mirror of
https://github.com/YikeStone/Qt-Advent.git
synced 2025-08-02 18:04:08 +05:30
490 lines
14 KiB
C++
490 lines
14 KiB
C++
#include "mainwindow.h"
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#include "ui_mainwindow.h"
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#include "QKeyEvent"
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#include "QDebug"
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#include <QCoreApplication>
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#include <QtCore/QCoreApplication>
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//#include "bs.h"
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int KP[44];double kp=3,ki=0,kd=0;int kp1=3,ki1=0,kd1=0;double pkp=0, pki = 0,pkd = 0;int pwm_left,pwm_right;
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QString cmd("");
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int a=0;
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long t;
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double xa=0,ya=0,za=0;
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double xg=0,yg=0,zg=0;
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double xxa,yya,zza;double kp2 = 10;
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double ki2 = 0;
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double kd2 = 0;
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double g1;
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double ra=0,rollg=0;const float alpha = 0.5;
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QElapsedTimer f;
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IMUfilter *imufilter;
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QByteArray ba("");
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int outMax = 255;
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int outMin = -255;
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float lastInput = 0;
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double ITerm =0;
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double Setpoint = 0;
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double gg=0;
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double Compute(double input)
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{
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double error = Setpoint - input;
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ITerm+= (ki2 * error);
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if(ITerm > outMax) ITerm= outMax;
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else if(ITerm < outMin) ITerm= outMin;
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double dInput = (input - lastInput);
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double output = kp2 * error + ITerm + kd2 * dInput;
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if(output > outMax) output = outMax;
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else if(output < outMin) output = outMin;
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lastInput = input;
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return output;
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}
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char blankString[] = QT_TRANSLATE_NOOP("SettingsDialog", "N/A");
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MainWindow::MainWindow(QWidget *parent) :
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QMainWindow(parent),
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ui(new Ui::MainWindow)
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{
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ui->setupUi(this);
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serial = new QSerialPort(this);
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QSerialPortInfo info=QSerialPortInfo::availablePorts().at(0);
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// Check info of the port
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qDebug() << "Name : " << info.portName();
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/*qDebug() << "Manufacturer: " << info.manufacturer(); //if showing manufacturer, means Qstring &name is good
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qDebug() << "Busy: " << info.isBusy() << endl;
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*/// Initialize Serial
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serial->setPortName("COM6");
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//serial->open(QIODevice::ReadWrite);
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serial->setBaudRate(QSerialPort::Baud57600);
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serial->setDataBits(QSerialPort::Data8);
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serial->setParity(QSerialPort::NoParity);
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serial->setStopBits(QSerialPort::OneStop);
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serial->setFlowControl(QSerialPort::NoFlowControl);
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if(serial->open(QIODevice::ReadWrite));
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/*QString description;
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QString manufacturer;
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QString serialNumber;int i=0;
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/*foreach (const QSerialPortInfo &info, QSerialPortInfo::availablePorts()) {
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cout<<i++;
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description = info.description();
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manufacturer = info.manufacturer();
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serialNumber = info.serialNumber();
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qDebug() << info.portName()<<" "
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<< (!description.isEmpty() ? description : blankString)<<" "
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<< (!manufacturer.isEmpty() ? manufacturer : blankString)<<" "
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<< (!serialNumber.isEmpty() ? serialNumber : blankString)<<" "
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<< info.systemLocation()<<" "
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<< (info.vendorIdentifier() ? QString::number(info.vendorIdentifier(), 16) : blankString)<<" "
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<< (info.productIdentifier() ? QString::number(info.productIdentifier(), 16) : blankString)<<info.isBusy()<<" \n ";}*/
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ui->textBrowser->setText("Key(s) Pressed:");
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connect(ui->horizontalSlider,SIGNAL(valueChanged(int)),this,SLOT(value0(int)));
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connect(ui->horizontalSlider_2,SIGNAL(valueChanged(int)),this,SLOT(value1(int)));
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connect(ui->horizontalSlider_3,SIGNAL(valueChanged(int)),this,SLOT(value2(int)));
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connect(ui->horizontalSlider_5,SIGNAL(valueChanged(int)),this,SLOT(value3(int)));
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connect(ui->horizontalSlider_4,SIGNAL(valueChanged(int)),this,SLOT(value4(int)));
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connect(ui->horizontalSlider_6,SIGNAL(valueChanged(int)),this,SLOT(value5(int)));
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connect(ui->horizontalSlider_7,SIGNAL(valueChanged(int)),this,SLOT(value6(int)));
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connect(ui->horizontalSlider_8,SIGNAL(valueChanged(int)),this,SLOT(value7(int)));
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connect(ui->lineEdit,SIGNAL(returnPressed()),this,SLOT(value8()));
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connect(ui->lineEdit_2,SIGNAL(returnPressed()),this,SLOT(value9()));
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connect(ui->lineEdit_3,SIGNAL(returnPressed()),this,SLOT(value10()));
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connect(ui->lineEdit_4,SIGNAL(returnPressed()),this,SLOT(value11()));
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connect(ui->lineEdit_5,SIGNAL(returnPressed()),this,SLOT(value12()));
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connect(ui->lineEdit_6,SIGNAL(returnPressed()),this,SLOT(value13()));
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connect(ui->lineEdit_7,SIGNAL(returnPressed()),this,SLOT(value14()));
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connect(ui->lineEdit_8,SIGNAL(returnPressed()),this,SLOT(value15()));
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connect(ui->radioButton,SIGNAL(pressed()),this,SLOT(value16()));
