1168 lines
34 KiB
C++
1168 lines
34 KiB
C++
#include "ServoSystem.h"
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#include "ui_ServoSystem.h"
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ServoSystem::ServoSystem(QWidget *parent) :
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QWidget(parent),
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ui(new Ui::ServoSystem)
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{
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ui->setupUi(this);
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m_parent = parent;
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setWindowTitle(tr("ServoSyste"));
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//load qss
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QFile file(":/qss/ServoSystem.qss");
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file.open(QFile::ReadOnly);
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QTextStream filetext(&file);
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QString stylesheet = filetext.readAll();
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this->setStyleSheet(stylesheet);
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file.close();
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//========
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setColor(ui->checkBox_onBoard,state::success);
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setColor(ui->checkBox_28v,state::success);
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setColor(ui->checkBox_56v,state::success);
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setColor(ui->checkBox_AirSpeed,state::success);
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setColor(ui->checkBox_500W,state::failure);
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//setColor(ui->label_LE_SBIT,state::failure);
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setCheckState(6,state::failure);
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setCheckState(7,state::failure);
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setCheckState(8,state::failure);
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setCheckState(9,state::failure);
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setCheckState(10,state::failure);
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setCheckState(11,state::failure);
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Config *cfg = new Config();
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cfg->getServoOffset(&dir_la,&dir_ra,&dir_le,&dir_re,&dir_ru,
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&max_la,&max_ra,&max_le,&max_re,&max_ru,
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&scale_la,&scale_ra,&scale_le,&scale_re,&scale_ru,
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&bias_la,&bias_ra,&bias_le,&bias_re,&bias_ru);
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ui->comboBox_Full->addItem("基准档",0x85);
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ui->comboBox_Full->addItem("1档",0x16);
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ui->comboBox_Full->addItem("2档",0x26);
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ui->comboBox_Full->addItem("3档",0x36);
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ui->comboBox_Full->addItem("4档",0x46);
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ui->comboBox_Full->addItem("5档",0x56);
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ui->comboBox_Full->addItem("6档",0x66);
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ui->comboBox_Full->addItem("7档",0x76);
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ui->comboBox_Full->addItem("8档",0x86);
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ui->comboBox_Full->addItem("9档",0x96);
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ui->comboBox_Full->setCurrentIndex(0);
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ui->comboBox_Half->addItem("基准档",0x75);
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ui->comboBox_Half->addItem("1档",0x1c);
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ui->comboBox_Half->addItem("2档",0x2c);
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ui->comboBox_Half->addItem("3档",0x3c);
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ui->comboBox_Half->addItem("4档",0x4c);
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ui->comboBox_Half->addItem("5档",0x5c);
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ui->comboBox_Half->addItem("6档",0x6c);
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ui->comboBox_Half->addItem("7档",0x7c);
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ui->comboBox_Half->addItem("8档",0x8c);
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ui->comboBox_Half->addItem("9档",0x9c);
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ui->comboBox_Half->setCurrentIndex(0);
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ui->comboBox_rate->addItem("10000",10000);
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ui->comboBox_rate->addItem("13700",13700);
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ui->comboBox_rate->addItem("15000",15000);
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ui->comboBox_rate->addItem("20000",20000);
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ui->comboBox_rate->addItem("25000",25000);
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ui->comboBox_rate->addItem("30000",30000);
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ui->comboBox_rate->addItem("35000",35000);
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ui->comboBox_rate->addItem("40000",40000);
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ui->comboBox_rate->addItem("46000",46000);
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ui->comboBox_rate->setEditable(true);
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ui->comboBox_rate->setCurrentIndex(-1);
