# -*- coding: utf-8 -*- # Form implementation generated from reading ui file 'pb.ui' # # Created by: PyQt5 UI code generator 5.15.9 # # WARNING: Any manual changes made to this file will be lost when pyuic5 is # run again. Do not edit this file unless you know what you are doing. from PyQt5 import QtCore, QtGui, QtWidgets class Ui_pb(object): def setupUi(self, pb): pb.setObjectName("pb") pb.resize(866, 542) self.gridLayout_2 = QtWidgets.QGridLayout(pb) self.gridLayout_2.setObjectName("gridLayout_2") self.line_5 = QtWidgets.QFrame(pb) self.line_5.setFrameShape(QtWidgets.QFrame.HLine) self.line_5.setFrameShadow(QtWidgets.QFrame.Sunken) self.line_5.setObjectName("line_5") self.gridLayout_2.addWidget(self.line_5, 0, 0, 1, 1) self.tabWidget = QtWidgets.QTabWidget(pb) self.tabWidget.setObjectName("tabWidget") self.tab_3 = QtWidgets.QWidget() self.tab_3.setObjectName("tab_3") self.verticalLayout_3 = QtWidgets.QVBoxLayout(self.tab_3) self.verticalLayout_3.setObjectName("verticalLayout_3") self.horizontalLayout_25 = QtWidgets.QHBoxLayout() self.horizontalLayout_25.setObjectName("horizontalLayout_25") self.horizontalLayout_5 = QtWidgets.QHBoxLayout() self.horizontalLayout_5.setContentsMargins(10, -1, -1, -1) self.horizontalLayout_5.setObjectName("horizontalLayout_5") self.label_2 = QtWidgets.QLabel(self.tab_3) self.label_2.setObjectName("label_2") self.horizontalLayout_5.addWidget(self.label_2) spacerItem = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum) self.horizontalLayout_5.addItem(spacerItem) self.combox_model = QtWidgets.QComboBox(self.tab_3) self.combox_model.setObjectName("combox_model") self.horizontalLayout_5.addWidget(self.combox_model) spacerItem1 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum) self.horizontalLayout_5.addItem(spacerItem1) self.horizontalLayout_5.setStretch(1, 1) self.horizontalLayout_5.setStretch(3, 8) self.horizontalLayout_25.addLayout(self.horizontalLayout_5) self.horizontalLayout_6 = QtWidgets.QHBoxLayout() self.horizontalLayout_6.setContentsMargins(10, -1, -1, -1) self.horizontalLayout_6.setObjectName("horizontalLayout_6") self.label_3 = QtWidgets.QLabel(self.tab_3) self.label_3.setObjectName("label_3") self.horizontalLayout_6.addWidget(self.label_3) spacerItem2 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum) self.horizontalLayout_6.addItem(spacerItem2) self.combox_imu_type = QtWidgets.QComboBox(self.tab_3) self.combox_imu_type.setObjectName("combox_imu_type") self.horizontalLayout_6.addWidget(self.combox_imu_type) spacerItem3 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum) self.horizontalLayout_6.addItem(spacerItem3) self.horizontalLayout_6.setStretch(1, 1) self.horizontalLayout_6.setStretch(2, 8) self.horizontalLayout_6.setStretch(3, 8) self.horizontalLayout_25.addLayout(self.horizontalLayout_6) self.verticalLayout_3.addLayout(self.horizontalLayout_25) self.line_2 = QtWidgets.QFrame(self.tab_3) self.line_2.setFrameShape(QtWidgets.QFrame.HLine) self.line_2.setFrameShadow(QtWidgets.QFrame.Sunken) self.line_2.setObjectName("line_2") self.verticalLayout_3.addWidget(self.line_2) self.verticalLayout_2 = QtWidgets.QVBoxLayout() self.verticalLayout_2.setObjectName("verticalLayout_2") self.gridLayout = QtWidgets.QGridLayout() self.gridLayout.setObjectName("gridLayout") self.horizontalLayout = QtWidgets.QHBoxLayout() self.horizontalLayout.setContentsMargins(10, -1, 10, -1) self.horizontalLayout.setObjectName("horizontalLayout") self.label_6 = QtWidgets.QLabel(self.tab_3) self.label_6.setObjectName("label_6") self.horizontalLayout.addWidget(self.label_6) self.slider_motor_ratio = QtWidgets.QSlider(self.tab_3) self.slider_motor_ratio.setOrientation(QtCore.Qt.Horizontal) self.slider_motor_ratio.setObjectName("slider_motor_ratio") self.horizontalLayout.addWidget(self.slider_motor_ratio) self.label_motor_ratio = QtWidgets.QLabel(self.tab_3) self.label_motor_ratio.setObjectName("label_motor_ratio") self.horizontalLayout.addWidget(self.label_motor_ratio) self.gridLayout.addLayout(self.horizontalLayout, 1, 1, 1, 1) self.horizontalLayout_3 = QtWidgets.QHBoxLayout() self.horizontalLayout_3.setContentsMargins(10, -1, 10, -1) self.horizontalLayout_3.setObjectName("horizontalLayout_3") self.label = QtWidgets.QLabel(self.tab_3) self.label.setObjectName("label") self.horizontalLayout_3.addWidget(self.label) self.slider_wheel_diameter = QtWidgets.QSlider(self.tab_3) self.slider_wheel_diameter.setOrientation(QtCore.Qt.Horizontal) self.slider_wheel_diameter.setObjectName("slider_wheel_diameter") self.horizontalLayout_3.addWidget(self.slider_wheel_diameter) self.label_wheel_diameter = QtWidgets.QLabel(self.tab_3) self.label_wheel_diameter.setObjectName("label_wheel_diameter") self.horizontalLayout_3.addWidget(self.label_wheel_diameter) self.horizontalLayout_3.setStretch(1, 16) self.gridLayout.addLayout(self.horizontalLayout_3, 0, 0, 1, 1) self.horizontalLayout_4 = QtWidgets.QHBoxLayout() self.horizontalLayout_4.setContentsMargins(10, -1, 10, -1) self.horizontalLayout_4.setObjectName("horizontalLayout_4") self.label_4 = QtWidgets.QLabel(self.tab_3) self.label_4.setObjectName("label_4") self.horizontalLayout_4.addWidget(self.label_4) self.slider_encoder = QtWidgets.QSlider(self.tab_3) self.slider_encoder.setOrientation(QtCore.Qt.Horizontal) self.slider_encoder.setObjectName("slider_encoder") self.horizontalLayout_4.addWidget(self.slider_encoder) self.label_encoder_res = QtWidgets.QLabel(self.tab_3) self.label_encoder_res.setObjectName("label_encoder_res") self.horizontalLayout_4.addWidget(self.label_encoder_res) self.horizontalLayout_4.setStretch(1, 16) self.gridLayout.addLayout(self.horizontalLayout_4, 1, 0, 1, 1) self.horizontalLayout_2 = QtWidgets.QHBoxLayout() self.horizontalLayout_2.setContentsMargins(10, -1, 10, -1) self.horizontalLayout_2.setObjectName("horizontalLayout_2") self.label_5 = QtWidgets.QLabel(self.tab_3) self.label_5.setObjectName("label_5") self.horizontalLayout_2.addWidget(self.label_5) self.slider_wheel_track = QtWidgets.QSlider(self.tab_3) self.slider_wheel_track.setOrientation(QtCore.Qt.Horizontal) self.slider_wheel_track.setObjectName("slider_wheel_track") self.horizontalLayout_2.addWidget(self.slider_wheel_track) self.label_wheel_track = QtWidgets.QLabel(self.tab_3) self.label_wheel_track.setObjectName("label_wheel_track") self.horizontalLayout_2.addWidget(self.label_wheel_track) self.gridLayout.addLayout(self.horizontalLayout_2, 0, 1, 1, 1) self.verticalLayout_2.addLayout(self.gridLayout) self.verticalLayout_3.addLayout(self.verticalLayout_2) self.line_3 = QtWidgets.QFrame(self.tab_3) self.line_3.setFrameShape(QtWidgets.QFrame.HLine) self.line_3.setFrameShadow(QtWidgets.QFrame.Sunken) self.line_3.setObjectName("line_3") self.verticalLayout_3.addWidget(self.line_3) self.verticalLayout = QtWidgets.QVBoxLayout() self.verticalLayout.setObjectName("verticalLayout") self.groupBox = QtWidgets.QGroupBox(self.tab_3) self.groupBox.setAutoFillBackground(False) self.groupBox.setFlat(False) self.groupBox.setObjectName("groupBox") self.verticalLayout_4 = QtWidgets.QVBoxLayout(self.groupBox) self.verticalLayout_4.setObjectName("verticalLayout_4") self.horizontalLayout_26 = QtWidgets.QHBoxLayout() self.horizontalLayout_26.setObjectName("horizontalLayout_26") self.gridLayout_4 = QtWidgets.QGridLayout() self.gridLayout_4.setContentsMargins(5, -1, -1, -1) self.gridLayout_4.setObjectName("gridLayout_4") self.checkBox_motor1 = QtWidgets.QCheckBox(self.groupBox) self.checkBox_motor1.setObjectName("checkBox_motor1") self.gridLayout_4.addWidget(self.checkBox_motor1, 0, 0, 1, 1) self.checkBox_motor2 = QtWidgets.QCheckBox(self.groupBox) self.checkBox_motor2.setObjectName("checkBox_motor2") self.gridLayout_4.addWidget(self.checkBox_motor2, 0, 1, 1, 1) self.checkBox_motor3 = QtWidgets.QCheckBox(self.groupBox) self.checkBox_motor3.setObjectName("checkBox_motor3") self.gridLayout_4.addWidget(self.checkBox_motor3, 0, 2, 1, 1) self.checkBox_motor4 = QtWidgets.QCheckBox(self.groupBox) self.checkBox_motor4.setObjectName("checkBox_motor4") self.gridLayout_4.addWidget(self.checkBox_motor4, 0, 3, 1, 1) self.checkBox_encoder1 = QtWidgets.QCheckBox(self.groupBox) self.checkBox_encoder1.setObjectName("checkBox_encoder1") self.gridLayout_4.addWidget(self.checkBox_encoder1, 0, 4, 1, 1) self.checkBox_encoder2 = QtWidgets.QCheckBox(self.groupBox) self.checkBox_encoder2.setObjectName("checkBox_encoder2") self.gridLayout_4.addWidget(self.checkBox_encoder2, 0, 5, 1, 1) self.checkBox_encoder3 = QtWidgets.QCheckBox(self.groupBox) self.checkBox_encoder3.setObjectName("checkBox_encoder3") self.gridLayout_4.addWidget(self.checkBox_encoder3, 0, 6, 1, 1) self.checkBox_encoder4 = QtWidgets.QCheckBox(self.groupBox) self.checkBox_encoder4.setObjectName("checkBox_encoder4") self.gridLayout_4.addWidget(self.checkBox_encoder4, 0, 7, 1, 1) self.horizontalLayout_26.addLayout(self.gridLayout_4) self.verticalLayout_4.addLayout(self.horizontalLayout_26) self.verticalLayout.addWidget(self.groupBox) self.verticalLayout_3.addLayout(self.verticalLayout) self.horizontalLayout_24 = QtWidgets.QHBoxLayout() self.horizontalLayout_24.setObjectName("horizontalLayout_24") self.groupBox_3 = QtWidgets.QGroupBox(self.tab_3) self.groupBox_3.setObjectName("groupBox_3") self.gridLayout_5 = QtWidgets.QGridLayout(self.groupBox_3) self.gridLayout_5.setObjectName("gridLayout_5") self.horizontalLayout_20 = QtWidgets.QHBoxLayout() self.horizontalLayout_20.setContentsMargins(10, -1, -1, -1) self.horizontalLayout_20.setObjectName("horizontalLayout_20") self.label_16 = QtWidgets.QLabel(self.groupBox_3) self.label_16.setObjectName("label_16") self.horizontalLayout_20.addWidget(self.label_16) self.slider_ki = QtWidgets.QSlider(self.groupBox_3) self.slider_ki.setOrientation(QtCore.Qt.Horizontal) self.slider_ki.setObjectName("slider_ki") self.horizontalLayout_20.addWidget(self.slider_ki) self.label_ki = QtWidgets.QLabel(self.groupBox_3) self.label_ki.setObjectName("label_ki") self.horizontalLayout_20.addWidget(self.label_ki) self.gridLayout_5.addLayout(self.horizontalLayout_20, 2, 0, 1, 1) self.horizontalLayout_21 = QtWidgets.QHBoxLayout() self.horizontalLayout_21.setContentsMargins(10, -1, -1, -1) self.horizontalLayout_21.setObjectName("horizontalLayout_21") self.label_17 = QtWidgets.QLabel(self.groupBox_3) self.label_17.setObjectName("label_17") self.horizontalLayout_21.addWidget(self.label_17) self.slider_kd = QtWidgets.QSlider(self.groupBox_3) self.slider_kd.setOrientation(QtCore.Qt.Horizontal) self.slider_kd.setObjectName("slider_kd") self.horizontalLayout_21.addWidget(self.slider_kd) self.label_kd = QtWidgets.QLabel(self.groupBox_3) self.label_kd.setObjectName("label_kd") self.horizontalLayout_21.addWidget(self.label_kd) self.gridLayout_5.addLayout(self.horizontalLayout_21, 3, 0, 1, 1) self.horizontalLayout_22 = QtWidgets.QHBoxLayout() self.horizontalLayout_22.setContentsMargins(10, -1, -1, -1) self.horizontalLayout_22.setObjectName("horizontalLayout_22") self.label_15 = QtWidgets.QLabel(self.groupBox_3) self.label_15.setObjectName("label_15") self.horizontalLayout_22.addWidget(self.label_15) self.slider_kp = QtWidgets.QSlider(self.groupBox_3) self.slider_kp.setOrientation(QtCore.Qt.Horizontal) self.slider_kp.setObjectName("slider_kp") self.horizontalLayout_22.addWidget(self.slider_kp) self.label_kp = QtWidgets.QLabel(self.groupBox_3) self.label_kp.setObjectName("label_kp") self.horizontalLayout_22.addWidget(self.label_kp) self.gridLayout_5.addLayout(self.horizontalLayout_22, 1, 0, 1, 1) self.horizontalLayout_23 = QtWidgets.QHBoxLayout() self.horizontalLayout_23.setContentsMargins(10, -1, -1, -1) self.horizontalLayout_23.setObjectName("horizontalLayout_23") self.label_18 = QtWidgets.QLabel(self.groupBox_3) self.label_18.setObjectName("label_18") self.horizontalLayout_23.addWidget(self.label_18) self.slider_ko = QtWidgets.QSlider(self.groupBox_3) self.slider_ko.setOrientation(QtCore.Qt.Horizontal) self.slider_ko.setObjectName("slider_ko") self.horizontalLayout_23.addWidget(self.slider_ko) self.label_ko = QtWidgets.QLabel(self.groupBox_3) self.label_ko.setObjectName("label_ko") self.horizontalLayout_23.addWidget(self.label_ko) self.gridLayout_5.addLayout(self.horizontalLayout_23, 4, 0, 1, 1) self.horizontalLayout_15 = QtWidgets.QHBoxLayout() self.horizontalLayout_15.setContentsMargins(10, -1, -1, -1) self.horizontalLayout_15.setObjectName("horizontalLayout_15") self.label_19 = QtWidgets.QLabel(self.groupBox_3) self.label_19.setObjectName("label_19") self.horizontalLayout_15.addWidget(self.label_19) self.slider_pid_interval = QtWidgets.QSlider(self.groupBox_3) self.slider_pid_interval.setOrientation(QtCore.Qt.Horizontal) self.slider_pid_interval.setObjectName("slider_pid_interval") self.horizontalLayout_15.addWidget(self.slider_pid_interval) self.label_pid_interval = QtWidgets.QLabel(self.groupBox_3) self.label_pid_interval.setObjectName("label_pid_interval") self.horizontalLayout_15.addWidget(self.label_pid_interval) self.gridLayout_5.addLayout(self.horizontalLayout_15, 0, 0, 1, 1) self.horizontalLayout_24.addWidget(self.groupBox_3) self.groupBox_2 = QtWidgets.QGroupBox(self.tab_3) self.groupBox_2.setObjectName("groupBox_2") self.gridLayout_3 = QtWidgets.QGridLayout(self.groupBox_2) self.gridLayout_3.setObjectName("gridLayout_3") self.horizontalLayout_17 = QtWidgets.QHBoxLayout() self.horizontalLayout_17.setContentsMargins(10, -1, -1, -1) self.horizontalLayout_17.setObjectName("horizontalLayout_17") self.label_22 = QtWidgets.QLabel(self.groupBox_2) self.label_22.setObjectName("label_22") self.horizontalLayout_17.addWidget(self.label_22) self.slider_vy_max = QtWidgets.QSlider(self.groupBox_2) self.slider_vy_max.setOrientation(QtCore.Qt.Horizontal) self.slider_vy_max.setObjectName("slider_vy_max") self.horizontalLayout_17.addWidget(self.slider_vy_max) self.label_vy_max = QtWidgets.QLabel(self.groupBox_2) self.label_vy_max.setObjectName("label_vy_max") self.horizontalLayout_17.addWidget(self.label_vy_max) self.gridLayout_3.addLayout(self.horizontalLayout_17, 3, 0, 1, 1) self.horizontalLayout_18 = QtWidgets.QHBoxLayout() self.horizontalLayout_18.setContentsMargins(10, -1, -1, -1) self.horizontalLayout_18.setObjectName("horizontalLayout_18") self.label_21 = QtWidgets.QLabel(self.groupBox_2) self.label_21.setObjectName("label_21") self.horizontalLayout_18.addWidget(self.label_21) self.slider_vx_max = QtWidgets.QSlider(self.groupBox_2) self.slider_vx_max.setOrientation(QtCore.Qt.Horizontal) self.slider_vx_max.setObjectName("slider_vx_max") self.horizontalLayout_18.addWidget(self.slider_vx_max) self.label_vx_max = QtWidgets.QLabel(self.groupBox_2) self.label_vx_max.setObjectName("label_vx_max") self.horizontalLayout_18.addWidget(self.label_vx_max) self.gridLayout_3.addLayout(self.horizontalLayout_18, 