2024-01-23 15:09:47 +08:00
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# coding:utf-8
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import sys
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sys.path.append("..")
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from pypibot import log
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import pypibot
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import params
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import dataholder
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from dataholder import MessageID
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from transport import Transport
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from PyQt5.QtWidgets import QApplication, QDialog
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from PyQt5.QtCore import QObject,pyqtSignal
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import pb
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import threading
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2024-02-22 19:11:29 +08:00
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port = "COM9"
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2024-01-23 15:09:47 +08:00
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pypibot.assistant.enableGlobalExcept()
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# log.enableFileLog(log_dir + "ros_$(Date8)_$(filenumber2).log")
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log.setLevel("i")
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class MainDialog(QDialog):
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encoder_signal = pyqtSignal(list)
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imu_signal = pyqtSignal(list)
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pid_debug_signal = pyqtSignal(list)
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def __init__(self, parent=None):
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super(QDialog, self).__init__(parent)
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self.ui = pb.Ui_pb()
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self.ui.setupUi(self)
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self.model_type_list = {"2wd-diff": dataholder.RobotModelType.MODEL_TYPE_2WD_DIFF,
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"4wd-diff": dataholder.RobotModelType.MODEL_TYPE_4WD_DIFF,
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"3wd-omni": dataholder.RobotModelType.MODEL_TYPE_3WD_OMNI,
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"4wd-omni": dataholder.RobotModelType.MODEL_TYPE_4WD_OMNI,
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"4wd-mecanum": dataholder.RobotModelType.MODEL_TYPE_4WD_MECANUM}
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self.model_value_list = {0: dataholder.RobotModelType.MODEL_TYPE_2WD_DIFF,
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1: dataholder.RobotModelType.MODEL_TYPE_4WD_DIFF,
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2: dataholder.RobotModelType.MODEL_TYPE_3WD_OMNI,
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3: dataholder.RobotModelType.MODEL_TYPE_4WD_OMNI,
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3: dataholder.RobotModelType.MODEL_TYPE_4WD_MECANUM}
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self.model_index_list = {dataholder.RobotModelType.MODEL_TYPE_2WD_DIFF: 0,
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dataholder.RobotModelType.MODEL_TYPE_4WD_DIFF: 1,
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dataholder.RobotModelType.MODEL_TYPE_3WD_OMNI: 2,
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dataholder.RobotModelType.MODEL_TYPE_4WD_OMNI: 3,
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dataholder.RobotModelType.MODEL_TYPE_4WD_MECANUM: 4}
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self.imu_type_list = {"gy65": 0, "gy85": 1, "gy87": 2}
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self.imu_value_list = {49: "gy65", 69: "gy85", 71: "gy87"}
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self.imu_index_list = {0: 49, 1: 69, 2: 71}
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self.init_ui()
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self.mboard = None
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self.init_dev()
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self.encoder_signal.connect(self.update_encoder)
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self.imu_signal.connect(self.update_imu)
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self.pid_debug_signal.connect(self.update_pid_debug)
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self._KeepRunning = True
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self.encoder_thread = threading.Thread(target=self._read_encoder)
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self.encoder_thread.start()
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def closeEvent(self, event):
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self._KeepRunning = False
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def init_ui(self):
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for model_type in self.model_type_list.keys():
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self.ui.combox_model.addItem(model_type)
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for imu_type in self.imu_type_list.keys():
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self.ui.combox_imu_type.addItem(imu_type)
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self.ui.slider_wheel_diameter.setMinimum(10)
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self.ui.slider_wheel_diameter.setMaximum(500)
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self.ui.slider_wheel_track.setMinimum(50)