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connect(ui->radioButton_2,SIGNAL(pressed()),this,SLOT(value17()));
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connect(ui->lineEdit_9,SIGNAL(returnPressed()),this,SLOT(value18()));
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connect(ui->radioButton_3,SIGNAL(pressed()),this,SLOT(value19()));
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//connect(serial, SIGNAL(readyRead()), this, SLOT(readData()));
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timer = new QTimer(this);
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connect(timer, SIGNAL(timeout()), this, SLOT(readData()));
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timer->start(16);
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for(int i=0;i<44;i++)
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KP[i]=0;
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// create graph and assign data to it:
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ui->widget->legend->setVisible(true);
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//ui->widget->addGraph()->setName("AccelAng");
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ui->widget->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom);
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//ui->widget->axisRect()->setRangeZoom(Qt::Horizontal | Qt::Vertical);
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ui->widget->axisRect()->setRangeZoom(Qt::Horizontal);
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ui->widget->axisRect()->setRangeZoomFactor(1.5);
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ui->widget->addGraph()->setName("Theta");
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ui->widget->addGraph()->setName("ThetaDot");
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ui->widget->addGraph()->setName("Velocity");
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ui->widget->addGraph()->setName("ThetaOffset");
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ui->widget->addGraph()->setName("Displacement");
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//ui->widget->graph(0)->setData(x, y);
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ui->widget->xAxis->setLabel("Time(s)->");
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ui->widget->yAxis->setLabel("Angle(°),Disp(m),Vel(m/s)");
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ui->widget->graph(0)->setPen(QPen(Qt::red));
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ui->widget->graph(1)->setPen(QPen(Qt::green));
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ui->widget->graph(2)->setPen(QPen(Qt::blue));
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ui->widget->graph(3)->setPen(QPen(Qt::black));
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ui->widget->graph(4)->setPen(QPen(Qt::cyan));
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ui->widget->xAxis->setRange(0,50);
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ui->widget->yAxis->setRange(15,-15);
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f.start();
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//imufilter = new IMUfilter(0.015, 20);
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}
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MainWindow::~MainWindow()
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{
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timer->stop();
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QFile file("C:/Users/yikes/Desktop/graph.jpg");
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ui->widget->saveJpg( "C:/Users/yikes/Desktop/graph.jpg", 0, 0, 1.0, -1 );
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delete ui;
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}
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void MainWindow::BlueP()
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{
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QString b("");
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for(int i=0;i<44;i++)
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if(KP[i]==1)b.append(i+47);
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b.append("\n");
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ba.clear();
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ui->textBrowser->setText("Key(s) Pressed:"+b);
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if(a==-1)
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{
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if(b.length()>1){
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ba.append(b.toUtf8());
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}
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else
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{
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ba.append("stop\n");
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}
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}
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else if(a==1){
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QString s("");
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/*s.append("l");
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s.append(QString::number(pwm_left,'g',9));
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s.append("\nr");
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s.append(QString::number(pwm_right,'g',9));
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s.append("\n");//only for pwm
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*/
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if(pkp!=kp){
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s.append("p");pkp=kp;
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s.append(QString::number(kp,'g',5));
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s.append(",\n");
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goto zz;
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}
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if(pki!=ki){
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s.append("i");pki=ki;
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s.append(QString::number(ki,'g',5));
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s.append(",\n");
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goto zz;
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}
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if(pkd!=kd){
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s.append("d");pkd=kd;
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s.append(QString::number(kd,'g',5));
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s.append(",\n");
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goto zz;
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}
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zz:
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qDebug()<<s<<"123";
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ba=s.toUtf8();
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}
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else if(a==0){
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QString s("");
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s.append(cmd);
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s.append(",\n");
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ba=s.toUtf8();
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}
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if (serial->isOpen() && serial->isWritable())
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{
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qDebug()<<ba;
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serial->write(ba);
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if (serial->bytesToWrite() > 0)
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{
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serial->flush();
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serial->bytesWritten(ba.length());
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}
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}
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else
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{
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cout<< "An error occured" << endl;
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qDebug()<<a;
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}
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//QThread::currentThread()->msleep(1000);
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}
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void MainWindow::keyPressEvent(QKeyEvent * event)
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{
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int p=event->key();
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if(p>46&&p<91){