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ui->comboBox_TestPoint->addItem("核心机主燃油泵",0x19);
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ui->comboBox_TestPoint->addItem("加力主燃油泵",0x29);
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ui->comboBox_TestPoint->addItem("加力点火燃油泵",0x49);
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ui->comboBox_TestPoint->addItem("尾喷口舵机",0x79);
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ui->comboBox_TestPoint->addItem("点火器",0x89);
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ui->comboBox_TestPoint->addItem("起动控制1",0xb9);
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ui->comboBox_TestPoint->addItem("起动控制2",0xd9);
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ui->comboBox_TestPoint->addItem("核心机点火油阀",0x1a);
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ui->comboBox_TestPoint->addItem("核心机优先油阀",0x2a);
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ui->comboBox_TestPoint->addItem("核心机清吹油阀",0x4a);
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ui->comboBox_TestPoint->addItem("核心机起动气阀",0x7a);
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ui->comboBox_TestPoint->addItem("核心机主油阀",0x8a);
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ui->comboBox_TestPoint->addItem("加力主油阀",0xba);
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ui->comboBox_TestPoint->addItem("加力清吹阀",0xda);
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ui->comboBox_TestPoint->addItem("加力点火快速阀",0xea);
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ui->comboBox_TestPoint->addItem("手动转速控制",0xd5);
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ui->comboBox_TestPoint->setCurrentIndex(-1);
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ui->comboBox_TestValue->show();
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ui->comboBox_TestValue->setCurrentIndex(-1);
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//use_ext_ins参数名称
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ui->comboBox_IMU->addItem("内置惯导",0);
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ui->comboBox_IMU->addItem("SBG",1);
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ui->comboBox_IMU->setCurrentIndex(0);
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ui->comboBox_ServoType->addItem("左副翼",0x01);
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ui->comboBox_ServoType->addItem("右副翼",0x02);
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ui->comboBox_ServoType->addItem("左升降",0x03);
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ui->comboBox_ServoType->addItem("右升降",0x04);
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ui->comboBox_ServoType->addItem("方向舵",0x05);
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ui->comboBox_ServoType->setCurrentIndex(0);
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/*
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ui->comboBox_sel_ch->addItem("关闭",0x00);
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ui->comboBox_sel_ch->addItem("左副翼",0x01);
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ui->comboBox_sel_ch->addItem("右副翼",0x02);
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ui->comboBox_sel_ch->addItem("左升降",0x03);
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ui->comboBox_sel_ch->addItem("右升降",0x04);
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ui->comboBox_sel_ch->addItem("方向舵",0x05);
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ui->comboBox_sel_ch->setCurrentIndex(0);
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*/
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//ui->pushButton_AirHeatOff->hide();
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//ui->pushButton_AirHeatOn->hide();
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//ui->pushButton_HeatOn3->hide();
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//ui->pushButton_HeatOn4->hide();
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m_ra = 0;
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m_la = 0;
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m_ru = 0;
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m_re = 0;
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m_le = 0;
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ui->pushButton_HeatOn1->setHidden(true);
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ui->pushButton_HeatOn2->setHidden(true);
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}
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ServoSystem::~ServoSystem()
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{
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delete ui;
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}
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void ServoSystem::closeEvent(QCloseEvent *event)
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{
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setFloat();
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event->ignore();
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}
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void ServoSystem::contextMenuEvent(QContextMenuEvent *event)
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{
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/*
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QMenu *menu = new QMenu(this);
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QAction *pAction = new QAction("float",this);
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connect(pAction,SIGNAL(triggered(bool)),
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this,SLOT(setFloat()));
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menu->addAction(pAction);
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menu->move(cursor().pos());
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menu->show();
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*/