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self.ui.slider_wheel_track.setMaximum(1000)
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self.ui.slider_encoder.setMinimum(1)
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self.ui.slider_encoder.setMaximum(500)
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self.ui.slider_motor_ratio.setMinimum(1)
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self.ui.slider_motor_ratio.setMaximum(1000)
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self.ui.slider_pid_interval.setMinimum(1)
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self.ui.slider_pid_interval.setMaximum(80)
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self.ui.slider_kp.setMinimum(0)
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self.ui.slider_kp.setMaximum(10000)
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self.ui.slider_ki.setMinimum(0)
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self.ui.slider_ki.setMaximum(32000)
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self.ui.slider_kd.setMinimum(0)
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self.ui.slider_kd.setMaximum(1000)
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self.ui.slider_ko.setMinimum(0)
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self.ui.slider_ko.setMaximum(1000)
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self.ui.slider_cmd_lasttime.setMinimum(0)
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self.ui.slider_cmd_lasttime.setMaximum(1000)
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self.ui.slider_vx_max.setMinimum(0)
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self.ui.slider_vx_max.setMaximum(500)
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self.ui.slider_vy_max.setMinimum(0)
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self.ui.slider_vy_max.setMaximum(500)
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self.ui.slider_va_max.setMinimum(0)
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self.ui.slider_va_max.setMaximum(2000)
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self.ui.comboBox_support_model.setVisible(False)
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self.ui.pushButton_load.setVisible(False)
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self.ui.pushButton_read.clicked.connect(self.read_params)
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self.ui.pushButton_set.clicked.connect(self.write_params)
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self.ui.pushButton_start.clicked.connect(self.start_motor)
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self.ui.pushButton_stop.clicked.connect(self.stop_motor)
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self.ui.pushButton_start_2.clicked.connect(self.start_control)
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self.ui.pushButton_stop_2.clicked.connect(self.stop_control)
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self.ui.slider_set_pwm1.setMinimum(-5000)
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self.ui.slider_set_pwm1.setMaximum(5000)
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self.ui.slider_set_pwm2.setMinimum(-5000)
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self.ui.slider_set_pwm2.setMaximum(5000)
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self.ui.slider_set_pwm3.setMinimum(-5000)
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self.ui.slider_set_pwm3.setMaximum(5000)
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self.ui.slider_set_pwm4.setMinimum(-5000)
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self.ui.slider_set_pwm4.setMaximum(5000)
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self.ui.tabWidget.setTabText(0, '1.参数配置')
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self.ui.tabWidget.setTabText(1, '2.电机测试')
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self.ui.tabWidget.setCurrentIndex(0)
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def update_param(self, param):
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log.i("type:%d %d" % (param.model_type, param.imu_type))
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try:
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self.ui.combox_model.setCurrentIndex(self.model_index_list[param.model_type])
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except Exception as e:
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print("model type err")
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try:
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self.ui.combox_imu_type.setCurrentIndex(
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self.imu_type_list[self.imu_value_list[param.imu_type]])
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except Exception as e:
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print("imu type err")
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try:
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self.ui.slider_wheel_diameter.setSliderPosition(
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param.wheel_diameter)
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self.ui.slider_wheel_track.setSliderPosition(param.wheel_track)
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self.ui.slider_encoder.setSliderPosition(param.encoder_resolution)
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self.ui.slider_motor_ratio.setSliderPosition(param.motor_ratio)
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self.ui.checkBox_motor1.setChecked(
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param.motor_nonexchange_flag & 0x1)
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self.ui.checkBox_motor2.setChecked(
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param.motor_nonexchange_flag & 0x2)
