#include "mainwindow.h"#include "ui_mainwindow.h"#include <QPainter>#include <QtCore>#include <QDebug>#include "math.h"#include <sys/ioctl.h>#include <fcntl.h>#include <QFile>#include <QDataStream> //引入头文件/*定义常量*/#define DIS_SMALL 278; //定义小臂长度 单位cm#define DIS_BIG 213.5; //定义臂长度 单位cm#define PI 3.1415926; //定义PI/*定义用到的全局变量*/int angfix_big=0; //定义大臂int angfix_small=0;int current_big=560-117;////=433/////////////667-550=117//////553-433=120 大臂int current_small=650-(-71);//=695//////////553-624=-71////623-695=-72int current_page=1;int page_size=1;QString save_index="dat0.dat";int motor_speed=1500;//delay timeint flag_writing=0;//writing标志int flag_lock[10];//0 当前页锁定标志，锁定后不可修改int cont_replay[10];//0 屏幕复写计数int temp_replay[10];//0 屏幕复写用到临时变量int timems[10];//延时计数变量，每页单独一个数组元素由计数器1修改数值int xx[10][100][1000];//记录x坐标 当前页-笔画数-点数int yy[10][100][1000];//记录y坐标 当前页-笔画数-点数int angle_big[10][100][1000]; //记录当前点的大臂角度值 当前页-笔画数-点数int angle_small[10][100][1000];//记录当前点的小臂角度值 当前页-笔画数-点数int dian_delay[10][100][1000];//记录每个点之间到延时时间 当前页-笔画数-点数int step[10][100];//记录每个笔画到点数 当前页-笔画数int bihua_num[10];//-1 用前先加1所以初始值为-1，记录当前页的总笔画数 当前页int dian_num[10];//记录当前页的总点数 当前页int flag_go[10];//0 用于go标记，每次go之后用此标记清除画板int bihua_delay[10][100];//记录笔画间隔时间 当前页-笔画数double A1,A2,A,B,C,a,b,c;//坐标与电机角度转换用到变量、常量/********************************************************************************* 函数名称：主函数* 功 能：主函数*********************************************************************************/MainWindow::MainWindow(QWidget *parent) :QMainWindow(parent),ui(new Ui::MainWindow)//主函数入口{ /*初始化变量*/ ui->setupUi(this); ui->radioButton_2->setEnabled(0); ui->radioButton_3->setEnabled(0); ui->radioButton_4->setEnabled(0); ui->radioButton_5->setEnabled(0); ui->radioButton_6->setEnabled(0); ui->radioButton_7->setEnabled(0); ui->radioButton_8->setEnabled(0); ui->radioButton_9->setEnabled(0); for(int con1=0;con1<10;con1++) { flag_lock[con1]=0; cont_replay[con1]=0; bihua_num[con1]=-1; dian_num[con1]=0; flag_go[con1]=0; temp_replay[con1]=0; timems[con1]=1; } a=DIS_SMALL; c=DIS_BIG; /*初始化GPIO状态*/ int fd=::open("/dev/leds",0); int fd2=::open("/dev/step",0); ::ioctl(fd2,0,0);// con6 PIN9 CK1 ::ioctl(fd2,0,1);// con6 PIN10 CK2 ::ioctl(fd2,0,2);// con6 PIN11 CW1 ::ioctl(fd2,0,3);// con6 PIN12 CW2 ::ioctl(fd2,1,6);// con6 PIN15 HAND ::close(fd2); ::ioctl(fd,0,0);// ::ioctl(fd,0,1);// ::ioctl(fd,0,2);// ::ioctl(fd,0,3);// ::close(fd); /*初始化画板*/ pix = QPixmap(200,200); pix.fill(Qt::gray); /*初始化定时器*/ timer1 = new QTimer(this); timer4 = new QTimer(this); timer2 = new QTimer(this); timer3 = new QTimer(this); connect(timer1,SIGNAL(timeout()),this,SLOT(timer1UpDate())); // connect(timer2,SIGNAL(timeout()),this,SLOT(timer2UpDate())); connect(timer3,SIGNAL(timeout()),this,SLOT(timer3UpDate())); connect(timer4,SIGNAL(timeout()),this,SLOT(timer4UpDate())); timer1->start(1); timer4->start(10);//启动遥控接收器监视定时器，每10ms检测一次是否有按键被按下}/********************************************************************************* 函数名称：退出函数* 功 能：退出应用*********************************************************************************/MainWindow::~MainWindow() //主退出函数{ delete ui;}/********************************************************************************* 函数名称：鼠标按下事件* 功 能：完成坐标记录、角度转换、延时数据记录、绘制起始点等功能* 参 数：事件* 返 回 值：无*********************************************************************************/void MainWindow::mousePressEvent(QMouseEvent *event){ if(event->button()==Qt::LeftButton) { x = event->x()-20;//获得当前x坐标并修正 y = event->y()-10;//获得当前y坐标并修正 if(x>=0&&x<=200&&y>=0&&y<=200&&!flag_lock[current_page]) //判断是否符合绘画条件 { bihua_num[current_page]++;//当前页到笔画数加1 xx[current_page][bihua_num[current_page]][dian_num[current_page]]=x;//记录当前x坐标 yy[current_page][bihua_num[current_page]][dian_num[current_page]]=y;//记录当前y坐标 /*绘制当前坐标*/ QPainter pp11(&pix); pp11.drawLine(x,y,x,y); update(); /*屏幕坐标换算成电机角度并记录*/ x1=320-x;//当前坐标转化为机械臂坐标 y1=290-y;//当前坐标转化为机械臂坐标 b=sqrt(x1*x1+y1*y1); B=acos((c*c+a*a-b*b)/(2*a*c))*180/PI; A1=atan(y1/x1)*180/PI;; A2=acos((c*c+b*b-a*a)/(2*c*b))*180/PI; A=A1+A2; angle_big[current_page][bihua_num[current_page]][dian_num[current_page]]=(int)(A/0.1286)+angfix_big; //记录当前坐标的大臂角度数 angle_small[current_page][bihua_num[current_page]][dian_num[current_page]]=(int)(B/0.1286)+angfix_small;//记录当前坐标的小臂角度数 dian_num[current_page]++;//点数加1 path1.moveTo(x,y);//将绘图坐标系原点转换到当前坐标 bihua_delay[current_page][bihua_num[current_page]]=timems[current_page];//记录笔画间隔时间 timems[current_page]=1;//重置计时变量 flag_go[current_page]=0;//清除go标记 } }}/********************************************************************************* 函数名称：鼠标按下并移动事件* 功 能：完成坐标记录、角度转换、延时数据记录、绘制相邻两点构成的直线等功能* 参 数：事件* 返 回 值：无*********************************************************************************/void MainWindow::mouseMoveEvent(QMouseEvent *event){ if(event->buttons()&Qt::LeftButton) //注释同“鼠标按下事件函数” { x = event->x()-20; y = event->y()-10; if(x>=0&&x<=200&&y>=0&&y<=200&&!flag_lock[current_page]) { QPainter pp11(&pix); xx[current_page][bihua_num[current_page]][dian_num[current_page]]=x; yy[current_page][bihua_num[current_page]][dian_num[current_page]]=y; pp11.drawLine(xx[current_page][bihua_num[current_page]][dian_num[current_page]-1],yy[current_page][bihua_num[current_page]][dian_num[current_page]-1],xx[current_page][bihua_num[current_page]][dian_num[current_page]],yy[current_page][bihua_num[current_page]][dian_num[current_page]]);//绘制上一坐标到本次坐标的直线 update(); dian_delay[current_page][bihua_num[current_page]][dian_num[current_page]]=timems[current_page]; x1=320-x; y1=290-y; b=sqrt(x1*x1+y1*y1); B=acos((c*c+a*a-b*b)/(2*a*c))*180/PI; A1=atan(y1/x1)*180/PI;; A2=acos((c*c+b*b-a*a)/(2*c*b))*180/PI; A=A1+A2; angle_big[current_page][bihua_num[current_page]][dian_num[current_page]]=(int)(A/0.1286)+angfix_big; angle_small[current_page][bihua_num[current_page]][dian_num[current_page]]=(int)(B/0.1286)+angfix_small;; dian_num[current_page]++; timems[current_page]=1; } }}/********************************************************************************* 函数名称：鼠标按下事件* 功 能：完成坐标记录、角度转换、延时数据记录、绘制结束点点功能* 参 数：事件* 返 回 值：无*********************************************************************************/void MainWindow::mouseReleaseEvent(QMouseEvent *event){ if(event->button() == Qt::LeftButton) //注释同“鼠标按下事件函数” { x = event->x()-20; y = event->y()-10; if(x>=0&&x<=200&&y>=0&&y<=200&&!flag_lock[current_page]) { xx[current_page][bihua_num[current_page]][dian_num[current_page]]=x; yy[current_page][bihua_num[current_page]][dian_num[current_page]]=y; dian_delay[current_page][bihua_num[current_page]][dian_num[current_page]]=timems[current_page]; x1=320-x; y1=290-y; b=sqrt(x1*x1+y1*y1); B=acos((c*c+a*a-b*b)/(2*a*c))*180/PI; A1=atan(y1/x1)*180/PI;; A2=acos((c*c+b*b-a*a)/(2*c*b))*180/PI; A=A1+A2; angle_big[current_page][bihua_num[current_page]][dian_num[current_page]]=(int)(A/0.1286)+angfix_big; angle_small[current_page][bihua_num[current_page]][dian_num[current_page]]=(int)(B/0.1286)+angfix_small; step[current_page][bihua_num[current_page]]=dian_num[current_page]; dian_num[current_page]=0; timems[current_page]=1; } }}/********************************************************************************* 函数名称：go按钮点击函数* 功 能：完成当前页的绘制机械臂动作并且打开timer2完成在屏幕上复写的功能* 参 数：无* 返 回 值：无*********************************************************************************/void MainWindow::on_pushButton_clicked(){ /*为变量、标志赋值*/ flag_go[current_page]=1; cont_replay[current_page]=0; flag_lock[current_page]=1; /*打开step步进电机驱动，并进行相应操作*/ int fd2=::open("/dev/step",0); for(int