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}
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void ServoSystem::setFloat(void)
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{
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if(this->parent())
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{
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this->setParent(nullptr);
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this->show();
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}
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else
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{
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this->setParent(m_parent);
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this->move(0,0);
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//this->hide();
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this->show();
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this->resize(m_parent->size());
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}
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//
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}
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void ServoSystem::setColor(QWidget *w,state s)
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{
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w->setProperty("state",s);
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w->style()->unpolish(w);
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w->style()->polish(w);
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}
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void ServoSystem::setValue(QLabel *w,QString s)
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{
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w->setText(s);
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}
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void ServoSystem::setServoOffset(QVariant dirla, QVariant dirra, QVariant dirle, QVariant dirre, QVariant dirru,
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QVariant maxla, QVariant maxra, QVariant maxle, QVariant maxre, QVariant maxru,
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QVariant scalela, QVariant scalera, QVariant scalele, QVariant scalere, QVariant scaleru,
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QVariant la, QVariant ra,QVariant le, QVariant re,QVariant ru)
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{
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dir_la = dirla;
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dir_ra = dirra;
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dir_le = dirle;
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dir_re = dirre;
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dir_ru = dirru;
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max_la = maxla;
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max_ra = maxra;
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max_le = maxle;
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max_re = maxre;
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max_ru = maxru;
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scale_la = scalela;
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scale_ra = scalera;
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scale_le = scalele;
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scale_re = scalere;
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scale_ru = scaleru;
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bias_la = la;
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bias_ra = ra;
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bias_le = le;
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bias_re = re;
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bias_ru = ru;
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}
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void ServoSystem::setBUMState(mavlink_bmustate_t *t)
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{
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ui->label_temp_28->setText(QString::number((int16_t)t->BAT1_low_temp_degC)+ "/" + QString::number((int16_t)t->BAT1_hi_temp_degC));
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ui->label_temp_56->setText(QString::number((int16_t)t->BAT2_low_temp_degC)+ "/" + QString::number((int16_t)t->BAT2_hi_temp_degC));
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ui->label_onBoard_28V_Voltage->setText(QString::number(t->BAT1_group_voltage_mv * 0.001,'f',1));
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ui->label_onBoard_28V_Current->setText(QString::number((float)((int16_t)t->BAT1_group_current_dA) *0.1f,'f',1));
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ui->label_onBoard_56V_Voltage->setText(QString::number(t->BAT2_group_voltage_mv * 0.001,'f',1));
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ui->label_onBoard_56V_Current->setText(QString::number((float)((int16_t)t->BAT2_group_current_dA) *0.1f,'f',1));
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ui->label_28V_percent->setText(QString::number((float)(t->BAT1_remain_perc *0.1f),'f',1));
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ui->label_56V_percent->setText(QString::number((float)(t->BAT2_remain_perc *0.1f),'f',1));
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}
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void ServoSystem::setCheckState(uint32_t pos,QVariant value)
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{
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switch (pos) {
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case 1:
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setColor(ui->checkBox_onBoard,(value.toBool())?(state::success):(state::failure));
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break;
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case 2:
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setColor(ui->checkBox_28v,(value.toBool())?(state::success):(state::failure));
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break;
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case 3:
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setColor(ui->checkBox_56v,(value.toBool())?(state::success):(state::failure));
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break;
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case 4:
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setColor(ui->checkBox_AirSpeed,(value.toBool())?(state::success):(state::failure));
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break;
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case 5:
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setColor(ui->checkBox_500W,(value.toBool())?(state::success):(state::failure));
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break;
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case 6:
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//setColor(ui->checkBox_5525D,(value.toBool())?(state::success):(state::failure));
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break;
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case 7:
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//setColor(ui->checkBox_5803A,(value.toBool())?(state::success):(state::failure));
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break;
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case 8:
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//setColor(ui->checkBox_5607A,(value.toBool())?(state::success):(state::failure));
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break;
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case 9:
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//setColor(ui->checkBox_4525D,(value.toBool())?(state::success):(state::failure));
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break;
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case 10:
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//setColor(ui->checkBox_atteck,(value.toBool())?(state::success):(state::failure));
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break;
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case 11:
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//setColor(ui->checkBox_slide,(value.toBool())?(state::success):(state::failure));
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break;
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}
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//qDebug() << pos << value;
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}
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void ServoSystem::setServoState(mavlink_servo_output_raw_t *t)
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{
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ui->label_rud_curr->setText( QString::number(dir_ru.toInt() * ((int16_t)t->servo13_raw)/32767.0 * max_ru.toDouble()/scale_ru.toDouble() + bias_ru.toDouble() * 57.295,'f',2));
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ui->label_ele_l_curr->setText(QString::number(dir_le.toInt() * ((int16_t)t->servo15_raw)/32767.0 * max_le.toDouble()/scale_le.toDouble() + bias_le.toDouble() * 57.295,'f',2));
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ui->label_ele_r_curr->setText(QString::number(dir_re.toInt() * ((int16_t)t->servo12_raw)/32767.0 * max_re.toDouble()/scale_re.toDouble() + bias_re.toDouble() * 57.295,'f',2));
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ui->label_ail_l_curr->setText(QString::number(dir_la.toInt() * ((int16_t)t->servo14_raw)/32767.0 * max_la.toDouble()/scale_la.toDouble() + bias_la.toDouble() * 57.295,'f',2));
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ui->label_ail_r_curr->setText(QString::number(dir_ra.toInt() * ((int16_t)t->servo11_raw)/32767.0 * max_ra.toDouble()/scale_ra.toDouble() + bias_ra.toDouble() * 57.295,'f',2));
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ui->label_rud_cmd->setText( QString::number(dir_ru.toInt() * ((int16_t)t->servo3_raw)/32767.0 * max_ru.toDouble()/scale_ru.toDouble() + bias_ru.toDouble() * 57.295,'f',2));//ru
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ui->label_ele_l_cmd->setText(QString::number(dir_le.toInt() * ((int16_t)t->servo1_raw)/32767.0 * max_le.toDouble()/scale_le.toDouble() + bias_le.toDouble() * 57.295,'f',2));//le
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ui->label_ele_r_cmd->setText(QString::number(dir_re.toInt() * ((int16_t)t->servo2_raw)/32767.0 * max_re.toDouble()/scale_re.toDouble() + bias_re.toDouble() * 57.295,'f',2));//re
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ui->label_ail_l_cmd->setText(QString::number(dir_la.toInt() * ((int16_t)t->servo4_raw)/32767.0 * max_la.toDouble()/scale_la.toDouble() + bias_la.toDouble() * 57.295,'f',2));//la
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ui->label_ail_r_cmd->setText(QString::number(dir_ra.toInt() * ((int16_t)t->servo5_raw)/32767.0 * max_ra.toDouble()/scale_ra.toDouble() + bias_ra.toDouble() * 57.295,'f',2));//ra
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/*
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sbus = feedback (ra)
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sbus = feedback (re)
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sbus = feedback (ru)
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sbus = feedback (la)
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15 sbus = feedback (le)
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health = 0 ra000 re000 ru000 la000 le000
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GBIT zero SBIT
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*/
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uint16_t health = t->servo16_raw;
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//qDebug() << health;