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KP[p-47]=1;
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BlueP();
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}
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}
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void MainWindow::keyReleaseEvent(QKeyEvent * event)
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{
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int r=event->key();
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if(r>46&&r<91){
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KP[r-47]=0;
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BlueP();}
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}
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void MainWindow::value0(int k)
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{
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pwm_left=k-255;
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ui->lineEdit->setText(QString::number(pwm_left));
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BlueP();
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}
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void MainWindow::value1(int k)
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{
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pwm_right=k-255;
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ui->lineEdit_2->setText(QString::number(pwm_right));
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BlueP();
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}
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void MainWindow::value2(int k)
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{
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kp=k/10000000.0+kp1;
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ui->lineEdit_3->setText(QString::number(kp,'g',9));
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BlueP();
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}
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void MainWindow::value3(int k)
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{
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ki=k/10000000.0+ki1;
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ui->lineEdit_5->setText(QString::number(ki,'g',9));
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BlueP();
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}
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void MainWindow::value4(int k)
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{
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kd=k/10000000.0+kd1;
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ui->lineEdit_4->setText(QString::number(kd,'g',9));
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BlueP();
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}
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void MainWindow::value5(int k)
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{
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kp=kp-kp1+k;
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kp1=k;
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ui->lineEdit_8->setText(QString::number(kp1));
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ui->lineEdit_3->setText(QString::number(kp,'g',9));
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BlueP();
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}
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void MainWindow::value6(int k)
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{
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ki=ki-ki1+k;
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ki1=k;
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ui->lineEdit_7->setText(QString::number(ki1));
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ui->lineEdit_5->setText(QString::number(ki,'g',9));
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BlueP();
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}
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void MainWindow::value7(int k)
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{
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kd=kd-kd1+k;
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kd1=k;
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ui->lineEdit_6->setText(QString::number(kd1));
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ui->lineEdit_4->setText(QString::number(kd,'g',9));
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BlueP();
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}
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void MainWindow::value8()
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{
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QString s=ui->lineEdit->text();
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pwm_left=s.toInt();
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ui->horizontalSlider->setSliderPosition(pwm_left+255);
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}
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void MainWindow::value9()
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{
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QString s=ui->lineEdit_2->text();
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pwm_right=s.toInt();
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ui->horizontalSlider_2->setSliderPosition(pwm_right+255);
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}
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void MainWindow::value10()
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{
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QString s=ui->lineEdit_3->text();
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kp=s.toDouble();
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kp1=(int)kp;
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ui->horizontalSlider_3->setSliderPosition((kp-kp1)*10000000);
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ui->horizontalSlider_6->setSliderPosition(kp1);
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}
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void MainWindow::value11()
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{
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QString s=ui->lineEdit_4->text();
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ki=s.toDouble();
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ki1=(int)ki;
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ui->horizontalSlider_4->setSliderPosition((ki-ki1)*10000000);
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ui->horizontalSlider_8->setSliderPosition(ki1);
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}
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void MainWindow::value12()
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{
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QString s=ui->lineEdit_5->text();
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kd=s.toDouble();
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kd1=(int)kd;
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ui->horizontalSlider_5->setSliderPosition((kd-kd1)*10000000);
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ui->horizontalSlider_7->setSliderPosition(kd1);
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}
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void MainWindow::value13()
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{
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QString s=ui->lineEdit_6->text();
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int k=s.toInt();
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kd=kd-kd1+k;
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kd1=k;
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ui->horizontalSlider_8->setSliderPosition(kd1);
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}
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void MainWindow::value14()
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{
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QString s=ui->lineEdit_7->text();
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int k=s.toInt();
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ki=ki-ki1+k;
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ki1=k;
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ui->horizontalSlider_7->setSliderPosition(ki1);
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}
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void MainWindow::value15()
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{
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QString s=ui->lineEdit_8->text();
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int k=s.toInt();
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kp=kp-kp1+k;
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kp1=k;