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self.ui.checkBox_motor3.setChecked(
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param.motor_nonexchange_flag & 0x4)
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self.ui.checkBox_motor4.setChecked(
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param.motor_nonexchange_flag & 0x8)
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self.ui.checkBox_encoder1.setChecked(
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param.encoder_nonexchange_flag & 0x1)
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self.ui.checkBox_encoder2.setChecked(
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param.encoder_nonexchange_flag & 0x2)
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self.ui.checkBox_encoder3.setChecked(
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param.encoder_nonexchange_flag & 0x4)
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self.ui.checkBox_encoder4.setChecked(
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param.encoder_nonexchange_flag & 0x8)
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except Exception as e:
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print("motor dir param err")
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try:
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self.ui.slider_cmd_lasttime.setSliderPosition(param.cmd_last_time)
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self.ui.slider_vx_max.setSliderPosition(param.max_v_liner_x)
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self.ui.slider_vy_max.setSliderPosition(param.max_v_liner_y)
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self.ui.slider_va_max.setSliderPosition(param.max_v_angular_z)
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except Exception as e:
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print("pid param err")
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try:
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self.ui.slider_pid_interval.setSliderPosition(
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param.do_pid_interval)
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self.ui.slider_kp.setSliderPosition(param.kp)
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self.ui.slider_ki.setSliderPosition(param.ki)
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self.ui.slider_kd.setSliderPosition(param.kd)
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self.ui.slider_ko.setSliderPosition(param.ko)
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except Exception as e:
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print("velocity limit param err")
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def read_params(self):
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# get robot parameter
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robotParam = self.DataHolder[MessageID.ID_GET_ROBOT_PARAMETER]
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p = self.mboard.request(MessageID.ID_GET_ROBOT_PARAMETER)
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if p:
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log.info("model_type:%d wheel_diameter:%d wheel_track:%d encoder_resolution:%d"
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% (robotParam.param.model_type,
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robotParam.param.wheel_diameter,
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robotParam.param.wheel_track,
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robotParam.param.encoder_resolution
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))
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log.info("do_pid_interval:%d kp:%d ki:%d kd:%d ko:%d"
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% (robotParam.param.do_pid_interval,
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robotParam.param.kp,
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robotParam.param.ki,
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robotParam.param.kd,
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robotParam.param.ko))
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log.info("cmd_last_time:%d imu_type:%d"
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% (robotParam.param.cmd_last_time,
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robotParam.param.imu_type
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))
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log.info("max_v:%d %d %d"
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% (robotParam.param.max_v_liner_x,
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robotParam.param.max_v_liner_y,
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robotParam.param.max_v_angular_z
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))
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log.info("motor flag:%d encoder flag: %d"
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% (robotParam.param.motor_nonexchange_flag,
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robotParam.param.encoder_nonexchange_flag
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))
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else:
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log.error('get params err')
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return False
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self.update_param(robotParam.param)
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def get_input_param(self):
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params = dataholder.RobotParameters()
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params.wheel_diameter = self.ui.slider_wheel_diameter.sliderPosition()
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params.wheel_track = self.ui.slider_wheel_track.sliderPosition()
