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Add the callback function for the change of speed loop PID parameter …
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…adjustment slider value, and modify the packet sending function to send different Zhi according to the change of different sliders
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@ZhuYanzhen1
ZhuYanzhen1 committed Sep 20, 2021
1 parent f2a7d5e commit bab30b4
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Showing 4 changed files with 108 additions and 29 deletions.
2 changes: 1 addition & 1 deletion tools/CMakeLists.txt.user
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 4.11.1, 2021-09-19T14:13:41. -->
<!-- Written by QtCreator 4.11.1, 2021-09-20T15:23:01. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
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93 changes: 77 additions & 16 deletions tools/mainwindow.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,10 @@ MainWindow::MainWindow(QWidget *parent)
ui->mode_set_cb->addItem("Torque Control");
ui->mode_set_cb->addItem("Speed Control");
ui->mode_set_cb->addItem("Angle Control");
ui->mode_set_cb->setEditText("Torque Control");
for (int counter = 0; counter < 4; counter++)
angle_slider_change_flag[counter] = false;
for (int counter = 0; counter < 4; counter++)
speed_slider_change_flag[counter] = false;
}

MainWindow::~MainWindow(){
Expand Down Expand Up @@ -43,14 +46,6 @@ void MainWindow::mdtp_callback_handler(unsigned char pid, const unsigned char *d
}
}

void MainWindow::on_user_expect_slider_valueChanged(int value){
float maximum = ui->slider_maximum_value->toPlainText().toFloat();
float minimum = ui->slider_minimum_value->toPlainText().toFloat();
expect_slider_change_flag = true;
expect_slider_value = (maximum - minimum) * (value / 10000.0f) + minimum;
ui->slider_current_value->setText(QString::number(expect_slider_value, 10, 2));
}

void MainWindow::on_open_btn_clicked(){
if(serial->isOpen() == false){
if(set_serial_badurate() == true){
Expand Down Expand Up @@ -117,19 +112,85 @@ void MainWindow::on_refresh_btn_clicked(){
refresh_serial_port();
}

/* slider value changed functions */

void MainWindow::on_speed_kp_slider_valueChanged(int value)
{
float maximum = ui->speed_kp_maximum->toPlainText().toFloat();
float minimum = ui->speed_kp_minimum->toPlainText().toFloat();
speed_slider_change_flag[0] = true;
speed_slider_value[0] = (maximum - minimum) * (value / 10000.0f) + minimum;
ui->speed_kp_value->setText(QString::number(speed_slider_value[0], 10, 2));
}

void MainWindow::on_speed_ki_slider_valueChanged(int value){
float maximum = ui->speed_ki_maximum->toPlainText().toFloat();
float minimum = ui->speed_ki_minimum->toPlainText().toFloat();
speed_slider_change_flag[1] = true;
speed_slider_value[1] = (maximum - minimum) * (value / 10000.0f) + minimum;
ui->speed_ki_value->setText(QString::number(speed_slider_value[1], 10, 2));
}

void MainWindow::on_speed_kd_slider_valueChanged(int value){
float maximum = ui->speed_kd_maximum->toPlainText().toFloat();
float minimum = ui->speed_kd_minimum->toPlainText().toFloat();
speed_slider_change_flag[2] = true;
speed_slider_value[2] = (maximum - minimum) * (value / 10000.0f) + minimum;
ui->speed_kd_value->setText(QString::number(speed_slider_value[2], 10, 2));
}

void MainWindow::on_speed_summax_slider_valueChanged(int value){
float maximum = ui->speed_summax_maximum->toPlainText().toFloat();
float minimum = ui->speed_summax_minimum->toPlainText().toFloat();
speed_slider_change_flag[3] = true;
speed_slider_value[3] = (maximum - minimum) * (value / 10000.0f) + minimum;
ui->speed_summax_value->setText(QString::number(speed_slider_value[3], 10, 2));
}

void MainWindow::on_user_expect_slider_valueChanged(int value){
float maximum = ui->slider_maximum_value->toPlainText().toFloat();
float minimum = ui->slider_minimum_value->toPlainText().toFloat();
expect_slider_change_flag = true;
expect_slider_value = (maximum - minimum) * (value / 10000.0f) + minimum;
ui->slider_current_value->setText(QString::number(expect_slider_value, 10, 2));
}

