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为2轴控制界面添加“移动至”功能；

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This commit is contained in:
tangchao0503
2025-10-13 14:17:26 +08:00
parent 52516d2f54
commit c2a3c28cdd
3 changed files with 269 additions and 52 deletions
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21
HPPA/TwoMotorControl.cpp
View File

@ -184,12 +184,13 @@ void TwoMotorControl::onConnectMotor()
connect(this->ui.ymotor_backward_btn, SIGNAL(pressed()), this, SLOT(onyMotorbackward()));
connect(this->ui.ymotor_backward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
//connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
connect(this->ui.move2loc_x_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
connect(this->ui.move2loc_y_pushButton, SIGNAL(pressed()), this, SLOT(onyMove2Loc()));
connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(displayRealTimeLoc(std::vector<double>)));
connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
//connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
connect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
@ -291,6 +292,22 @@ void TwoMotorControl::onyMotorStop()
emit stopSignal(1);
}
void TwoMotorControl::onxMove2Loc()
{
double s = ui.xmotor_move_speed_lineEdit->text().toDouble();
double l = ui.move2loc_x_lineEdit->text().toDouble();
emit move2LocSignal(0, l, s, 1000);
}
void TwoMotorControl::onyMove2Loc()
{
double s = ui.ymotor_move_speed_lineEdit->text().toDouble();
double l = ui.move2loc_y_lineEdit->text().toDouble();
emit move2LocSignal(1, l, s, 1000);
}
void TwoMotorControl::displayRealTimeLoc(std::vector<double> loc)
{
double tmp = round(loc[0] * 100) / 100;

2
HPPA/TwoMotorControl.h
View File

@ -48,10 +48,12 @@ public Q_SLOTS:
void onxMotorRight();
void onxMotorLeft();
void onxMotorStop();
void onxMove2Loc();
void onyMotorforward();
void onyMotorbackward();
void onyMotorStop();
void onyMove2Loc();
void onAddRecordLine_btn();
void onRemoveRecordLine_btn();

298
HPPA/twoMotorControl.ui
View File

@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>684</width>
<height>674</height>
<height>799</height>
</rect>
</property>
<property name="windowTitle">
@ -43,18 +43,24 @@
<x>0</x>
<y>0</y>
<width>684</width>
<height>674</height>
<height>799</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_6">
<item row="0" column="0">
<widget class="QGroupBox" name="groupBox_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>150</height>
</size>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -62,26 +68,21 @@
<string>控制</string>
</property>
<layout class="QGridLayout" name="gridLayout_5">
<item row="1" column="0">
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="0">
<widget class="QPushButton" name="run_btn">
<property name="text">
<string>运行</string>
</property>
</widget>
</item>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<property name="spacing">
<number>6</number>
</property>
<item row="0" column="0">
<widget class="QWidget" name="widget" native="true">
<layout class="QGridLayout" name="gridLayout">
@ -247,6 +248,13 @@
</layout>
</widget>
</item>
<item row="2" column="0">
<widget class="QPushButton" name="run_btn">
<property name="text">
<string>运行</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QPushButton" name="stop_btn">
<property name="text">
@ -254,17 +262,39 @@
</property>
</widget>
</item>
<item row="4" column="0">
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Expanding</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item row="1" column="0">
<widget class="QGroupBox" name="groupBox_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>127</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">#QGroupBox{border:none}</string>
</property>
@ -272,6 +302,37 @@
<string>x马达</string>
</property>
<layout class="QGridLayout" name="gridLayout_3">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<property name="spacing">
<number>6</number>
</property>
<item row="4" column="0">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Expanding</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>1</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
@ -399,19 +460,6 @@
</layout>
</item>
<item row="3" column="0">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>112</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_6">
<item>
<spacer name="horizontalSpacer_6">
@ -444,6 +492,66 @@
</item>
</layout>
</item>
<item row="2" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QPushButton" name="move2loc_x_pushButton">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>移动至</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="move2loc_x_lineEdit">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
@ -455,6 +563,12 @@
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>125</height>
</size>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -462,6 +576,18 @@
<string>y马达</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_5">
<item>
@ -588,7 +714,20 @@
</item>
</layout>
</item>
<item row="2" column="0">
<item row="4" column="0">
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
<item row="3" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_7">
<item>
<spacer name="horizontalSpacer_7">
@ -621,18 +760,65 @@
</item>
</layout>
</item>
<item row="3" column="0">
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
<item row="2" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_8">
<item>
<widget class="QPushButton" name="move2loc_y_pushButton">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>移动至</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="move2loc_y_lineEdit">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
@ -643,6 +829,18 @@
<string>采集线</string>
</property>
<layout class="QGridLayout" name="gridLayout_4">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_23">
<item>