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setColor(ui->label_LE_SBIT,((health&0x0004) > 0)?(state::success):(state::failure));
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setColor(ui->label_LE_ZERO,((health&0x0002) > 0)?(state::success):(state::failure));
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setColor(ui->label_LE_GBIT,((health&0x0001) > 0)?(state::success):(state::failure));
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setColor(ui->label_LA_SBIT,((health&0x0020) > 0)?(state::success):(state::failure));
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setColor(ui->label_LA_ZERO,((health&0x0010) > 0)?(state::success):(state::failure));
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setColor(ui->label_LA_GBIT,((health&0x0008) > 0)?(state::success):(state::failure));
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setColor(ui->label_RU_SBIT,((health&0x0100) > 0)?(state::success):(state::failure));
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setColor(ui->label_RU_ZERO,((health&0x0080) > 0)?(state::success):(state::failure));
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setColor(ui->label_RU_GBIT,((health&0x0040) > 0)?(state::success):(state::failure));
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setColor(ui->label_RE_SBIT,((health&0x0800) > 0)?(state::success):(state::failure));
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setColor(ui->label_RE_ZERO,((health&0x0400) > 0)?(state::success):(state::failure));
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setColor(ui->label_RE_GBIT,((health&0x0200) > 0)?(state::success):(state::failure));
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setColor(ui->label_RA_SBIT,((health&0x4000) > 0)?(state::success):(state::failure));
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setColor(ui->label_RA_ZERO,((health&0x2000) > 0)?(state::success):(state::failure));
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setColor(ui->label_RA_GBIT,((health&0x1000) > 0)?(state::success):(state::failure));
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}
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void ServoSystem::setAPversion(QString ver)
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{
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ui->label_APVer->setText(ver);
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emit showMessage(tr("飞控软件版本信息：%1").arg(ver));
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}
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void ServoSystem::setHILMode(QString mode)
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{
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ui->label_HILMode->setText(mode);
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emit showMessage((mode.toInt()>0)?("进入HIL仿真"):("退出HIL仿真"));
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}
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float ServoSystem::param_getvalue(QVariant param,uint8_t type)
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{
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float value;
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union {
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uint8_t u8[8];
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int8_t i8[8];
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uint16_t u16[4];
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int16_t i16[4];
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uint32_t u32[2];
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int32_t i32[2];
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uint64_t u64;
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int64_t i64;
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float f[2];
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double d;
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}src;
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switch (type)
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{
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case MAV_PARAM_TYPE_UINT8:
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{
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src.u8[0] = param.toUInt();
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((uint8_t *)&value)[0] = src.u8[0];
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}break;
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case MAV_PARAM_TYPE_INT8:
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{
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src.i8[0] = param.toUInt();
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((int8_t *)&value)[0] = src.i8[0];
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}break;
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case MAV_PARAM_TYPE_UINT16:
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{
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src.u16[0] = param.toUInt();
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((uint16_t *)&value)[0] = src.u16[0];
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}break;
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case MAV_PARAM_TYPE_INT16:
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{
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src.i16[0] = param.toUInt();
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((int16_t *)&value)[0] = src.i16[0];
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}break;
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case MAV_PARAM_TYPE_UINT32:
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{
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src.u32[0] = param.toUInt();
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((uint32_t *)&value)[0] = (uint32_t)src.u32[0];
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}break;
|
|
case MAV_PARAM_TYPE_INT32:
|
|
{
|
|