b11=0;b11<=bihua_num[current_page];b11++) { go(angle_big[current_page][b11][0],angle_small[current_page][b11][0]);//使机械臂走到指定的角度坐标 usleep(50000); ::ioctl(fd2,0,6); for(int b22=1;b22<=step[current_page][b11];b22++) { usleep(1000*dian_delay[current_page][b11][b22]); move(angle_big[current_page][b11][b22]-angle_big[current_page][b11][b22-1],angle_small[current_page][b11][b22]-angle_small[current_page][b11][b22-1]);//按照记录数据依次向后一点坐标移动 } usleep(50000); ::ioctl(fd2,1,6); if(b11<bihua_num[current_page]){usleep(1000*bihua_delay[current_page][b11+1]);}//笔画延时 } ::close(fd2); timer2->start(100);//go复写定时器打开}/********************************************************************************* 函数名称：屏幕复写函数* 功 能：利用定时器绘制，能够准确复现绘制点之间、笔画之间的延时效果* 参 数：无* 返 回 值：无*********************************************************************************/void MainWindow::timer2UpDate()//屏幕复写定时器{ QPainter pp11(&pix); if(temp_replay[current_page]<=bihua_num[current_page]) { if(cont_replay[current_page]<step[current_page][temp_replay[current_page]]) { pp11.drawLine(xx[current_page][temp_replay[current_page]][cont_replay[current_page]],yy[current_page][temp_replay[current_page]][cont_replay[current_page]],xx[current_page][temp_replay[current_page]][cont_replay[current_page]+1],yy[current_page][temp_replay[current_page]][cont_replay[current_page]+1]); update(); timer2->start(dian_delay[current_page][temp_replay[current_page]][cont_replay[current_page]+1]); cont_replay[current_page]++; } else { temp_replay[current_page]++; cont_replay[current_page]=0; timer2->start(bihua_delay[current_page][temp_replay[current_page]]); } } else { timer2->stop();//绘制完成关闭定时器 update(); /*恢复复写变量的初值*/ cont_replay[current_page]=0; temp_replay[current_page]=0; }}/********************************************************************************* 函数名称：画板更新事件函数* 功 能：更新画板* 参 数：绘画事件* 返 回 值：无*********************************************************************************/void MainWindow::paintEvent(QPaintEvent *){ QPainter pp(this); pp.drawPixmap(20,10,200,200,pix); //将全局画布pix绘制在画板上 /*根据go标记清除画板*/ if(flag_go[current_page]) { pix.fill(Qt::gray); flag_go[current_page]=0; }}/********************************************************************************* 函数名称：延时计数定时器1更新事件* 功 能：将延时计数变量自加* 参 数：无* 返 回 值：无*********************************************************************************/void MainWindow::timer1UpDate(){ timems[current_page]++;}/********************************************************************************* 函数名称：机械臂移动函数* 功 能：将机械臂按照参数运动指定步数* 参 数：move_temp_big，move_temp_small 分别为大臂与小臂运动的步数，若为正直则向正方向* 运动对应步数反之则向相反方向运动对应步数* 返 回 值：无*********************************************************************************/void MainWindow::move(int move_temp_big,int move_temp_small){ current_big+=move_temp_big; current_small+=move_temp_small; int fd=::open("/dev/leds",0); int fd2=::open("/dev/step",0);//con6 低电平有效 是!cmd 所以1代表低电平 int direction1,direction2; if(move_temp_big==0&&move_temp_small==0) { ::close(fd); return; } if(move_temp_big<0) { direction1=0; move_temp_big=-move_temp_big; ::ioctl(fd,1,2); ::ioctl(fd2,1,2); } else { direction1=1; ::ioctl(fd,0,2); ::ioctl(fd2,0,2); } if(move_temp_small<0) { direction2=0; move_temp_small=-move_temp_small; ::ioctl(fd,1,3); ::ioctl(fd2,1,3); } else { direction2=1; ::ioctl(fd,0,3); ::ioctl(fd2,0,3); } if(move_temp_big==0) { for(int tmp=0;tmp<move_temp_small;tmp++) { ::ioctl(fd,1,1); ::ioctl(fd2,1,1); usleep(10); ::ioctl(fd,0,1); ::ioctl(fd2,0,1); usleep(motor_speed); } ::close(fd); ::close(fd2); return; } if(move_temp_small==0) { for(int tmp=0;tmp<move_temp_big;tmp++) { ::ioctl(fd,1,0); ::ioctl(fd2,1,0); usleep(10); ::ioctl(fd,0,0); ::ioctl(fd2,0,0); usleep(motor_speed); } ::close(fd); ::close(fd2); return; } int