/* some functions related to timer interrupt */

void MainWindow::slider_timer_timeout(){
unsigned char buffer[8] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
unsigned int uintp32 = 0x00000000UL;
if(expect_slider_change_flag == true){
unsigned char buffer[8] = {0x3C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
unsigned int uintp32 = (*((unsigned int *) (&expect_slider_value)));
buffer[4] = (unsigned char) ((uintp32 >> 24UL) & 0x000000ffUL);
buffer[5] = (unsigned char) ((uintp32 >> 16UL) & 0x000000ffUL);
buffer[6] = (unsigned char) ((uintp32 >> 8UL) & 0x000000ffUL);
buffer[7] = (unsigned char) (uintp32 & 0x000000ffUL);
mdtp_data_transmit(0x00, buffer);
buffer[0] = 0x3C;
uintp32 = (*((unsigned int *) (&expect_slider_value)));
expect_slider_change_flag = false;
goto mdtp_sendpackage;
}

for (int counter = 0; counter < 4; counter++) {
if(speed_slider_change_flag[counter] != false){
buffer[0] = ((4 + counter) << 4) | ((~(4 + counter)) & 0x0f);
uintp32 = (*((unsigned int *) (&speed_slider_value[counter])));
speed_slider_change_flag[counter] = false;
goto mdtp_sendpackage;
}
}

for (int counter = 0; counter < 4; counter++) {
if(angle_slider_change_flag[counter] != false){
buffer[0] = ((8 + counter) << 4) | ((~(8 + counter)) & 0x0f);
uintp32 = (*((unsigned int *) (&angle_slider_value[counter])));
angle_slider_change_flag[counter] = false;
goto mdtp_sendpackage;
}
}

mdtp_sendpackage:
buffer[4] = (unsigned char) ((uintp32 >> 24UL) & 0x000000ffUL);
buffer[5] = (unsigned char) ((uintp32 >> 16UL) & 0x000000ffUL);
buffer[6] = (unsigned char) ((uintp32 >> 8UL) & 0x000000ffUL);
buffer[7] = (unsigned char) (uintp32 & 0x000000ffUL);
mdtp_data_transmit(0x00, buffer);
}

/* some functions related to plot initialize and refresh */
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12 changes: 12 additions & 0 deletions tools/mainwindow.h
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,14 @@ private slots:
void on_calibrate_btn_clicked();
void on_user_expect_slider_valueChanged(int value);

void on_speed_kp_slider_valueChanged(int value);

void on_speed_ki_slider_valueChanged(int value);

void on_speed_kd_slider_valueChanged(int value);

void on_speed_summax_slider_valueChanged(int value);

public slots:
void serial_received();
void slider_timer_timeout();
Expand All @@ -35,7 +43,11 @@ public slots:
Ui::MainWindow *ui;
QSerialPort *serial;
bool expect_slider_change_flag = false;
bool speed_slider_change_flag[4];
bool angle_slider_change_flag[4];
float expect_slider_value = 0;
float speed_slider_value[4];
float angle_slider_value[4];
QTimer *slider_timer;
uint64_t curve_counter = 0;
QVector<double> curve_velocity, curve_angle, curve_x;
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30 changes: 18 additions & 12 deletions tools/mainwindow.ui
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Original file line number Diff line number Diff line change
Expand Up @@ -160,7 +160,7 @@
<rect>
<x>10</x>
<y>10</y>
<width>721</width>
<width>701</width>
<height>461</height>
</rect>
</property>
Expand All @@ -171,9 +171,9 @@
</property>
<property name="geometry">
<rect>
<x>740</x>
<x>720</x>
<y>10</y>
<width>121</width>
<width>141</width>
<height>31</height>
</rect>
</property>
Expand All @@ -193,9 +193,9 @@
</property>
<property name="geometry">
<rect>
<x>739</x>
<x>719</x>
<y>130</y>
<width>121</width>
<width>141</width>
<height>22</height>
</rect>
</property>
Expand Down Expand Up @@ -227,9 +227,9 @@
</property>
<property name="geometry">
<rect>
<x>740</x>
<x>720</x>
<y>90</y>
<width>121</width>
<width>141</width>
<height>31</height>
</rect>
</property>
Expand All @@ -249,7 +249,7 @@
</property>
<property name="geometry">
<rect>
<x>740</x>
<x>720</x>
<y>160</y>
<width>41</width>
<height>31</height>
Expand Down Expand Up @@ -303,9 +303,9 @@
</property>
<property name="geometry">
<rect>
<x>740</x>
<x>720</x>
<y>50</y>
<width>121</width>
<width>141</width>
<height>31</height>
</rect>
</property>
Expand All @@ -315,11 +315,17 @@
<pointsize>10</pointsize>
</font>
</property>
<property name="editable">
<bool>false</bool>
</property>
<property name="currentText">
<string/>
</property>
</widget>
<widget class="QLabel" name="slider_current_value">
<property name="geometry">
<rect>
<x>790</x>
<x>780</x>
<y>170</y>
<width>41</width>
<height>16</height>
Expand Down Expand Up @@ -819,7 +825,7 @@
<property name="geometry">
<rect>
<x>320</x>
<y>40</y>
<y>30</y>
<width>281</width>
<height>421</height>
</rect>
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