src.i32[0] = param.toUInt();
|
|
((int32_t *)&value)[0] = (int32_t)src.i32[0];
|
|
}break;
|
|
case MAV_PARAM_TYPE_UINT64:
|
|
{
|
|
src.u64 = param.toUInt();
|
|
((uint64_t *)&value)[0] = (uint64_t )src.u64;
|
|
}break;
|
|
case MAV_PARAM_TYPE_INT64:
|
|
{
|
|
src.i64 = param.toUInt();
|
|
((int64_t *)&value)[0] = (int64_t)src.i64;
|
|
}break;
|
|
case MAV_PARAM_TYPE_REAL32:
|
|
{
|
|
src.f[0] = param.toFloat();
|
|
((float *)&value)[0] = (float)src.f[0];
|
|
}break;
|
|
case MAV_PARAM_TYPE_REAL64:
|
|
{
|
|
src.d = param.toDouble();
|
|
((double *)&value)[0]= (double)src.d;
|
|
}break;
|
|
default:
|
|
{
|
|
src.f[0] = param.toFloat();
|
|
((float *)&value)[0] = (float)src.i32[0];
|
|
}break;
|
|
|
|
}
|
|
|
|
return value;
|
|
}
|
|
|
|
|
|
|
|
|
|
void ServoSystem::commandAccepted(bool flag,uint16_t command,uint8_t result)
|
|
{
|
|
bool isFundSender = false;
|
|
QString string;
|
|
//找到消息的发送者
|
|
|
|
|
|
QObjectList list = ui->frame->children();
|
|
|
|
// qDebug() << list;
|
|
|
|
//qDebug() << CommandBox.findChildren();
|
|
|
|
if(command == m_command)
|
|
{
|
|
isFundSender = true;
|
|
|
|
|
|
switch (result) {
|
|
case MAV_RESULT_ACCEPTED:
|
|
string.append(tr("%1,%2 accepted and executed").arg(command).arg(m_name));
|
|
break;
|
|
case MAV_RESULT_TEMPORARILY_REJECTED:
|
|
string.append(tr("%1,%2 rejected").arg(command).arg(m_name));
|
|
break;
|
|
case MAV_RESULT_DENIED:
|
|
string.append(tr("%1,%2 permanently denied").arg(command).arg(m_name));
|
|
break;
|
|
case MAV_RESULT_UNSUPPORTED:
|
|
string.append(tr("%1,%2 unsupported").arg(command).arg(m_name));
|
|
break;
|
|
case MAV_RESULT_FAILED:
|
|
string.append(tr("%1,%2 failed").arg(command).arg(m_name));
|
|
break;
|
|
case MAV_RESULT_IN_PROGRESS:
|
|
string.append(tr("%1,%2 being executed").arg(command).arg(m_name));
|
|
break;
|
|
case 0xFE:
|
|
string.append(tr("%1,%2 time out").arg(command).arg(m_name));
|
|
break;
|
|
case 0xFF:
|
|
string.append(tr("Please do not operate too fast, the last instruction has not been sent"));
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
|
|
ui->lineEdit_CommandName->clear();
|
|
m_name.clear();
|
|
m_param1 = 0;
|
|
m_param2 = 0;
|
|
m_param3 = 0;
|
|
m_param4 = 0;
|
|
m_param5 = 0;
|
|
m_param6 = 0;
|
|
m_param7 = 0;
|
|
m_command = 0;
|
|
m_confirm = 0;
|
|
|
|
}
|
|
|
|
if(string.size() > 0)
|
|
{
|
|
QTextToSpeech *tts = new QTextToSpeech();
|
|
tts->say(string);
|
|
tts->deleteLater();
|
|
emit showMessage(string);
|
|
}
|
|
}
|
|
|
|
|
|
void ServoSystem::on_comboBox_TestPoint_currentIndexChanged(int index)
|
|
{
|
|
|
|
switch (index) {
|
|
case 0:
|
|
case 1:
|
|
case 2:
|
|
case 3:
|
|
case 15:
|
|
ui->label_TestValue->show();
|
|
ui->label_TestValue->setText("转速");
|
|
|
|
ui->comboBox_TestValue->show();
|
|
ui->comboBox_TestValue->clear();
|
|
ui->comboBox_TestValue->addItem("10000",10000);
|
|
|
|
if(index == 2)
|
|
{
|
|
ui->comboBox_TestValue->addItem("13700",13700);
|
|
}
|
|
|
|
ui->comboBox_TestValue->addItem("15000",15000);
|
|
ui->comboBox_TestValue->addItem("20000",20000);
|
|
ui->comboBox_TestValue->addItem("25000",25000);
|
|
ui->comboBox_TestValue->addItem("30000",30000);
|
|
ui->comboBox_TestValue->addItem("35000",35000);
|
|
ui->comboBox_TestValue->addItem("40000",40000);
|
|
if(index != 3)
|
|
{
|
|
ui->comboBox_TestValue->addItem("45000",45000);
|
|
}
|
|
ui->comboBox_TestValue->setCurrentIndex(0);
|
|
|
|
break;
|
|
|
|
case 5:
|
|
case 6:
|
|
case 7:
|
|
case 8:
|
|
case 9:
|
|
case 10:
|
|
case 11:
|
|
case 12:
|
|
case 13:
|
|
case 14:
|
|
ui->label_TestValue->show();
|
|
ui->label_TestValue->setText("电平");
|
|
|
|
ui->comboBox_TestValue->show();
|
|
ui->comboBox_TestValue->clear();
|
|
ui->comboBox_TestValue->addItem("低电平",0);
|
|
ui->comboBox_TestValue->addItem("高电平",1);
|
|
ui->comboBox_TestValue->setEditable(true);
|
|
ui->comboBox_TestValue->setCurrentIndex(1);
|
|
|
|
break;
|
|
|
|
case 4:
|
|
ui->label_TestValue->hide();
|
|
ui->comboBox_TestValue->hide();
|
|
break;
|
|
|
|
|
|
}
|
|
}
|
|
|
|
//二次确认
|
|
void ServoSystem::setSecondConfirm(QVariant value)
|
|
{
|
|
if(value.toBool() == true)
|
|
{
|
|
emit cmd_long(m_param1,m_param2,m_param3,m_param4,m_param5,m_param6,m_param7,m_command,m_confirm);
|
|
}
|
|
else
|
|
{
|
|
ui->lineEdit_CommandName->clear();
|
|
m_name.clear();
|
|
m_param1 = 0;
|
|
m_param2 = 0;
|
|
m_param3 = 0;
|
|
m_param4 = 0;
|
|
m_param5 = 0;
|
|
m_param6 = 0;
|
|
m_param7 = 0;
|
|
m_command = 0;
|
|
m_confirm = 0;
|
|
|
|
}
|
|
}
|
|
|
|
void ServoSystem::on_pushButton_SendCommand_clicked()
|
|
{
|
|
if(cmdType == 0)
|
|
{
|
|
if(m_command == 0)
|
|
{
|
|
emit showMessage(tr("please set command first ,command :%1").arg(m_command));
|
|
return;
|
|
}
|
|
}
|
|
|
|
if(cmdType == 0)
|
|
{
|
|
emit showMessage(tr("发送指令 ") + QString::number(m_command) + " " + m_name,5000);
|
|
emit cmd_long(m_param1,m_param2,m_param3,m_param4,m_param5,m_param6,m_param7,m_command,m_confirm);
|
|
}
|
|
else if(cmdType == 1)
|
|
{
|
|
|
|
emit showMessage(tr("修改参数 ") + " " + m_id.toLatin1().data() + " " + QString::number(m_value),5000);
|
|
emit WriteCmd(m_sysid,m_compid,m_id.toLatin1().data(),m_type,param_getvalue(m_value,m_type));
|
|
|
|
|
|
|
|
}
|
|
}
|
|
|
|
void ServoSystem::on_pushButton_Cancel_clicked()
|
|
{
|
|
ui->lineEdit_CommandName->clear();
|
|
m_name.clear();
|
|
m_param1 = 0;
|
|
m_param2 = 0;
|
|
m_param3 = 0;
|
|
m_param4 = 0;
|
|
m_param5 = 0;
|
|
m_param6 = 0;
|
|
m_param7 = 0;
|
|
m_command = 0;
|
|
m_confirm = 0;
|
|
}
|
|
|
|
|
|
void ServoSystem::on_commandClicked(QString name,
|
|
float param1,float param2,float param3,float param4,
|
|
float param5,float param6,float param7,
|
|
uint16_t command,uint8_t confirmation)
|
|
{
|
|
|
|
m_name = name;
|
|
m_param1 = param1;
|
|
m_param2 = param2;
|
|
m_param3 = param3;
|
|
m_param4 = param4;
|
|
m_param5 = param5;
|
|
m_param6 = param6;
|
|
m_param7 = param7;
|
|
m_command = command;
|
|
m_confirm = confirmation;
|
|
|
|
ui->lineEdit_CommandName->setText(name);
|