go_loop=move_temp_big*move_temp_small; for (int go_temp=1;go_temp<=go_loop;go_temp++) { if((go_temp%move_temp_big==0)&&(go_temp%move_temp_small==0)) { ::ioctl(fd,1,1); ::ioctl(fd,1,0); ::ioctl(fd2,1,1); ::ioctl(fd2,1,0); usleep(10); ::ioctl(fd,0,1); ::ioctl(fd,0,0); ::ioctl(fd2,0,1); ::ioctl(fd2,0,0); usleep(motor_speed); } else { if(go_temp%move_temp_big==0) { ::ioctl(fd,1,1); ::ioctl(fd2,1,1); usleep(10); ::ioctl(fd,0,1); ::ioctl(fd2,0,1); usleep(motor_speed); } if(go_temp%move_temp_small==0) { ::ioctl(fd,1,0); ::ioctl(fd2,1,0); usleep(10); ::ioctl(fd,0,0); ::ioctl(fd2,0,0); usleep(motor_speed); } } } ::close(fd); ::close(fd2);}/********************************************************************************* 函数名称：机械臂移动到指定角度函数* 功 能：将机械臂移动到指定步数* 参 数：go_temp_big，go_temp_small 分别为大臂与小臂的目的角度值，经过与当前角度比较，得出* 运动对应步数反和方向，并移动* 返 回 值：无*********************************************************************************/void MainWindow::go(int go_temp_big,int go_temp_small){ go_temp_big=go_temp_big-current_big; //计算大臂当前角度与指定的角度之间的差值 go_temp_small=go_temp_small-current_small;//计算小臂当前角度与指定的角度之间的差值 current_big+=go_temp_big; //更新当前角度 current_small+=go_temp_small;//更新当前角度 int fd=::open("/dev/leds",0);//打开led驱动，便于观察程序运行状态 int fd2=::open("/dev/step",0);//打开step驱动 /*判断如果两个电机需要运动的角度均为0则退出函数*/ if(go_temp_big==0&&go_temp_small==0) { ::close(fd);return; } /*判断如果大臂需要运动的角度为负数，则将大臂运行方向置为反并且将负数转为正数；否则大臂运行方向为正*/ if(go_temp_big<0) { go_temp_big=-go_temp_big; ::ioctl(fd,1,2); ::ioctl(fd2,1,2); } else { ::ioctl(fd,0,2); ::ioctl(fd2,0,2); } /*判断如果小臂需要运动的角度为负数，则将小臂运行方向置为反并且将负数转为正数；否则小臂运行方向为正*/ if(go_temp_small<0) { go_temp_small=-go_temp_small; ::ioctl(fd,1,3); ::ioctl(fd2,1,3); } else { ::ioctl(fd,0,3); ::ioctl(fd2,0,3); } /*判断如果大臂需要运动的角度大于等于小臂需要的，则用大臂度数作为循环计数值， 这里需要说明以下，本函数是两个电机同时动作的所以需要用运动数大的作为计数。*/ if(go_temp_big>=go_temp_small) { for(int tmp=0;tmp<go_temp_big;tmp++) { ::ioctl(fd,1,0); ::ioctl(fd2,1,0); /*判断小臂是否运行结束，若没结束则小臂运动*/ if(tmp<go_temp_small) { ::ioctl(fd,1,1); ::ioctl(fd2,1,1); } usleep(10); /*判断小臂是否运行结束，若没结束则小臂运动*/ if(tmp<go_temp_small) { ::ioctl(fd,0,1); ::ioctl(fd2,0,1); } ::ioctl(fd,0,0); ::ioctl(fd2,0,0); usleep(motor_speed);//调整脉冲周期以调节电机转速 } } else //否则与上述相反 { for(int tmp=0;tmp<go_temp_small;tmp++) { ::ioctl(fd,1,1); ::ioctl(fd2,1,1); if(tmp<go_temp_big) { ::ioctl(fd,1,0); ::ioctl(fd2,1,0); } usleep(10); if(tmp<go_temp_big) { ::ioctl(fd,0,0); ::ioctl(fd2,0,0); } ::ioctl(fd,0,1); ::ioctl(fd2,0,1); usleep(motor_speed); } } ::close(fd); ::close(fd2);}/********************************************************************************* 函数名称：clear按钮函数* 功 能：清除当前页的画板信息，并解除当前页的锁定可以重新绘制* 参 数：无* 返 回 值：无*********************************************************************************/void MainWindow::on_pushButton_2_clicked(){ bihua_num[current_page]=-1; timer1->start(1); flag_lock[current_page]=0; pix.fill(Qt::gray); update();}/********************************************************************************* 函数名称：ADD按钮点击函数* 功 能：增加绘制页面* 参 数：无* 返 回 值：无*********************************************************************************/void MainWindow::on_ADD_clicked(){ switch (current_page) { case 1: current_page=2; ui->radioButton_2->setChecked(1); ui->radioButton_2->setEnabled(1); page_size=2; pix.fill(Qt::gray); update(); flag_lock[current_page-1]=1; flag_lock[current_page]=0; timems[current_page]=1; break; case 2: current_page=3; ui->radioButton_3->setChecked(1); ui->radioButton_3->setEnabled(1); page_size=3; pix.fill(Qt::gray); update(); flag_lock[current_page-1]=1; flag_lock[current_page]=0; timems[current_page]=1; break; case 3: current_page=4; ui->radioButton_4->setChecked(1); ui->radioButton_4->setEnabled(1); flag_lock[current_page]=0; page_size=4; pix.fill(Qt::gray); update(); flag_lock[current_page-1]=1; timems[current_page]=1; break; case 