2, 0, 1, 1) self.horizontalLayout_19 = QtWidgets.QHBoxLayout() self.horizontalLayout_19.setContentsMargins(10, -1, -1, -1) self.horizontalLayout_19.setObjectName("horizontalLayout_19") self.label_23 = QtWidgets.QLabel(self.groupBox_2) self.label_23.setObjectName("label_23") self.horizontalLayout_19.addWidget(self.label_23) self.slider_va_max = QtWidgets.QSlider(self.groupBox_2) self.slider_va_max.setOrientation(QtCore.Qt.Horizontal) self.slider_va_max.setObjectName("slider_va_max") self.horizontalLayout_19.addWidget(self.slider_va_max) self.label_va_max = QtWidgets.QLabel(self.groupBox_2) self.label_va_max.setObjectName("label_va_max") self.horizontalLayout_19.addWidget(self.label_va_max) self.gridLayout_3.addLayout(self.horizontalLayout_19, 4, 0, 1, 1) self.horizontalLayout_16 = QtWidgets.QHBoxLayout() self.horizontalLayout_16.setContentsMargins(10, -1, -1, -1) self.horizontalLayout_16.setObjectName("horizontalLayout_16") self.label_20 = QtWidgets.QLabel(self.groupBox_2) self.label_20.setObjectName("label_20") self.horizontalLayout_16.addWidget(self.label_20) self.slider_cmd_lasttime = QtWidgets.QSlider(self.groupBox_2) self.slider_cmd_lasttime.setOrientation(QtCore.Qt.Horizontal) self.slider_cmd_lasttime.setObjectName("slider_cmd_lasttime") self.horizontalLayout_16.addWidget(self.slider_cmd_lasttime) self.label_cmd_lasttime = QtWidgets.QLabel(self.groupBox_2) self.label_cmd_lasttime.setObjectName("label_cmd_lasttime") self.horizontalLayout_16.addWidget(self.label_cmd_lasttime) self.gridLayout_3.addLayout(self.horizontalLayout_16, 1, 0, 1, 1) self.horizontalLayout_24.addWidget(self.groupBox_2) self.verticalLayout_3.addLayout(self.horizontalLayout_24) self.line_4 = QtWidgets.QFrame(self.tab_3) self.line_4.setFrameShape(QtWidgets.QFrame.HLine) self.line_4.setFrameShadow(QtWidgets.QFrame.Sunken) self.line_4.setObjectName("line_4") self.verticalLayout_3.addWidget(self.line_4) self.horizontalLayout_29 = QtWidgets.QHBoxLayout() self.horizontalLayout_29.setObjectName("horizontalLayout_29") spacerItem4 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum) self.horizontalLayout_29.addItem(spacerItem4) self.comboBox_support_model = QtWidgets.QComboBox(self.tab_3) self.comboBox_support_model.setObjectName("comboBox_support_model") self.horizontalLayout_29.addWidget(self.comboBox_support_model) spacerItem5 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum) self.horizontalLayout_29.addItem(spacerItem5) self.pushButton_load = QtWidgets.QPushButton(self.tab_3) self.pushButton_load.setObjectName("pushButton_load") self.horizontalLayout_29.addWidget(self.pushButton_load) spacerItem6 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum) self.horizontalLayout_29.addItem(spacerItem6) self.pushButton_set = QtWidgets.QPushButton(self.tab_3) self.pushButton_set.setObjectName("pushButton_set") self.horizontalLayout_29.addWidget(self.pushButton_set) spacerItem7 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum) self.horizontalLayout_29.addItem(spacerItem7) self.pushButton_read = QtWidgets.QPushButton(self.tab_3) self.pushButton_read.setObjectName("pushButton_read") self.horizontalLayout_29.addWidget(self.pushButton_read) spacerItem8 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum) self.horizontalLayout_29.addItem(spacerItem8) self.horizontalLayout_29.setStretch(0, 20) self.horizontalLayout_29.setStretch(1, 3) self.horizontalLayout_29.setStretch(2, 1) self.horizontalLayout_29.setStretch(3, 3) self.horizontalLayout_29.setStretch(4, 1) self.horizontalLayout_29.setStretch(5, 3) self.horizontalLayout_29.setStretch(6, 1) self.horizontalLayout_29.setStretch(7, 3) self.horizontalLayout_29.setStretch(8, 1) self.verticalLayout_3.addLayout(self.horizontalLayout_29) self.tabWidget.addTab(self.tab_3, "") self.tab_4 = QtWidgets.QWidget() self.tab_4.setObjectName("tab_4") self.verticalLayout_6 = QtWidgets.QVBoxLayout(self.tab_4) self.verticalLayout_6.setObjectName("verticalLayout_6") self.groupBox_4 = QtWidgets.QGroupBox(self.tab_4) self.groupBox_4.setObjectName("groupBox_4") self.verticalLayout_5 = QtWidgets.QVBoxLayout(self.groupBox_4) self.verticalLayout_5.setObjectName("verticalLayout_5") self.horizontalLayout_7 = QtWidgets.QHBoxLayout() self.horizontalLayout_7.setObjectName("horizontalLayout_7") self.label_7 = QtWidgets.QLabel(self.groupBox_4) self.label_7.setAlignment(QtCore.Qt.AlignCenter) self.label_7.setObjectName("label_7") self.horizontalLayout_7.addWidget(self.label_7) self.slider_set_pwm1 = QtWidgets.QSlider(self.groupBox_4) self.slider_set_pwm1.setOrientation(QtCore.Qt.Horizontal) self.slider_set_pwm1.setObjectName("slider_set_pwm1") self.horizontalLayout_7.addWidget(self.slider_set_pwm1) self.label_set_pwm1 = QtWidgets.QLabel(self.groupBox_4) self.label_set_pwm1.setAlignment(QtCore.Qt.AlignCenter) self.label_set_pwm1.setObjectName("label_set_pwm1") self.horizontalLayout_7.addWidget(self.label_set_pwm1) spacerItem9 