <y>10</y>
+             <width>61</width>
+             <height>21</height>
+            </rect>
+           </property>
+           <property name="text">
+            <string>1</string>
+           </property>
+           <property name="placeholderText">
+            <string>0.001-20</string>
+           </property>
+          </widget>
+          <widget class="QLabel" name="label_manual_adjust_accuracy">
+           <property name="geometry">
+            <rect>
+             <x>50</x>
+             <y>13</y>
+             <width>53</width>
+             <height>15</height>
+            </rect>
+           </property>
+           <property name="text">
+            <string>调整间隔：</string>
+           </property>
+          </widget>
          </widget>
          <widget class="QTextEdit" name="textEdit_log">
           <property name="geometry">
@@ -1061,7 +1168,7 @@ font: 10pt &quot;楷体&quot;;
             <x>10</x>
             <y>280</y>
             <width>481</width>
-            <height>171</height>
+            <height>191</height>
            </rect>
           </property>
           <property name="styleSheet">
@@ -1444,7 +1551,7 @@ background-color: #499c8a;
           <property name="geometry">
            <rect>
             <x>750</x>
-            <y>470</y>
+            <y>480</y>
             <width>91</width>
             <height>31</height>
            </rect>
@@ -1474,7 +1581,7 @@ background-color:#1cb052;
           <property name="geometry">
            <rect>
             <x>350</x>
-            <y>470</y>
+            <y>480</y>
             <width>91</width>
             <height>31</height>
            </rect>
@@ -1503,7 +1610,7 @@ background-color: #499c8a;
           <property name="geometry">
            <rect>
             <x>450</x>
-            <y>470</y>
+            <y>480</y>
             <width>91</width>
             <height>31</height>
            </rect>
@@ -1532,7 +1639,7 @@ background-color: #FFF000;
           <property name="geometry">
            <rect>
             <x>650</x>
-            <y>470</y>
+            <y>480</y>
             <width>91</width>
             <height>31</height>
            </rect>
@@ -1563,7 +1670,7 @@ background-color:#1053b2;
           <property name="geometry">
            <rect>
             <x>550</x>
-            <y>470</y>
+            <y>480</y>
             <width>91</width>
             <height>31</height>
            </rect>
@@ -1589,6 +1696,63 @@ background-color: #ff6e00;
            <iconset theme="QIcon::ThemeIcon::WindowClose"/>
           </property>
          </widget>
+         <widget class="QLineEdit" name="lineEdit_speed">
+          <property name="geometry">
+           <rect>
+            <x>110</x>
+            <y>490</y>
+            <width>113</width>
+            <height>21</height>
+           </rect>
+          </property>
+          <property name="text">
+           <string>10</string>
+          </property>
+          <property name="placeholderText">
+           <string>输入整数，切勿超速</string>
+          </property>
+         </widget>
+         <widget class="QLabel" name="label_2">
+          <property name="geometry">
+           <rect>
+            <x>20</x>
+            <y>493</y>
+            <width>81</width>
+            <height>16</height>
+           </rect>
+          </property>
+          <property name="text">
+           <string>当前自动速度：</string>
+          </property>
+         </widget>
+         <widget class="QPushButton" name="pushButton_speed">
+          <property name="geometry">
+           <rect>
+            <x>100</x>
+            <y>490</y>
+            <width>75</width>
+            <height>23</height>
+           </rect>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">
+*{background-color: #F9FAFC;
+border: 1px solid #dcdfe6;
+border-radius: 10px;
+font: 10pt &quot;楷体&quot;;
+}
+*:hover {
+    background-color: lightgreen;
+    color: black;
+}*:pressed {
+        background-color: red;
+        color: white;
+    }</string>
+          </property>
+          <property name="text">
+           <string>PushButton</string>
+          </property>
+         </widget>
         </widget>
        </widget>
       </widget>