4: current_page=5; ui->radioButton_5->setChecked(1); ui->radioButton_5->setEnabled(1); flag_lock[current_page]=0; page_size=5; pix.fill(Qt::gray); update(); flag_lock[current_page-1]=1; timems[current_page]=1; break; case 5: current_page=6; ui->radioButton_6->setChecked(1); ui->radioButton_6->setEnabled(1); flag_lock[current_page]=0; page_size=6; pix.fill(Qt::gray); update(); flag_lock[current_page-1]=1; timems[current_page]=1; break; case 6: current_page=7; ui->radioButton_7->setChecked(1); ui->radioButton_7->setEnabled(1); flag_lock[current_page]=0; page_size=7; pix.fill(Qt::gray); update(); flag_lock[current_page-1]=1; timems[current_page]=1; break; case 7: current_page=8; ui->radioButton_8->setChecked(1); ui->radioButton_8->setEnabled(1); flag_lock[current_page]=0; page_size=8; pix.fill(Qt::gray); update(); flag_lock[current_page-1]=1; timems[current_page]=1; break; case 8: current_page=9; ui->radioButton_9->setChecked(1); ui->radioButton_9->setEnabled(1); flag_lock[current_page]=0; page_size=9; pix.fill(Qt::gray); update(); flag_lock[current_page-1]=1; timems[current_page]=1; break; case 9:flag_lock[current_page]=1;break; }}/********************************************************************************* 函数名称：RM按钮点击函数* 功 能：从后向前删除页面，同时删除页面上所储存的信息* 参 数：无* 返 回 值：无*********************************************************************************/void MainWindow::on_RM_clicked(){ switch (page_size) { case 1:timer2->start(1);update();break; case 2: current_page=1; ui->radioButton_1->setChecked(1); ui->radioButton_2->setEnabled(0); page_size=1; bihua_num[current_page+1]=-1; timer1->start(1); flag_lock[current_page+1]=0; pix.fill(Qt::gray); timer2->start(1); update(); break; case 3: current_page=2; ui->radioButton_2->setChecked(1); ui->radioButton_3->setEnabled(0); page_size=2; bihua_num[current_page+1]=-1; timer1->start(1); flag_lock[current_page+1]=0; pix.fill(Qt::gray); timer2->start(1); update(); break; case 4: current_page=3; ui->radioButton_3->setChecked(1); ui->radioButton_4->setEnabled(0); page_size=3; bihua_num[current_page+1]=-1; timer1->start(1); flag_lock[current_page+1]=0; pix.fill(Qt::gray); timer2->start(1); update(); break; case 5: current_page=4; ui->radioButton_4->setChecked(1); ui->radioButton_5->setEnabled(0); page_size=4; bihua_num[current_page+1]=-1; timer1->start(1); flag_lock[current_page+1]=0; pix.fill(Qt::gray); timer2->start(1); update(); break; case 6: current_page=5; ui->radioButton_5->setChecked(1); ui->radioButton_6->setEnabled(0); page_size=5; bihua_num[current_page+1]=-1; timer1->start(1); flag_lock[current_page]=0; pix.fill(Qt::gray); timer2->start(1); update(); break; case 7: current_page=6; ui->radioButton_6->setChecked(1); ui->radioButton_7->setEnabled(0); page_size=6; bihua_num[current_page+1]=-1; timer1->start(1); flag_lock[current_page]=0; pix.fill(Qt::gray); timer2->start(1); update(); break; case 8: current_page=7; ui->radioButton_7->setChecked(1); ui->radioButton_8->setEnabled(0); page_size=7; bihua_num[current_page+1]=-1; timer1->start(1); flag_lock[current_page]=0; pix.fill(Qt::gray); timer2->start(1); update(); break; case 9: current_page=8; ui->radioButton_8->setChecked(1); ui->radioButton_9->setEnabled(0); page_size=8; bihua_num[current_page+1]=-1; timer1->start(1); flag_lock[current_page]=0; pix.fill(Qt::gray); timer2->start(1); update(); break; }}/********************************************************************************* 函数名称：radioButton点击函数* 功 能：根据被点击的radioButton更改当前页面，并且在点击的时候调用复写函数完成本页信息的预览* 参 数：checked 代表是否被选中* 返 回 值：无*********************************************************************************/void