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum) self.horizontalLayout_7.addItem(spacerItem9) self.label_10 = QtWidgets.QLabel(self.groupBox_4) self.label_10.setObjectName("label_10") self.horizontalLayout_7.addWidget(self.label_10) self.label_feedback1 = QtWidgets.QLabel(self.groupBox_4) self.label_feedback1.setAlignment(QtCore.Qt.AlignCenter) self.label_feedback1.setObjectName("label_feedback1") self.horizontalLayout_7.addWidget(self.label_feedback1) self.horizontalLayout_7.setStretch(0, 1) self.horizontalLayout_7.setStretch(1, 10) self.horizontalLayout_7.setStretch(2, 1) self.horizontalLayout_7.setStretch(3, 2) self.horizontalLayout_7.setStretch(4, 1) self.horizontalLayout_7.setStretch(5, 1) self.verticalLayout_5.addLayout(self.horizontalLayout_7) self.horizontalLayout_8 = QtWidgets.QHBoxLayout() self.horizontalLayout_8.setObjectName("horizontalLayout_8") self.label_8 = QtWidgets.QLabel(self.groupBox_4) self.label_8.setAlignment(QtCore.Qt.AlignCenter) self.label_8.setObjectName("label_8") self.horizontalLayout_8.addWidget(self.label_8) self.slider_set_pwm2 = QtWidgets.QSlider(self.groupBox_4) self.slider_set_pwm2.setOrientation(QtCore.Qt.Horizontal) self.slider_set_pwm2.setObjectName("slider_set_pwm2") self.horizontalLayout_8.addWidget(self.slider_set_pwm2) self.label_set_pwm2 = QtWidgets.QLabel(self.groupBox_4) self.label_set_pwm2.setAlignment(QtCore.Qt.AlignCenter) self.label_set_pwm2.setObjectName("label_set_pwm2") self.horizontalLayout_8.addWidget(self.label_set_pwm2) spacerItem10 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum) self.horizontalLayout_8.addItem(spacerItem10) self.label_11 = QtWidgets.QLabel(self.groupBox_4) self.label_11.setObjectName("label_11") self.horizontalLayout_8.addWidget(self.label_11) self.label_feedback2 = QtWidgets.QLabel(self.groupBox_4) self.label_feedback2.setAlignment(QtCore.Qt.AlignCenter) self.label_feedback2.setObjectName("label_feedback2") self.horizontalLayout_8.addWidget(self.label_feedback2) self.horizontalLayout_8.setStretch(0, 1) self.horizontalLayout_8.setStretch(1, 10) self.horizontalLayout_8.setStretch(2, 1) self.horizontalLayout_8.setStretch(3, 2) self.horizontalLayout_8.setStretch(4, 1) self.horizontalLayout_8.setStretch(5, 1) self.verticalLayout_5.addLayout(self.horizontalLayout_8) self.horizontalLayout_9 = QtWidgets.QHBoxLayout() self.horizontalLayout_9.setObjectName("horizontalLayout_9") self.label_9 = QtWidgets.QLabel(self.groupBox_4) self.label_9.setAlignment(QtCore.Qt.AlignCenter) self.label_9.setObjectName("label_9") self.horizontalLayout_9.addWidget(self.label_9) self.slider_set_pwm3 = QtWidgets.QSlider(self.groupBox_4) self.slider_set_pwm3.setOrientation(QtCore.Qt.Horizontal) self.slider_set_pwm3.setObjectName("slider_set_pwm3") self.horizontalLayout_9.addWidget(self.slider_set_pwm3) self.label_set_pwm3 = QtWidgets.QLabel(self.groupBox_4) self.label_set_pwm3.setAlignment(QtCore.Qt.AlignCenter) self.label_set_pwm3.setObjectName("label_set_pwm3") self.horizontalLayout_9.addWidget(self.label_set_pwm3) spacerItem11 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum) self.horizontalLayout_9.addItem(spacerItem11) self.label_12 = QtWidgets.QLabel(self.groupBox_4) self.label_12.setObjectName("label_12") self.horizontalLayout_9.addWidget(self.label_12) self.label_feedback3 = QtWidgets.QLabel(self.groupBox_4) self.label_feedback3.setAlignment(QtCore.Qt.AlignCenter) self.label_feedback3.setObjectName("label_feedback3") self.horizontalLayout_9.addWidget(self.label_feedback3) self.horizontalLayout_9.setStretch(0, 1) self.horizontalLayout_9.setStretch(1, 10) self.horizontalLayout_9.setStretch(2, 1) self.horizontalLayout_9.setStretch(3, 2) self.horizontalLayout_9.setStretch(4, 1) self.horizontalLayout_9.setStretch(5, 1) self.verticalLayout_5.addLayout(self.horizontalLayout_9) self.horizontalLayout_10 = QtWidgets.QHBoxLayout() self.horizontalLayout_10.setObjectName("horizontalLayout_10") self.label_13 = QtWidgets.QLabel(self.groupBox_4) self.label_13.setAlignment(QtCore.Qt.AlignCenter) self.label_13.setObjectName("label_13") self.horizontalLayout_10.addWidget(self.label_13) self.slider_set_pwm4 = QtWidgets.QSlider(self.groupBox_4) self.slider_set_pwm4.setOrientation(QtCore.Qt.Horizontal) self.slider_set_pwm4.setObjectName("slider_set_pwm4") self.horizontalLayout_10.addWidget(self.slider_set_pwm4) self.label_set_pwm4 = QtWidgets.QLabel(self.groupBox_4) self.label_set_pwm4.setAlignment(QtCore.Qt.AlignCenter) self.label_set_pwm4.setObjectName("label_set_pwm4") self.horizontalLayout_10.addWidget(self.label_set_pwm4) spacerItem12 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum) self.horizontalLayout_10.addItem(spacerItem12) self.label_14 = QtWidgets.QLabel(self.groupBox_4) self.label_14.setObjectName("label_14") self.horizontalLayout_10.addWidget(self.label_14) self.label_feedback4 = QtWidgets.QLabel(self.groupBox_4) self.label_feedback4.setAlignment(QtCore.Qt.AlignCenter) self.label_feedback4.setObjectName("label_feedback4") self.horizontalLayout_10.addWidget(self.label_feedback4) self.horizontalLayout_10.setStretch(1, 10) self.horizontalLayout_10.setStretch(2, 1) self.horizontalLayout_10.setStretch(3, 2) self.horizontalLayout_10.setStretch(4, 1) self.horizontalLayout_10.setStretch(5, 1) self.verticalLayout_5.addLayout(self.horizontalLayout_10) self.horizontalLayout_11 = QtWidgets.QHBoxLayout() self.horizontalLayout_11.setObjectName("horizontalLayout_11") spacerItem13 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum) self.horizontalLayout_11.addItem(spacerItem13) self.pushButton_start = QtWidgets.QPushButton(self.groupBox_4) self.pushButton_start.setObjectName("pushButton_start") self.horizontalLayout_11.addWidget(self.pushButton_start) self.pushButton_stop = QtWidgets.QPushButton(self.groupBox_4) self.pushButton_stop.setObjectName("pushButton_stop") self.horizontalLayout_11.addWidget(self.pushButton_stop) self.verticalLayout_5.addLayout(self.horizontalLayout_11) self.verticalLayout_6.addWidget(self.groupBox_4) self.groupBox_6 = QtWidgets.QGroupBox(self.tab_4) self.groupBox_6.setObjectName("groupBox_6") self.verticalLayout_7 = QtWidgets.QVBoxLayout(self.groupBox_6) self.verticalLayout_7.setObjectName("verticalLayout_7") self.horizontalLayout_13 = QtWidgets.QHBoxLayout() self.horizontalLayout_13.setObjectName("horizontalLayout_13") self.label_25 = QtWidgets.QLabel(self.groupBox_6) self.label_25.setAlignment(QtCore.Qt.AlignCenter) self.label_25.setObjectName("label_25") self.horizontalLayout_13.addWidget(self.label_25) self.label_input_1 = QtWidgets.QLabel(self.groupBox_6) self.label_input_1.setAlignment(QtCore.Qt.AlignCenter) self.label_input_1.setObjectName("label_input_1") self.horizontalLayout_13.addWidget(self.label_input_1) self.label_input_2 = QtWidgets.QLabel(self.groupBox_6) self.label_input_2.setAlignment(QtCore.Qt.AlignCenter) self.label_input_2.setObjectName("label_input_2") self.horizontalLayout_13.addWidget(self.label_input_2) self.label_input_3 = QtWidgets.QLabel(self.groupBox_6) self.label_input_3.setAlignment(QtCore.Qt.AlignCenter) self.label_input_3.setObjectName("label_input_3") self.horizontalLayout_13.addWidget(self.label_input_3) self.label_input_4 = QtWidgets.QLabel(self.groupBox_6) self.label_input_4.setAlignment(QtCore.Qt.AlignCenter) self.label_input_4.setObjectName("label_input_4") self.horizontalLayout_13.addWidget(self.label_input_4) self.verticalLayout_7.addLayout(self.horizontalLayout_13) self.horizontalLayout_14 = QtWidgets.QHBoxLayout() self.horizontalLayout_14.setObjectName("horizontalLayout_14") self.label_27 = QtWidgets.QLabel(self.groupBox_6) self.label_27.setAlignment(QtCore.Qt.AlignCenter) self.label_27.setObjectName("label_27") self.horizontalLayout_14.addWidget(self.label_27) self.label_output_1 = QtWidgets.QLabel(self.groupBox_6) self.label_output_1.setAlignment(QtCore.Qt.AlignCenter) self.label_output_1.setObjectName("label_output_1") self.horizontalLayout_14.addWidget(self.label_output_1) self.label_output_2 = QtWidgets.QLabel(self.groupBox_6) self.label_output_2.setAlignment(QtCore.Qt.AlignCenter) self.label_output_2.setObjectName("label_output_2") self.horizontalLayout_14.addWidget(self.label_output_2) self.label_output_3 = QtWidgets.QLabel(self.groupBox_6) self.label_output_3.setAlignment(QtCore.Qt.AlignCenter) self.label_output_3.setObjectName("label_output_3") self.horizontalLayout_14.addWidget(self.label_output_3) self.label_output_4 = QtWidgets.QLabel(self.groupBox_6) self.label_output_4.setAlignment(QtCore.Qt.AlignCenter) self.label_output_4.setObjectName("label_output_4") self.horizontalLayout_14.addWidget(self.label_output_4) self.verticalLayout_7.addLayout(self.horizontalLayout_14) self.horizontalLayout_27 = QtWidgets.QHBoxLayout() self.horizontalLayout_27.setObjectName("horizontalLayout_27") self.label_29 = QtWidgets.QLabel(self.groupBox_6) self.label_29.setAlignment(QtCore.Qt.AlignCenter) self.label_29.setObjectName("label_29") self.horizontalLayout_27.addWidget(self.label_29) self.label_30 = QtWidgets.QLabel(self.groupBox_6) self.label_30.setAlignment(QtCore.Qt.AlignCenter) self.label_30.setObjectName("label_30") self.horizontalLayout_27.addWidget(self.label_30) self.label_31 = QtWidgets.QLabel(self.groupBox_6) self.label_31.setAlignment(QtCore.Qt.AlignCenter) self.label_31.setObjectName("label_31") self.horizontalLayout_27.addWidget(self.label_31) self.pushButton_start_2 = QtWidgets.QPushButton(self.groupBox_6) self.pushButton_start_2.setObjectName("pushButton_start_2") self.horizontalLayout_27.addWidget(self.pushButton_start_2) self.pushButton_stop_2 = QtWidgets.QPushButton(self.groupBox_6) self.pushButton_stop_2.setObjectName("pushButton_stop_2") self.horizontalLayout_27.addWidget(self.pushButton_stop_2) self.verticalLayout_7.addLayout(self.horizontalLayout_27) self.verticalLayout_6.addWidget(self.groupBox_6) self.groupBox_5 = QtWidgets.QGroupBox(self.tab_4) self.groupBox_5.setObjectName("groupBox_5") self.horizontalLayout_12 = QtWidgets.QHBoxLayout(self.groupBox_5) self.horizontalLayout_12.setObjectName("horizontalLayout_12") self.gridLayout_6 = QtWidgets.QGridLayout() self.gridLayout_6.setObjectName("gridLayout_6") self.label_28 = QtWidgets.QLabel(self.groupBox_5) self.label_28.setAlignment(QtCore.Qt.AlignCenter) self.label_28.setObjectName("label_28") self.gridLayout_6.addWidget(self.label_28, 2, 0, 1, 1) self.label_magn_y = QtWidgets.QLabel(self.groupBox_5) self.label_magn_y.setAlignment(QtCore.Qt.AlignCenter) self.label_magn_y.setObjectName("label_magn_y") self.gridLayout_6.addWidget(self.label_magn_y, 2, 2, 1, 1) self.label_26 = QtWidgets.QLabel(self.groupBox_5) self.label_26.setAlignment(QtCore.Qt.AlignCenter) self.label_26.setObjectName("label_26") self.gridLayout_6.addWidget(self.label_26, 1, 0, 1, 1) self.label_24 = QtWidgets.QLabel(self.groupBox_5) self.label_24.setAlignment(QtCore.Qt.AlignCenter) self.label_24.setObjectName("label_24") self.gridLayout_6.addWidget(self.label_24, 0, 0, 1, 1) self.label_acc_z = QtWidgets.QLabel(self.groupBox_5) self.label_acc_z.setAlignment(QtCore.Qt.AlignCenter) self.label_acc_z.setObjectName("label_acc_z") self.gridLayout_6.addWidget(self.label_acc_z, 0, 3, 1, 1) self.label_acc_y = QtWidgets.QLabel(self.groupBox_5) self.label_acc_y.setAlignment(QtCore.Qt.AlignCenter) self.label_acc_y.setObjectName("label_acc_y") self.gridLayout_6.addWidget(self.label_acc_y, 0, 2, 1, 1) self.label_gyro_x = QtWidgets.QLabel(self.groupBox_5) self.label_gyro_x.setAlignment(QtCore.Qt.AlignCenter) self.label_gyro_x.setObjectName("label_gyro_x") self.gridLayout_6.addWidget(self.label_gyro_x, 1, 1, 1, 1) self.label_gyro_z = QtWidgets.QLabel(self.groupBox_5) self.label_gyro_z.setAlignment(QtCore.Qt.AlignCenter) self.label_gyro_z.setObjectName("label_gyro_z") self.gridLayout_6.addWidget(self.label_gyro_z, 1, 3, 1, 1) self.label_gyro_y = QtWidgets.QLabel(self.groupBox_5) self.label_gyro_y.setAlignment(QtCore.Qt.AlignCenter) self.label_gyro_y.setObjectName("label_gyro_y") self.gridLayout_6.addWidget(self.label_gyro_y, 1, 2, 1, 1) self.label_magn_z = QtWidgets.QLabel(self.groupBox_5) self.label_magn_z.setAlignment(QtCore.Qt.AlignCenter) self.label_magn_z.setObjectName("label_magn_z") self.gridLayout_6.addWidget(self.label_magn_z, 2, 3, 1, 1) self.label_acc_x = QtWidgets.QLabel(self.groupBox_5) self.label_acc_x.setAlignment(QtCore.Qt.AlignCenter) self.label_acc_x.setObjectName("label_acc_x") self.gridLayout_6.addWidget(self.label_acc_x, 0, 1, 1, 1) self.label_magn_x = QtWidgets.QLabel(self.groupBox_5) self.label_magn_x.setAlignment(QtCore.Qt.AlignCenter) self.label_magn_x.setObjectName("label_magn_x") self.gridLayout_6.addWidget(self.label_magn_x, 2, 1, 1, 1) self.horizontalLayout_12.addLayout(self.gridLayout_6) spacerItem14 = QtWidgets.QSpacerItem(615, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum) self.horizontalLayout_12.addItem(spacerItem14) self.verticalLayout_6.addWidget(self.groupBox_5) self.tabWidget.addTab(self.tab_4, "") self.gridLayout_2.addWidget(self.tabWidget, 1, 0, 1, 1) self.gridLayout_2.setRowStretch(0, 1) self.retranslateUi(pb) self.tabWidget.setCurrentIndex(1) self.slider_wheel_diameter.valueChanged['int'].connect(self.label_wheel_diameter.setNum) # type: ignore self.slider_wheel_track.valueChanged['int'].connect(self.label_wheel_track.setNum) # type: ignore self.slider_encoder.valueChanged['int'].connect(self.label_encoder_res.setNum) # type: ignore self.slider_motor_ratio.valueChanged['int'].connect(self.label_motor_ratio.setNum) # type: ignore self.slider_pid_interval.valueChanged['int'].connect(self.label_pid_interval.setNum) # type: ignore self.slider_kd.valueChanged['int'].connect(self.label_kd.setNum) # type: ignore self.slider_kp.valueChanged['int'].connect(self.label_kp.setNum) # type: ignore self.slider_ko.valueChanged['int'].connect(self.label_ko.setNum) # type: ignore self.slider_ki.valueChanged['int'].connect(self.label_ki.setNum) # type: ignore self.slider_cmd_lasttime.valueChanged['int'].connect(self.label_cmd_lasttime.setNum) # type: ignore self.slider_va_max.valueChanged['int'].connect(self.label_va_max.setNum) # type: ignore self.slider_vy_max.valueChanged['int'].connect(self.label_vy_max.setNum) # type: ignore self.slider_vx_max.valueChanged['int'].connect(self.label_vx_max.setNum) # type: ignore self.slider_set_pwm1.valueChanged['int'].connect(self.label_set_pwm1.setNum) # type: ignore self.slider_set_pwm2.valueChanged['int'].connect(self.label_set_pwm2.setNum) # type: ignore self.slider_set_pwm3.valueChanged['int'].connect(self.label_set_pwm3.setNum) # type: ignore self.slider_set_pwm4.valueChanged['int'].connect(self.label_set_pwm4.setNum) # type: ignore QtCore.QMetaObject.connectSlotsByName(pb) def retranslateUi(self, pb): _translate = QtCore.QCoreApplication.translate