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params.encoder_resolution = self.ui.slider_encoder.sliderPosition()
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params.do_pid_interval = self.ui.slider_pid_interval.sliderPosition()
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params.kp = self.ui.slider_kp.sliderPosition()
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params.ki = self.ui.slider_ki.sliderPosition()
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params.kd = self.ui.slider_kd.sliderPosition()
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params.ko = self.ui.slider_ko.sliderPosition()
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params.cmd_last_time = self.ui.slider_cmd_lasttime.sliderPosition()
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params.max_v_liner_x = self.ui.slider_vx_max.sliderPosition()
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params.max_v_liner_y = self.ui.slider_vy_max.sliderPosition()
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params.max_v_angular_z = self.ui.slider_va_max.sliderPosition()
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params.motor_ratio = self.ui.slider_motor_ratio.sliderPosition()
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params.imu_type = self.imu_index_list[self.ui.combox_imu_type.currentIndex(
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)]
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params.model_type = self.model_value_list[self.ui.combox_model.currentIndex()]
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params.motor_nonexchange_flag = 0
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if self.ui.checkBox_motor1.isChecked():
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params.motor_nonexchange_flag = params.motor_nonexchange_flag | 0x1
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else:
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params.motor_nonexchange_flag = params.motor_nonexchange_flag & 0xfe
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if self.ui.checkBox_motor2.isChecked():
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params.motor_nonexchange_flag = params.motor_nonexchange_flag | 0x2
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else:
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params.motor_nonexchange_flag = params.motor_nonexchange_flag & 0xfd
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if self.ui.checkBox_motor3.isChecked():
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params.motor_nonexchange_flag = params.motor_nonexchange_flag | 0x4
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else:
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params.motor_nonexchange_flag = params.motor_nonexchange_flag & 0xfb
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if self.ui.checkBox_motor4.isChecked():
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params.motor_nonexchange_flag = params.motor_nonexchange_flag | 0x8
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else:
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params.motor_nonexchange_flag = params.motor_nonexchange_flag & 0xf7
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params.encoder_nonexchange_flag = 0
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if self.ui.checkBox_encoder1.isChecked():
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params.encoder_nonexchange_flag = params.encoder_nonexchange_flag | 0x1
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else:
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params.encoder_nonexchange_flag = params.encoder_nonexchange_flag & 0xfe
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if self.ui.checkBox_encoder2.isChecked():
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params.encoder_nonexchange_flag = params.encoder_nonexchange_flag | 0x2
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else:
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params.encoder_nonexchange_flag = params.encoder_nonexchange_flag & 0xfd
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if self.ui.checkBox_encoder3.isChecked():
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params.encoder_nonexchange_flag = params.encoder_nonexchange_flag | 0x4
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else:
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params.encoder_nonexchange_flag = params.encoder_nonexchange_flag & 0xfb
|
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|
|
if self.ui.checkBox_encoder4.isChecked():
|
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|
|
params.encoder_nonexchange_flag = params.encoder_nonexchange_flag | 0x8
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else:
|
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|
|
params.encoder_nonexchange_flag = params.encoder_nonexchange_flag & 0xf7
|
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|
|
return params
|
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|
|
|
|
def write_params(self):
|
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|
|
|
self.DataHolder[MessageID.ID_SET_ROBOT_PARAMETER].param = self.get_input_param()
|
|
|
|
|
p = self.mboard.request(MessageID.ID_SET_ROBOT_PARAMETER)
|
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|
|
|
if p:
|
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|
|
|
log.info('set parameter success')
|
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|
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else:
|
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|
|
|
log.error('set parameter err')
|
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|
|
quit(1)
|
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|
|
|
|
|
def update_pid_debug(self, pid_data):
|
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|
|