MainWindow::on_radioButton_1_clicked(bool checked){ if(checked)current_page=1; pix.fill(Qt::gray); timer2->start(1); update();}void MainWindow::on_radioButton_2_clicked(bool checked){ if(checked)current_page=2; pix.fill(Qt::gray); timer2->start(1); update();}void MainWindow::on_radioButton_3_clicked(bool checked){ if(checked)current_page=3; pix.fill(Qt::gray); timer2->start(1); update();}void MainWindow::on_radioButton_4_clicked(bool checked){ if(checked)current_page=4; pix.fill(Qt::gray); timer2->start(1); update();}void MainWindow::on_radioButton_5_clicked(bool checked){ if(checked)current_page=5; pix.fill(Qt::gray); timer2->start(1); update();}void MainWindow::on_radioButton_6_clicked(bool checked){ if(checked)current_page=6; pix.fill(Qt::gray); timer2->start(1); update();}void MainWindow::on_radioButton_7_clicked(bool checked){ if(checked)current_page=7; pix.fill(Qt::gray); timer2->start(1); update();}void MainWindow::on_radioButton_8_clicked(bool checked){ if(checked)current_page=8; pix.fill(Qt::gray); timer2->start(1); update();}void MainWindow::on_radioButton_9_clicked(bool checked){ if(checked)current_page=9; pix.fill(Qt::gray); timer2->start(1); update();}/********************************************************************************* 函数名称：quit按钮点击函数* 功 能：退出程序* 参 数：无* 返 回 值：无*********************************************************************************/void MainWindow::on_pushButton_3_clicked(){ close();}/********************************************************************************* 函数名称：SV按钮点击函数* 功 能：在当前储存位置储存当前的一切数据* 参 数：无* 返 回 值：无*********************************************************************************/void MainWindow::on_pushButton_4_clicked(){ QFile file(save_index); if(!file.open(QIODevice::WriteOnly)) { qDebug()<<"Can't open the file!"<<endl; } QDataStream in(&file); for(int con3=0;con3<10;con3++) { for(int con1=0;con1<=bihua_num[con3];con1++) { for(int con2=0;con2<=step[con3][con1];con2++) { in <<1 <<con3 <<con1 <<con2 <<xx[con3][con1][con2] <<yy[con3][con1][con2] <<angle_big[con3][con1][con2] <<angle_small[con3][con1][con2] <<step[con3][con1] <<bihua_delay[con3][con1] <<0 <<0; } } } for(int con1=0;con1<10;con1++) { in <<2 <<con1 <<con1 <<flag_lock[con1] <<cont_replay[con1] <<bihua_num[con1] <<dian_num[con1] <<flag_go[con1] <<temp_replay[con1] <<timems[con1] <<current_page <<page_size; } file.close();}/********************************************************************************* 函数名称：LD按钮点击函数* 功 能：读取当前储存位置的数据作为当前数据* 参 数：无* 返 回 值：无*********************************************************************************/void MainWindow::on_pushButton_5_clicked(){ return; QFile file(save_index); if(!file.open(QIODevice::ReadOnly)) { qDebug()<<"Can't open the file!"<<endl; } QDataStream in(&file); int t_xx,t_yy,t_axx,t_ayy,con1,con2,fn,curpage,noth1,noth2,noth3,noth4; while(!in.atEnd()) { in >>fn >>curpage >>con1 >>con2 >>t_xx >>t_yy >>t_axx >>t_ayy >>noth1 >>noth2 >>noth3 >>noth4; if(fn==1) { xx[curpage][con1][con2]=t_xx; yy[curpage][con1][con2]=t_yy; angle_big[curpage][con1][con2]=t_axx; angle_small[curpage][con1][con2]=t_ayy; step[curpage][con1]=noth1; bihua_delay[curpage][con1]=noth2; } if(fn==2) { flag_lock[curpage]=con2; cont_replay[curpage]=t_xx; bihua_num[curpage]=t_yy; dian_num[curpage]=t_axx; flag_go[curpage]=t_ayy; temp_replay[curpage]=noth1; timems[curpage]=noth2; current_page=noth3; page_size=noth4; } } file.close(); switch(current_page) { case 1: ui->radioButton_1->setEnabled(1); ui->radioButton_2->setEnabled(0); ui->radioButton_3->setEnabled(0); ui->radioButton_4->setEnabled(0); ui->radioButton_5->setEnabled(0); ui->radioButton_6->setEnabled(0); ui->radioButton_7->setEnabled(0); ui->radioButton_8->setEnabled(0); ui->radioButton_9->setEnabled(0); ui->radioButton_1->setChecked(1); break; case 