pb.setWindowTitle(_translate("pb", "UPBOT机器人配置工具")) self.label_2.setText(_translate("pb", "机器人模型")) self.label_3.setText(_translate("pb", "IMU型号")) self.label_6.setText(_translate("pb", "电机减速比")) self.label_motor_ratio.setText(_translate("pb", "0")) self.label.setText(_translate("pb", "轮子直径(mm)")) self.label_wheel_diameter.setText(_translate("pb", "0")) self.label_4.setText(_translate("pb", "编码器分辨率")) self.label_encoder_res.setText(_translate("pb", "0")) self.label_5.setText(_translate("pb", "轮距(mm)")) self.label_wheel_track.setText(_translate("pb", "0")) self.groupBox.setTitle(_translate("pb", "翻转方向标志")) self.checkBox_motor1.setText(_translate("pb", "Motor1 ")) self.checkBox_motor2.setText(_translate("pb", "Motor2")) self.checkBox_motor3.setText(_translate("pb", "Motor3")) self.checkBox_motor4.setText(_translate("pb", "Motor4")) self.checkBox_encoder1.setText(_translate("pb", "Encoder1")) self.checkBox_encoder2.setText(_translate("pb", "Encoder2")) self.checkBox_encoder3.setText(_translate("pb", "Encoder3")) self.checkBox_encoder4.setText(_translate("pb", "Encoder4")) self.groupBox_3.setTitle(_translate("pb", "PID")) self.label_16.setText(_translate("pb", "KI")) self.label_ki.setText(_translate("pb", "0")) self.label_17.setText(_translate("pb", "KD")) self.label_kd.setText(_translate("pb", "0")) self.label_15.setText(_translate("pb", "KP")) self.label_kp.setText(_translate("pb", "0")) self.label_18.setText(_translate("pb", "KO")) self.label_ko.setText(_translate("pb", "0")) self.label_19.setText(_translate("pb", "间隔(ms)")) self.label_pid_interval.setText(_translate("pb", "0")) self.groupBox_2.setTitle(_translate("pb", "速度限制")) self.label_22.setText(_translate("pb", "VY(cm/s)")) self.label_vy_max.setText(_translate("pb", "0")) self.label_21.setText(_translate("pb", "VX(cm/s)")) self.label_vx_max.setText(_translate("pb", "0")) self.label_23.setText(_translate("pb", "VAZ(0.01rad/s)")) self.label_va_max.setText(_translate("pb", "0")) self.label_20.setText(_translate("pb", "CMD Time(ms)")) self.label_cmd_lasttime.setText(_translate("pb", "0")) self.pushButton_load.setText(_translate("pb", "Load")) self.pushButton_set.setText(_translate("pb", "设置")) self.pushButton_read.setText(_translate("pb", "读取")) self.tabWidget.setTabText(self.tabWidget.indexOf(self.tab_3), _translate("pb", "Tab 1")) self.groupBox_4.setTitle(_translate("pb", "电机设置")) self.label_7.setText(_translate("pb", "Motor1")) self.label_set_pwm1.setText(_translate("pb", "0")) self.label_10.setText(_translate("pb", "Encoder Feedback")) self.label_feedback1.setText(_translate("pb", "0")) self.label_8.setText(_translate("pb", "Motor2")) self.label_set_pwm2.setText(_translate("pb", "0")) self.label_11.setText(_translate("pb", "Encoder Feedback")) self.label_feedback2.setText(_translate("pb", "0")) self.label_9.setText(_translate("pb", "Motor3")) self.label_set_pwm3.setText(_translate("pb", "0")) self.label_12.setText(_translate("pb", "Encoder Feedback")) self.label_feedback3.setText(_translate("pb", "0")) self.label_13.setText(_translate("pb", "Motor4")) self.label_set_pwm4.setText(_translate("pb", "0")) self.label_14.setText(_translate("pb", "Encoder Feedback")) self.label_feedback4.setText(_translate("pb", "0")) self.pushButton_start.setText(_translate("pb", "start")) self.pushButton_stop.setText(_translate("pb", "stop")) self.groupBox_6.setTitle(_translate("pb", "PID Debug")) self.label_25.setText(_translate("pb", "Input")) self.label_input_1.setText(_translate("pb", "0")) self.label_input_2.setText(_translate("pb", "0")) self.label_input_3.setText(_translate("pb", "0")) self.label_input_4.setText(_translate("pb", "0")) self.label_27.setText(_translate("pb", "Feedback")) self.label_output_1.setText(_translate("pb", "0")) self.label_output_2.setText(_translate("pb", "0")) self.label_output_3.setText(_translate("pb", "0")) self.label_output_4.setText(_translate("pb", "0")) self.label_29.setText(_translate("pb", "VY")) self.label_30.setText(_translate("pb", "VY")) self.label_31.setText(_translate("pb", "VA")) self.pushButton_start_2.setText(_translate("pb", "start")) self.pushButton_stop_2.setText(_translate("pb", "stop")) self.groupBox_5.setTitle(_translate("pb", "IMU实时数据")) self.label_28.setText(_translate("pb", "MAGN")) self.label_magn_y.setText(_translate("pb", "0.000")) self.label_26.setText(_translate("pb", "GYRO")) self.label_24.setText(_translate("pb", "ACC")) self.label_acc_z.setText(_translate("pb", "0.000")) self.label_acc_y.setText(_translate("pb", "0.000")) self.label_gyro_x.setText(_translate("pb", "0.000")) self.label_gyro_z.setText(_translate("pb", "0.000")) self.label_gyro_y.setText(_translate("pb", "0.000")) self.label_magn_z.setText(_translate("pb", "0.000")) self.label_acc_x.setText(_translate("pb", "0.000")) self.label_magn_x.setText(_translate("pb", "0.000")) self.tabWidget.setTabText(self.tabWidget.indexOf(self.tab_4), _translate("pb", "Tab 2"))