|
|
|
cmdType = 0;
|
|
}
|
|
|
|
void ServoSystem::on_paramClicked(uint8_t sysid, uint8_t compid , QString id, uint8_t type, float value)
|
|
{
|
|
|
|
m_sysid = sysid;
|
|
m_compid = compid;
|
|
m_id = id;
|
|
m_type = type;
|
|
m_value = value;
|
|
|
|
ui->lineEdit_CommandName->setText(id + " " + QString::number(value));
|
|
|
|
cmdType = 1;
|
|
}
|
|
|
|
|
|
//测试指令
|
|
void ServoSystem::on_pushButton_SendTest_clicked()
|
|
{
|
|
//判断 两个 内容是否是空，
|
|
|
|
float testPoint = 0;
|
|
float testValue = 0;
|
|
|
|
if(!ui->comboBox_TestValue->isHidden())//如果显示
|
|
{
|
|
testPoint = ui->comboBox_TestPoint->currentData(Qt::UserRole).toFloat();
|
|
testValue = ui->comboBox_TestValue->currentData(Qt::UserRole).toFloat();
|
|
|
|
if((ui->comboBox_TestPoint->currentIndex() != -1)&&(ui->comboBox_TestValue->currentIndex() != -1))
|
|
{
|
|
on_commandClicked(ui->comboBox_TestPoint->currentText() + " " + ui->comboBox_TestValue->currentText() ,
|
|
103,testPoint,testValue,0,0,0,0,180,0);
|
|
}
|
|
else
|
|
{
|
|
QMessageBox *box = new QMessageBox(this);
|
|
|
|
box->setWindowTitle(tr("警告"));
|
|
box->setText(tr("请选择测试项和测试点"));
|
|
box->show();
|
|
}
|
|
|
|
}
|
|
else
|
|
{
|
|
if(ui->comboBox_TestPoint->currentIndex() != -1)
|
|
{
|
|
testPoint = ui->comboBox_TestPoint->currentData(Qt::UserRole).toFloat();
|
|
on_commandClicked(ui->comboBox_TestPoint->currentText(),
|
|
103,testPoint,0,0,0,0,0,180,0);
|
|
}
|
|
else
|
|
{
|
|
QMessageBox *box = new QMessageBox(this);
|
|
|
|
box->setWindowTitle(tr("警告"));
|
|
box->setText(tr("请选择测试项和测试点"));
|
|
box->show();
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
//舵机指令
|
|
void ServoSystem::on_pushButton_Servo_Check_clicked()
|
|
{
|
|
on_commandClicked(ui->pushButton_Servo_Check->text(),
|
|
1,0,0,0,0,0,0,20004,0);
|
|
}
|
|
|
|
void ServoSystem::on_pushButton_Servo_Read_clicked()
|
|
{
|
|
on_commandClicked(ui->pushButton_Servo_Read->text(),
|
|
2,0,0,0,0,0,0,20004,0);
|
|
}
|
|
|
|
void ServoSystem::on_pushButton_Servo_Zero_clicked()
|
|
{
|
|
on_commandClicked(ui->pushButton_Servo_Zero->text(),
|
|
3,0,0,0,0,0,0,20004,0);
|
|
}
|
|
|
|
void ServoSystem::on_pushButton_Servo_Work_clicked()
|
|
{
|
|
on_commandClicked(ui->pushButton_Servo_Work->text(),
|
|
4,0,0,0,0,0,0,20004,0);
|
|
}
|
|
|
|
|
|
void ServoSystem::on_pushButton_coldrun_clicked()
|
|
{
|
|
on_commandClicked(ui->pushButton_coldrun->text(),
|
|
103,0x13,0,0,0,0,0,180,0);
|
|
}
|
|
|
|
void ServoSystem::on_pushButton_groundstartup_clicked()
|
|
{
|
|
on_commandClicked(ui->pushButton_groundstartup->text(),
|
|
103,0x15,0,0,0,0,0,180,0);
|
|
}
|
|
|
|
void ServoSystem::on_pushButton_Afterburner_off_clicked()
|
|
{
|
|
on_commandClicked(ui->pushButton_Afterburner_off->text(),
|
|
103,0xb5,20000,0,0,0,0,180,0);
|
|
}
|
|
|
|
void ServoSystem::on_pushButton_stop_clicked()
|
|
{
|
|
on_commandClicked(ui->pushButton_stop->text(),
|
|
103,0x43,0,0,0,0,0,180,0);
|
|
}
|
|
|
|
void ServoSystem::on_pushButton_EmergencyStop_clicked()
|
|
{
|
|
on_commandClicked(ui->pushButton_EmergencyStop->text(),
|
|
103,0x73,0,0,0,0,0,180,0);
|
|
}
|
|
|
|
void ServoSystem::on_pushButton_Afterburner_on_clicked()
|
|
{
|
|
//根据档位选择
|
|
float Level = ui->comboBox_Full->currentData(Qt::UserRole).toFloat();
|
|
|
|
on_commandClicked(ui->pushButton_Afterburner_on->text() + " " + ui->comboBox_Full->currentText(),
|
|
103,Level,46000,0,0,0,0,180,0);
|
|
}
|
|
|
|
void ServoSystem::on_pushButton_Afterburner_half_clicked()
|
|
{
|
|
float Level = ui->comboBox_Half->currentData(Qt::UserRole).toFloat();
|
|
|
|
on_commandClicked(ui->pushButton_Afterburner_half->text() + " " + ui->comboBox_Half->currentText(),
|
|
103,Level,46000,0,0,0,0,180,0);
|
|
}
|
|
|
|
void ServoSystem::on_pushButton_setRPM_clicked()
|
|
{
|
|
if(ui->comboBox_rate->currentIndex() != -1)
|
|
{
|
|
float rpm = ui->comboBox_rate->currentData(Qt::UserRole).toFloat();
|
|
|
|
on_commandClicked(ui->pushButton_setRPM->text() + " " + ui->comboBox_rate->currentText(),
|
|
103,0x45,rpm,0,0,0,0,180,0);
|
|
}
|
|
else
|
|
{
|
|
QMessageBox *box = new QMessageBox(this);
|
|
|
|
box->setWindowTitle(tr("警告"));
|
|
box->setText(tr("请设定给定转速"));
|
|
box->show();
|
|
}
|
|
}
|
|
|
|
|
|
|
|
void ServoSystem::on_pushButton_IMU_clicked()
|
|
{
|
|
if((ui->comboBox_IMU->currentIndex() != -1)&&(ui->comboBox_sys->currentIndex() != -1))
|
|
{
|
|
uint8_t sysid = ui->comboBox_sys->currentData(Qt::UserRole).toInt();
|
|
uint8_t compid = 1;
|
|
QString id;
|
|
uint8_t type = MAV_PARAM_TYPE_INT8;
|
|
|
|
id.clear();
|
|
id.append("use_ext_ins");
|
|
|
|
//float value = param_getvalue(ui->comboBox_IMU->currentData(Qt::UserRole).toInt(),type);
|
|
|
|
on_paramClicked(sysid,compid,id,type,ui->comboBox_IMU->currentData(Qt::UserRole).toDouble());
|
|
|
|
//emit showMessage(tr("修改参数 ") + " " + m_id.toLatin1().data() + " " + QString::number(ui->comboBox_IMU->currentData(Qt::UserRole).toInt()),5000);
|
|
|
|
}
|
|
else
|
|
{
|
|
QMessageBox *box = new QMessageBox(this);
|
|
|
|
box->setWindowTitle(tr("警告"));
|
|
box->setText(tr("请设定目标"));
|
|
box->show();
|
|
}
|
|
}
|
|
|
|
|
|
void ServoSystem::on_pushButton_IAS_SEL_0_clicked()
|
|
{
|
|
if(ui->comboBox_sys->currentIndex() != -1)
|
|
{
|
|
|
|
uint8_t sysid = ui->comboBox_sys->currentData(Qt::UserRole).toInt();
|
|
uint8_t compid = 1;
|
|
QString id;
|
|
uint8_t type = MAV_PARAM_TYPE_UINT8;
|
|
|
|
id.clear();
|
|
id.append("IAS_SEL");
|
|
|
|
|
|
//float value = param_getvalue(0,type);
|
|
|
|
//emit showMessage(tr("修改参数 ") + " " + m_id.toLatin1().data() + " " + QString::number(0),5000);
|
|
|
|
on_paramClicked(sysid,compid,id,type,0);
|
|
|
|
}
|
|
else
|
|
{
|
|
QMessageBox *box = new QMessageBox(this);
|
|
|
|
box->setWindowTitle(tr("警告"));
|
|
box->setText(tr("请设定目标"));
|
|
box->show();
|
|
}
|
|
}
|
|
|
|
void ServoSystem::on_pushButton_IAS_SEL_1_clicked()
|
|
{
|
|
if(ui->comboBox_sys->currentIndex() != -1)
|
|
{
|
|
|
|
uint8_t sysid = ui->comboBox_sys->currentData(Qt::UserRole).toInt();
|
|
uint8_t compid = 1;
|
|