2: ui->radioButton_1->setEnabled(1); ui->radioButton_2->setEnabled(1); ui->radioButton_3->setEnabled(0); ui->radioButton_4->setEnabled(0); ui->radioButton_5->setEnabled(0); ui->radioButton_6->setEnabled(0); ui->radioButton_7->setEnabled(0); ui->radioButton_8->setEnabled(0); ui->radioButton_9->setEnabled(0); ui->radioButton_2->setChecked(1); break; case 3: ui->radioButton_1->setEnabled(1); ui->radioButton_2->setEnabled(1); ui->radioButton_3->setEnabled(1); ui->radioButton_4->setEnabled(0); ui->radioButton_5->setEnabled(0); ui->radioButton_6->setEnabled(0); ui->radioButton_7->setEnabled(0); ui->radioButton_8->setEnabled(0); ui->radioButton_9->setEnabled(0); ui->radioButton_3->setChecked(1); break; case 4: ui->radioButton_1->setEnabled(1); ui->radioButton_2->setEnabled(1); ui->radioButton_3->setEnabled(1); ui->radioButton_4->setEnabled(1); ui->radioButton_5->setEnabled(0); ui->radioButton_6->setEnabled(0); ui->radioButton_7->setEnabled(0); ui->radioButton_8->setEnabled(0); ui->radioButton_9->setEnabled(0); ui->radioButton_4->setChecked(1); break; case 5: ui->radioButton_1->setEnabled(1); ui->radioButton_2->setEnabled(1); ui->radioButton_3->setEnabled(1); ui->radioButton_4->setEnabled(1); ui->radioButton_5->setEnabled(1); ui->radioButton_6->setEnabled(0); ui->radioButton_7->setEnabled(0); ui->radioButton_8->setEnabled(0); ui->radioButton_9->setEnabled(0); ui->radioButton_5->setChecked(1); break; case 6: ui->radioButton_1->setEnabled(1); ui->radioButton_2->setEnabled(1); ui->radioButton_3->setEnabled(1); ui->radioButton_4->setEnabled(1); ui->radioButton_5->setEnabled(1); ui->radioButton_6->setEnabled(1); ui->radioButton_7->setEnabled(0); ui->radioButton_8->setEnabled(0); ui->radioButton_9->setEnabled(0); ui->radioButton_6->setChecked(1); break; case 7: ui->radioButton_1->setEnabled(1); ui->radioButton_2->setEnabled(1); ui->radioButton_3->setEnabled(1); ui->radioButton_4->setEnabled(1); ui->radioButton_5->setEnabled(1); ui->radioButton_6->setEnabled(1); ui->radioButton_7->setEnabled(1); ui->radioButton_8->setEnabled(0); ui->radioButton_9->setEnabled(0); ui->radioButton_7->setChecked(1); break; case 8: ui->radioButton_1->setEnabled(1); ui->radioButton_2->setEnabled(1); ui->radioButton_3->setEnabled(1); ui->radioButton_4->setEnabled(1); ui->radioButton_5->setEnabled(1); ui->radioButton_6->setEnabled(1); ui->radioButton_7->setEnabled(1); ui->radioButton_8->setEnabled(1); ui->radioButton_9->setEnabled(0); ui->radioButton_8->setChecked(1); break; case 9: ui->radioButton_1->setEnabled(1); ui->radioButton_2->setEnabled(1); ui->radioButton_3->setEnabled(1); ui->radioButton_4->setEnabled(1); ui->radioButton_5->setEnabled(1); ui->radioButton_6->setEnabled(1); ui->radioButton_7->setEnabled(1); ui->radioButton_8->setEnabled(1); ui->radioButton_9->setEnabled(1); ui->radioButton_9->setChecked(1); break; }}/********************************************************************************* 函数名称：run all按钮点击函数* 功 能：利用timer3定时器准确的完成从页面前向后的写作动作* 参 数：无* 返 回 值：无*********************************************************************************/void MainWindow::on_pushButton_6_clicked(){ int fd=::open("/dev/step",0);//con6 低电平有效 是!cmd 所以1代表低电平 ::ioctl(fd,1,11);// con6 PIN19 LED L ::close(fd); ui->pushButton_6->setText("Running"); timer3->start(100); current_page=0; ui->radioButton_1->setChecked(1);}/********************************************************************************* 函数名称：timer3更新函数* 功 能：依次完成每个页面的书写动作，并且没写完一页都调用lefthand()进行换纸* 参 数：无* 返 回 值：无*********************************************************************************/void MainWindow::timer3UpDate(){ timer3->stop(); pix.fill(Qt::gray); update(); current_page++; on_pushButton_clicked(); usleep(100000); lefthand(); switch(current_page) { case 1:ui->radioButton_1->setChecked(1);break; case 2:ui->radioButton_2->setChecked(1);break; case 3:ui->radioButton_3->setChecked(1);break; case 4:ui->radioButton_4->setChecked(1);break; case 5:ui->radioButton_5->setChecked(1);break; case 6:ui->radioButton_6->setChecked(1);break; case 7:ui->radioButton_7->setChecked(1);break; case 8:ui->radioButton_8->setChecked(1);break; case 9:ui->radioButton_9->setChecked(1);break; } if(current_page!