|
self.ui.label_input_1.setText(str(pid_data[0]))
|
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|
|
|
self.ui.label_input_2.setText(str(pid_data[1]))
|
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|
|
|
self.ui.label_input_3.setText(str(pid_data[2]))
|
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|
|
self.ui.label_input_4.setText(str(pid_data[3]))
|
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|
|
self.ui.label_output_1.setText(str(pid_data[4]))
|
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|
|
self.ui.label_output_2.setText(str(pid_data[5]))
|
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|
|
|
self.ui.label_output_3.setText(str(pid_data[6]))
|
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|
|
|
self.ui.label_output_4.setText(str(pid_data[7]))
|
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|
|
|
|
|
|
|
|
def update_imu(self, imu):
|
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|
|
|
#log.info('imu: %s'%(('\t\t').join([str(x) for x in imu])))
|
|
|
|
|
self.ui.label_acc_x.setText(str(round(imu[0], 6)))
|
|
|
|
|
self.ui.label_acc_y.setText(str(round(imu[1], 6)))
|
|
|
|
|
self.ui.label_acc_z.setText(str(round(imu[2], 6)))
|
|
|
|
|
self.ui.label_gyro_x.setText(str(round(imu[3], 6)))
|
|
|
|
|
self.ui.label_gyro_y.setText(str(round(imu[4], 6)))
|
|
|
|
|
self.ui.label_gyro_z.setText(str(round(imu[5], 6)))
|
|
|
|
|
self.ui.label_magn_x.setText(str(round(imu[6], 6)))
|
|
|
|
|
self.ui.label_magn_y.setText(str(round(imu[7], 6)))
|
|
|
|
|
self.ui.label_magn_z.setText(str(round(imu[8], 6)))
|
|
|
|
|
|
|
|
|
|
def update_encoder(self, encoder):
|
|
|
|
|
log.debug('encoder count: %s'%(('\t\t').join([str(x) for x in encoder])))
|
|
|
|
|
self.ui.label_feedback1.setText(str(encoder[0]))
|
|
|
|
|
self.ui.label_feedback2.setText(str(encoder[1]))
|
|
|
|
|
self.ui.label_feedback3.setText(str(encoder[2]))
|
|
|
|
|
self.ui.label_feedback4.setText(str(encoder[3]))
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
def _read_encoder(self):
|
|
|
|
|
while self._KeepRunning:
|
|
|
|
|
robot_encoder = self.DataHolder[MessageID.ID_GET_ENCODER_COUNT].encoder
|
|
|
|
|
p = self.mboard.request(MessageID.ID_GET_ENCODER_COUNT)
|
|
|
|
|
if p:
|
|
|
|
|
# log.info('encoder count: %s'%(('\t\t').join([str(x) for x in robot_encoder])))
|
|
|
|
|
self.encoder_signal.emit([int(x) for x in robot_encoder])
|
|
|
|
|
|
|
|
|
|
robot_imu = self.DataHolder[MessageID.ID_GET_IMU].imu
|
|
|
|
|
p = self.mboard.request(MessageID.ID_GET_IMU)
|
|
|
|
|
if p:
|
|
|
|
|
# log.info('imu: %s'%(('\t\t').join([str(x) for x in robot_imu])))
|
|
|
|
|
self.imu_signal.emit([x for x in robot_imu])
|
|
|
|
|
|
|
|
|
|
pid_data = self.DataHolder[MessageID.ID_GET_PID_DEBUG].pid_data
|
|
|
|
|
p = self.mboard.request(MessageID.ID_GET_PID_DEBUG)
|
|
|
|
|
if p:
|
|
|
|
|
# log.info('imu: %s'%(('\t\t').join([str(x) for x in robot_imu])))
|
|
|
|
|
self.pid_debug_signal.emit([x for x in pid_data])
|
|
|
|
|
import time
|
|
|
|
|
time.sleep(0.1)
|
|
|
|
|
|
|
|
|
|
def start_motor(self):
|
|
|
|
|
self.DataHolder[MessageID.ID_SET_MOTOR_PWM].pwm = [self.ui.slider_set_pwm1.sliderPosition(),
|
|
|
|
|
self.ui.slider_set_pwm2.sliderPosition(),
|
|
|
|
|
self.ui.slider_set_pwm3.sliderPosition(),
|
|
|
|
|
self.ui.slider_set_pwm4.sliderPosition()]
|
|
|
|
|
p = self.mboard.request(MessageID.ID_SET_MOTOR_PWM)
|
|
|
|
|
if p:
|
|
|
|
|
log.info('set pwm success')
|
|
|
|
|
else:
|
|
|
|
|
log.error('set pwm err')
|
|
|
|
|
|
|
|
|
|
def stop_motor(self):
|
|
|
|
|
self.DataHolder[MessageID.ID_SET_MOTOR_PWM].pwm = [0]*4
|
|
|
|
|
p = self.mboard.request(MessageID.ID_SET_MOTOR_PWM)
|
|
|
|
|
if p:
|
|
|
|
|
log.info('set pwm success')
|
|
|
|
|
else:
|
|
|
|
|
log.error('set pwm err')
|
|
|
|
|
|
|
|
|
|
def start_control(self):
|
|
|
|
|
self.DataHolder[MessageID.ID_SET_VEL].v_liner_x = 200
|
|
|
|
|
self.DataHolder[MessageID.ID_SET_VEL].v_liner_y = 0
|
|
|
|
|
self.DataHolder[MessageID.ID_SET_VEL].v_angular_z = 10
|
|
|
|
|
p = self.mboard.request(MessageID.ID_SET_VEL)
|
|
|
|
|
if p:
|
|
|
|
|
log.info('set vel success')
|
|
|
|
|
else:
|
|
|
|
|
log.error('set vel err')
|
|
|
|
|
|
|
|
|
|
def stop_control(self):
|
|
|
|
|
self.DataHolder[MessageID.ID_SET_VEL].v_liner_x = 0
|
|
|
|
|
self.DataHolder[MessageID.ID_SET_VEL].v_liner_y = 0
|
|
|
|
|
self.DataHolder[MessageID.ID_SET_VEL].v_angular_z = 0
|
|
|
|
|
p = self.mboard.request(MessageID.ID_SET_VEL)
|
|
|
|
|
if p:
|
|
|
|
|
log.info('set vel success')
|
|
|
|
|
else:
|
|
|
|
|
log.error('set vel err')
|
|
|
|
|
|
|
|
|
|
def init_dev(self):
|
|
|
|
|
self.mboard = Transport(port, params.pibotBaud)
|
|
|
|
|
if not self.mboard.start():
|
|
|
|
|
log.error("can not open %s" % port)
|
|
|
|
|
return False
|
|
|
|
|
|
|
|
|
|
self.DataHolder = self.mboard.getDataHolder()
|
|
|
|
|
|
|
|
|
|
for num in range(0, 3):
|
|
|
|
|
log.info("****************get robot version*****************")
|
|
|
|
|
boardVersion = self.DataHolder[MessageID.ID_GET_VERSION]
|
|
|
|
|
p = self.mboard.request(MessageID.ID_GET_VERSION)
|
|
|
|
|
if p:
|
|
|
|
|
log.info("firmware version:%s buildtime:%s" % (
|
|
|
|
|
boardVersion.version.decode(), boardVersion.build_time.decode()))
|
|
|
|
|
break
|
|
|
|
|
else:
|
|
|
|
|
log.error('read firmware version err')
|
|
|
|
|
import time
|
|
|
|
|
time.sleep(1)
|
|
|
|
|
if num == 2:
|
|
|
|
|
log.error('please check connection or baudrate')
|
|
|
|
|
return False
|
|
|
|
|
|
|
|
|
|
return self.read_params()
|
|
|
|
|
|
|
|
|
|
if __name__ == '__main__':
|
|
|
|
|
app = QApplication(sys.argv)
|
|
|
|
|
|
|
|
|
|
import qdarkstyle
|
|
|
|
|
app.setStyleSheet(qdarkstyle.load_stylesheet(qt_api='pyqt5'))
|
|
|
|
|
|
|
|
|
|
# from qt_material import apply_stylesheet
|
|
|
|
|
# apply_stylesheet(app, theme='light_teal.xml')
|
|
|
|
|
myDlg = MainDialog()
|
|
|
|
|
myDlg.show()
|
|
|
|
|
sys.exit(app.exec_())
|