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ui->horizontalSlider_6->setSliderPosition(kp1);
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}
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void MainWindow::value16()
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{
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a=1;//BlueP();
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}
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void MainWindow::value17()
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{
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a=-1;//BlueP();
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}
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void MainWindow::value18()
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{
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QString s=ui->lineEdit_9->text();
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cmd = s;
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ui->lineEdit_9->clear();BlueP();
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}
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void MainWindow::value19()
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{
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a=0;//BlueP();
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}
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void MainWindow::newData(double w, double x,double y,double z,double a,double t)
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{
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ui->widget->graph(0)->addData(t,w);
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ui->widget->graph(1)->addData(t,x);
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ui->widget->graph(2)->addData(t,y);
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ui->widget->graph(3)->addData(t,z);
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ui->widget->graph(4)->addData(t,a);
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ui->widget->replot();
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}
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double zoff,xoff;volatile int ch=0;
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double compAngleY=0;double gyroYangle;
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void MainWindow::readData()
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{
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//timer->stop();
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if(ch==1)return;
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x:;
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if(!(serial->bytesAvailable()>25))return;
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ch=1;
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double g=0,xs,ys,zs;
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int i,j,k,l,m,n,o;
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//QThread::currentThread()->sleep(10);
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//while(serial->bytesAvailable()>2){
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QThread::currentThread()->msleep(1);
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char c[1];
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while(1)
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{
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if(!(serial->bytesAvailable())){ch=0;return;}
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serial->read(c,1);
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if(c[0]=='a')
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{
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if(!(serial->bytesAvailable()>25))
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QThread::currentThread()->msleep(1);
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break;
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}
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}
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QByteArray data = serial->readLine();
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qDebug()<<data;
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//if(data[0]!='a')goto x;
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i = data.indexOf(',');
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j = data.indexOf(',',i+1);
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k = data.indexOf(',',j+1);
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l = data.indexOf(',',k+1);
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n = data.indexOf(',',l+1);
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//o = data.indexOf(',',n+1);
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//if(k==-1)goto x;
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//if(j==-1)goto x;
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//if(i==-1)goto x;
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//m = data.indexOf(',',l+1);
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//j = data.indexOf(' ',i+1);
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//k = data.indexOf(' ',j+1);
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//l = data.indexOf(' ',k+1);
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m = data.indexOf('\n');
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if(m==-1){ch=0;return;}
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// qDebug()<<i<<j<<k<<l<<m;
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//QThread::currentThread()->sleep(1);
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xs=data.mid(0,i-1).toDouble();
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xa=data.mid(i+1,j-i-1).toDouble();
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//QThread::currentThread()->sleep(1);
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ya=data.mid(j+1,k-j-1).toDouble();
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za=data.mid(k+1,l-k-1).toDouble();
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ys=data.mid(l+1,n-l-1).toDouble()/1000;
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//g= data.mid(n+1,o-n-1).toDouble();
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//double pitch = atan(-xs / sqrt(xa * xa + ya * ya)) * 57.2958;
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//compAngleY = 0.93 * (compAngleY + za * 0.015) + 0.07 * pitch;
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/*imufilter->updateFilter(za,ys,g,xs*10.0,xa*10.0,ya*10.0);
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imufilter->computeEuler();
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double temp = imufilter->getPitch()* 57.2958;;
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*/
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//gyroYangle += za * 0.015;
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//if (gyroYangle < -180 || gyroYangle > 180)
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// gyroYangle = compAngleY;
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//zs=data.mid(l+1,m-l-1).toDouble();
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/*if(data[1]=='1')
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{
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xa=data.mid(i+1,j-i-1).toDouble();
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ya=data.mid(j+1,k-j-1).toDouble();
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za=data.mid(k+1,data.length()-k-2).toDouble();
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}
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else
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{
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xg=data.mid(i+1,j-i-1).toDouble();
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yg=data.mid(j+1,k-j-1).toDouble();
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zg=data.mid(k+1,data.length()-k-1).toDouble();
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}
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rollg+=yg;
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xxa = xa * alpha + (xxa * (1.0 - alpha));
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zza = za * alpha + (zza * (1.0 - alpha));
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ra= 0.98* (rollg) + ((qAtan2(-zza, xxa)*180.0))/(3.141592653);
|
|
//qDebug()<<f.elapsed();
|
|
int zzz = Compute(ra);*/
|
|
//qDebug()<<data;
|
|
//qDebug()<<(k+1)<<(l-k-1);
|
|
//if(t>40000){gg+=g*(t-f.elapsed())/1000;}
|
|
//xs=atan2(za,-ya)*57.2958;
|
|
//ra= 0.96* (ra+gg) + 0.04*xs;
|
|
//double angle = atan2(-za,xa);
|
|
//qDebug()<<i<<j<<k<<l<<m;
|
|
|
|
qDebug()<<xs<<xa<<ya<<f.elapsed();
|
|
|
|
//if(f.elapsed()>40000)
|
|
newData(xs,xa,ya,za,ys,(t=f.elapsed())/1000.0);
|
|
if(serial->bytesAvailable()>25) goto x;
|
|
else ch=0;
|
|
}
|
|
|
|
|
|
|
|
/*void MainWindow::mouseWheel()
|
|
{
|
|
//ui->widget->replot();
|
|
|
|
}
|
|
*/
|