=page_size) { timer3->start(100); switch(current_page) { case 1:ui->radioButton_2->setChecked(1);break; case 2:ui->radioButton_3->setChecked(1);break; case 3:ui->radioButton_4->setChecked(1);break; case 4:ui->radioButton_5->setChecked(1);break; case 5:ui->radioButton_6->setChecked(1);break; case 6:ui->radioButton_7->setChecked(1);break; case 7:ui->radioButton_8->setChecked(1);break; case 8:ui->radioButton_9->setChecked(1);break; case 9:;break; } } else { ui->pushButton_6->setText("RUN ALL"); int fd=::open("/dev/step",0);//con6 低电平有效 是!cmd 所以1代表低电平 ::ioctl(fd,0,11);// con6 PIN19 LED M ::close(fd); flag_writing=0; timer4->start(10); }}/********************************************************************************* 函数名称：存储位置变化函数* 功 能：根据spinBox的值修改当前的存储文件名称* 参 数：cont spinBox的值* 返 回 值：无*********************************************************************************/void MainWindow::on_spinBox_valueChanged(QString cont){ save_index="dat"+cont+".dat";}/********************************************************************************* 函数名称：lefthand辅助机械臂运动函数* 功 能：完成一系列的辅助机械臂动作，完成更换纸张的动作* 参 数：无* 返 回 值：无*********************************************************************************/void MainWindow::lefthand(){ return; //test go(1000,1000); usleep(10000); int fd2=::open("/dev/step",0);//con6 低电平有效 是!cmd 所以1代表低电平 ::ioctl(fd2,1,4);// con6 PIN13 M3T K ::ioctl(fd2,1,7);// con6 PIN16 M1W K usleep(100000); ::ioctl(fd2,1,10);// con6 PIN19 M2L K usleep(1000000); ::ioctl(fd2,0,7);// con6 PIN16 M1W G ::ioctl(fd2,0,10);// con6 PIN19 M2L G usleep(10000); ::ioctl(fd2,0,4);// con6 PIN13 M3T G usleep(10000); ::ioctl(fd2,1,5);// con6 PIN14 M3L K//准备 usleep(100000); ::ioctl(fd2,1,8);// con6 PIN17 M1L k//开始 ::ioctl(fd2,1,9);// con6 PIN18 M2W k 小臂 -6000 usleep(100000); ::ioctl(fd2,0,9);// con6 PIN18 M2W g 小臂 -6000 usleep(100000); ::ioctl(fd2,1,9);// con6 PIN18 M2W k 小臂 -6000 usleep(100000); usleep(100000); usleep(100000); usleep(100000); usleep(100000); usleep(100000); usleep(100000); usleep(100000); usleep(100000); usleep(650000); ::ioctl(fd2,0,8);// con6 PIN17 M1L g//结束 ::ioctl(fd2,0,9);// con6 PIN18 M2W g 小臂 usleep(100000); ::ioctl(fd2,0,5);// con6 PIN14 M3L g usleep(10000); ::ioctl(fd2,1,4);// con6 PIN13 M3T K usleep(800000); ::ioctl(fd2,1,7);// con6 PIN16 M1W 大臂 k ::ioctl(fd2,1,10);// con6 PIN19 M2L K usleep(150000); ::ioctl(fd2,0,10);// con6 PIN19 M2L g usleep(1400000); ::ioctl(fd2,0,7);// con6 PIN16 M1W 大臂 g ::ioctl(fd2,0,4);// con6 PIN13 M3T g ::close(fd2);}/********************************************************************************* 函数名称：left按钮点击函数* 功 能：调用lefthand()函数* 参 数：无* 返 回 值：无*********************************************************************************/void MainWindow::on_pushButton_7_clicked()//left hand{ lefthand();}/********************************************************************************* 函数名称：遥控输入监视函数* 功 能：利用timer4定时触发事件来监视遥控接收器是否有按键被按下，若有则读取对应存储位置的数据* 并且调用run all函数完成整套动作* 参 数：无* 返 回 值：无*********************************************************************************/void MainWindow::timer4UpDate(){ timer4->stop(); char current_buttons[6]; int fd = ::open("/dev/buttons", 0); ::read(fd, current_buttons, 6); ::close(fd); if(!flag_writing) { timer4->start(10); }}