QString id;
|
|
uint8_t type = MAV_PARAM_TYPE_UINT8;
|
|
|
|
id.clear();
|
|
id.append("IAS_SEL");
|
|
|
|
//float value = param_getvalue(1,type);
|
|
|
|
//emit showMessage(tr("修改参数 ") + " " + m_id.toLatin1().data() + " " + QString::number(1),5000);
|
|
|
|
on_paramClicked(sysid,compid,id,type,1);
|
|
|
|
}
|
|
else
|
|
{
|
|
QMessageBox *box = new QMessageBox(this);
|
|
|
|
box->setWindowTitle(tr("警告"));
|
|
box->setText(tr("请设定目标"));
|
|
box->show();
|
|
}
|
|
}
|
|
|
|
void ServoSystem::on_pushButton_IAS_SEL_2_clicked()
|
|
{
|
|
if(ui->comboBox_sys->currentIndex() != -1)
|
|
{
|
|
uint8_t sysid = ui->comboBox_sys->currentData(Qt::UserRole).toInt();
|
|
uint8_t compid = 1;
|
|
QString id;
|
|
uint8_t type = MAV_PARAM_TYPE_UINT8;
|
|
|
|
id.clear();
|
|
id.append("IAS_SEL");
|
|
|
|
//float value = param_getvalue(2,type);
|
|
|
|
//emit showMessage(tr("修改参数 ") + " " + m_id.toLatin1().data() + " " + QString::number(2),5000);
|
|
|
|
on_paramClicked(sysid,compid,id,type,2);
|
|
|
|
}
|
|
else
|
|
{
|
|
QMessageBox *box = new QMessageBox(this);
|
|
|
|
box->setWindowTitle(tr("警告"));
|
|
box->setText(tr("请设定目标"));
|
|
box->show();
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
void ServoSystem::addVehicles(int sysid, int compid)
|
|
{
|
|
Q_UNUSED(compid)
|
|
|
|
if(ui->comboBox_sys->findData(sysid) == -1)
|
|
{
|
|
ui->comboBox_sys->addItem(QString::number(sysid),sysid);
|
|
}
|
|
}
|
|
|
|
void ServoSystem::on_pushButton_ServoSet_clicked()
|
|
{
|
|
if(ui->comboBox_ServoType->currentIndex() != -1)
|
|
{
|
|
switch(ui->comboBox_ServoType->currentData(Qt::UserRole).toInt())
|
|
{
|
|
case 1:
|
|
{
|
|
m_la = ui->spinBox_Servo->value();
|
|
}break;
|
|
case 2:
|
|
{
|
|
m_ra = ui->spinBox_Servo->value();
|
|
}break;
|
|
case 3:
|
|
{
|
|
m_le = ui->spinBox_Servo->value();
|
|
}break;
|
|
case 4:
|
|
{
|
|
m_re = ui->spinBox_Servo->value();
|
|
}break;
|
|
case 5:
|
|
{
|
|
m_ru = ui->spinBox_Servo->value();
|
|
}break;
|
|
}
|
|
|
|
|
|
on_commandClicked(tr("设定舵机 %1 %2").arg(ui->comboBox_ServoType->currentText()).arg(ui->spinBox_Servo->value()),
|
|
106,m_ra,m_re,m_ru,m_la,m_le,0,180,0);
|
|
|
|
//qDebug() << m_ra << m_re << m_ru << m_la << m_le;
|
|
|
|
}
|
|
else
|
|
{
|
|
QMessageBox *box = new QMessageBox(this);
|
|
|
|
box->setWindowTitle(tr("警告"));
|
|
box->setText(tr("请设定"));
|
|
box->show();
|
|
}
|
|
}
|
|
|
|
void ServoSystem::on_pushButton_Zero_clicked()
|
|
{
|
|
m_ra = 0;
|
|
m_la = 0;
|
|
m_ru = 0;
|
|
m_re = 0;
|
|
m_le = 0;
|
|
|
|
on_commandClicked(tr("设定舵机归零 %1").arg(ui->pushButton_Zero->text()),
|
|
106,m_ra,m_re,m_ru,m_la,m_le,0,180,0);
|
|
|
|
}
|
|
|
|
void ServoSystem::on_pushButton_setFuel_clicked()
|
|
{
|
|
double value = ui->doubleSpinBox_Fuel->value();
|
|
|
|
on_commandClicked(tr("%1 %2kg").arg(ui->pushButton_setFuel->text()).arg(QString::number(value)),
|
|
value,0,0,0,0,0,0,20009,0);
|
|
}
|
|
|
|
/*
|
|
void ServoSystem::on_pushButton_AngleZero_clicked()//动压归零
|
|
{
|
|
on_commandClicked(tr("设定 %1").arg(ui->pushButton_AngleZero->text()),
|
|
0,0,1,0,0,0,0,20005,0);
|
|
}
|
|
|
|
|
|
void ServoSystem::on_pushButton_ZeroComplete_clicked()
|
|
{
|
|
on_commandClicked(tr("设定 %1").arg(ui->pushButton_ZeroComplete->text()),
|
|
0,0,0,0,0,0,0,20005,0);
|
|
}
|
|
*/
|
|
|
|
|
|
void ServoSystem::on_pushButton_HeatOn1_clicked()
|
|
{
|
|
on_commandClicked(tr("设定 %1").arg(ui->pushButton_HeatOn1->text()),
|
|
1,0,0,0,0,0,0,20005,0);
|
|
}
|
|
|
|
|
|
void ServoSystem::on_pushButton_HeatOn2_clicked()
|
|
{
|
|
on_commandClicked(tr("设定 %1").arg(ui->pushButton_HeatOn2->text()),
|
|
0,1,0,0,0,0,0,20005,0);
|
|
}
|
|
|
|
//伺服指令
|
|
void ServoSystem::on_pushButton_AirHeatOn_clicked()
|
|
{
|
|
on_commandClicked(ui->pushButton_AirHeatOn->text(),
|
|
1,1,0,0,0,0,0,20005,0);
|
|
}
|
|
|
|
void ServoSystem::on_pushButton_HeatOff_clicked()
|
|
{
|
|
on_commandClicked(ui->pushButton_HeatOff->text(),
|
|
0,0,0,0,0,0,0,20005,0);
|
|
}
|
|
|
|
|
|
void ServoSystem::on_pushButton_ServoTest_clicked()//IDLE
|
|
{
|
|
on_commandClicked(tr("设定 %1").arg(ui->pushButton_ServoTest->text()),
|
|
0,0,0,0,0,0,0,20007,0);
|
|
}
|
|
|
|
void ServoSystem::on_pushButton_StabilizeTest_clicked()
|
|
{
|
|
on_commandClicked(tr("设定 %1").arg(ui->pushButton_StabilizeTest->text()),
|
|
1,0,0,0,0,0,0,20007,0);
|
|
}
|
|
|
|
void ServoSystem::on_pushButton_ManualTest_clicked()
|
|
{
|
|
on_commandClicked(tr("设定 %1").arg(ui->pushButton_ManualTest->text()),
|
|
2,0,0,0,0,0,0,20007,0);
|
|
}
|
|
|
|
void ServoSystem::on_pushButton_swep_clicked()
|
|
{
|
|
on_commandClicked(tr("设定 %1").arg(ui->pushButton_swep->text()),
|
|
3,0,0,0,0,0,0,20007,0);
|
|
}
|
|
|
|
void ServoSystem::on_pushButton_test_cmd_clicked()
|
|
{
|
|
uint8_t ch = 0;
|
|
float A;
|
|
float start;
|
|
float stop;
|
|
float K;
|
|
|
|
|
|
//ch = ui->comboBox_sel_ch->currentData(Qt::UserRole).toInt();
|
|
|
|
/* 1 ail
|
|
* 2 ele
|
|
* 4 rud
|
|
* */
|
|
|
|
ch |= ui->checkBox_ail->isChecked()?(1):(0);
|
|
ch |= ui->checkBox_ele->isChecked()?(2):(0);
|
|
ch |= ui->checkBox_rud->isChecked()?(4):(0);
|
|
|
|
qDebug() << "ch" << ch;
|
|
|
|
A = ui->doubleSpinBox_A_deg->value();
|
|
start = ui->doubleSpinBox__Start_frq_Hz->value();
|
|
stop = ui->doubleSpinBox_Stop_frq_Hz->value();
|
|
K = ui->doubleSpinBox_K_frq_Hz->value();
|
|
|
|
on_commandClicked(tr("设定 %1").arg(ui->pushButton_test_cmd->text()),
|
|
ch,A,start,stop,K,0,0,20008,0);
|
|
|
|
|
|
qDebug() << "Servo Test:" <<ch << A << start << stop << K;
|
|
}
|
|
|
|
void ServoSystem::on_pushButton_test_stop_clicked()
|
|
{
|
|
on_commandClicked(tr("设定 %1").arg(ui->pushButton_test_stop->text()),
|
|
0,0,0,0,0,0,0,20008,0);
|
|
}
|
|
|
|
|
|
void ServoSystem::on_pushButton_500W_Open_clicked()
|
|
{
|
|
on_commandClicked(tr("设定 %1").arg(ui->pushButton_500W_Open->text()),
|
|
102,1,0,0,0,0,0,180,0);
|
|
}
|
|
|
|
void ServoSystem::on_pushButton_500W_Close_clicked()
|
|
{
|
|
on_commandClicked(tr("设定 %1").arg(ui->pushButton_500W_Close->text()),
|
|
102,0,0,0,0,0,0,180,0);
|
|
}
|