python获取ps4手柄信息并使用QT界面显示读取内容

本文使用ps4手柄旨在控制机器人行走，故只获取了手柄的部分信息。
硬件：PS4手柄
环境：win7/10,python3.7,opencv4.0,Pyqt5，pygame,time,math,sys

一、使用pygame库获取手柄信息

主要代码如下：

import pygame
import time
import numpy as np
import math
import sys
class JoyStick(object):def __init__(self, id):pygame.init()pygame.joystick.init()if pygame.joystick.get_count() == 0:raise Exception("Joystick not found!")self.joystick = pygame.joystick.Joystick(id)self.joystick.init()self.axis = np.zeros(self.joystick.get_numaxes())self.__alpha = 0.0self.button = [self.joystick.get_button(i) for i in range(self.joystick.get_numbuttons())]self.hat = [self.joystick.get_hat(i) for i in range(self.joystick.get_numhats())]self.lst_button = [self.joystick.get_button(i) for i in range(self.joystick.get_numbuttons())]self.lst_hat = [self.joystick.get_hat(i) for i in range(self.joystick.get_numhats())]self.button_click = self._check_button_click(self.lst_button, self.button)self.hat_click = self._check_hat_click(self.lst_hat, self.hat)self.dead_zone = 0.1@staticmethoddef _check_button_click(lst, cur):rise = [0] * len(lst)for i in range(len(lst)):if not lst[i] and cur[i]:rise[i] = 1return rise@staticmethoddef _check_hat_click(lst, cur):rise = [(0, 0)] * len(lst)for i in range(len(lst)):h0 = 1 if not lst[i][0] and cur[i][0] else 0h1 = 1 if not lst[i][1] and cur[i][1] else 0rise[i] = (h0, h1)return rise@staticmethoddef count():pygame.init()return pygame.joystick.get_count()@staticmethoddef device_name(id):if id < JoyStick.count():return pygame.joystick.Joystick(id).get_name()else:return Nonedef name(self):return self.joystick.get_name()def refresh(self):pygame.event.pump()for i in range(self.joystick.get_numaxes()):axis = self.joystick.get_axis(i)self.axis[i] = self.axis[i] * self.__alpha + axis * (1.0 - self.__alpha)if -self.dead_zone < self.axis[i] < self.dead_zone:self.axis[i] = 0self.lst_button = self.buttonself.lst_hat = self.hatself.button = [self.joystick.get_button(i) for i in range(self.joystick.get_numbuttons())]self.hat = [self.joystick.get_hat(i) for i in range(self.joystick.get_numhats())]self.button_click = self._check_button_click(self.lst_button, self.button)self.hat_click = self._check_hat_click(self.lst_hat, self.hat)class PS4Robot(object):def __init__(self, id=0):self.ps4 = JoyStick(id)if self.ps4.name().find("PS4") < 0:raise Exception("No a PS4 handle")self.dx = 0.0self.dy = 0.0self.step = 0.0self.yaw = 0.0self.speed = 0.0def refresh(self):self.ps4.refresh()x = self.ps4.axis[2]y = -self.ps4.axis[3]xy = math.sqrt(x * x + y * y)if xy < 0.1:self.dx = 0.0self.dy = 0.0self.step = 0.0else:self.dx = x / xyself.dy = y / xyself.step = max(math.fabs(x), math.fabs(y))self.yaw = self.ps4.axis[0]if self.ps4.button_click[3]:self.speed += 0.1elif self.ps4.button_click[0]:self.speed -= 0.1self.speed = min(1.0, max(0.0, self.speed))msg_list=[]msg_list.append(self.dx)msg_list.append(self.dy)msg_list.append(self.step)msg_list.append(self.yaw)msg_list.append(self.speed)return msg_list# print("Yaw = %3.1f" % self.yaw)# print("Speed = %3.1f" % self.speed)

二、QT界面绘制以及程序生成

使用QT Designer绘制好界面，然后保存为.ui文件，最后将.ui生成.py文件导入程序中即可使用。
QT Designer软件界面如下：

使用命令行pyuic5 -o login.py login.ui转换成.py文件。调用格式为pyuic5 -o {输出文件名} {输入designer设计好的.ui后缀界面文件}。

三、完整展示

分为两部分程序,主程序以及qt界面程序：
ps4_contrlo.py程序为主程序，login.py为界面程序，放入一个目录下，运行ps4_control.py即可运行（安装好所需库）

ps4_control

import pygame
import time
import numpy as np
import math
import sys
#导入designer工具生成的login模块
from login import Ui_Form
from PyQt5 import QtCore, QtGui, QtWidgets
#PyQt5中使用的基本控件都在PyQt5.QtWidgets模块中
from PyQt5.QtWidgets import *class JoyStick(object):def __init__(self, id):pygame.init()pygame.joystick.init()if pygame.joystick.get_count() == 0:raise Exception("Joystick not found!")self.joystick = pygame.joystick.Joystick(id)self.joystick.init()self.axis = np.zeros(self.joystick.get_numaxes())self.__alpha = 0.0self.button = [self.joystick.get_button(i) for i in range(self.joystick.get_numbuttons())]self.hat = [self.joystick.get_hat(i) for i in range(self.joystick.get_numhats())]self.lst_button = [self.joystick.get_button(i) for i in range(self.joystick.get_numbuttons())]self.lst_hat = [self.joystick.get_hat(i) for i in range(self.joystick.get_numhats())]self.button_click = self._check_button_click(self.lst_button, self.button)self.hat_click = self._check_hat_click(self.lst_hat, self.hat)self.dead_zone = 0.1@staticmethoddef _check_button_click(lst, cur):rise = [0] * len(lst)for i in range(len(lst)):if not lst[i] and cur[i]:rise[i] = 1return rise@staticmethoddef _check_hat_click(lst, cur):rise = [(0, 0)] * len(lst)for i in range(len(lst)):h0 = 1 if not lst[i][0] and cur[i][0] else 0h1 = 1 if not lst[i][1] and cur[i][1] else 0rise[i] = (h0, h1)return rise@staticmethoddef count():pygame.init()return pygame.joystick.get_count()@staticmethoddef device_name(id):if id < JoyStick.count():return pygame.joystick.Joystick(id).get_name()else:return Nonedef name(self):return self.joystick.get_name()def refresh(self):pygame.event.pump()for i in range(self.joystick.get_numaxes()):axis = self.joystick.get_axis(i)self.axis[i] = self.axis[i] * self.__alpha + axis * (1.0 - self.__alpha)if -self.dead_zone < self.axis[i] < self.dead_zone:self.axis[i] = 0self.lst_button = self.buttonself.lst_hat = self.hatself.button = [self.joystick.get_button(i) for i in range(self.joystick.get_numbuttons())]self.hat = [self.joystick.get_hat(i) for i in range(self.joystick.get_numhats())]self.button_click = self._check_button_click(self.lst_button, self.button)self.hat_click = self._check_hat_click(self.lst_hat, self.hat)class PS4Robot(object):def __init__(self, id=0):self.ps4 = JoyStick(id)if self.ps4.name().find("PS4") < 0:raise Exception("No a PS4 handle")self.dx = 0.0self.dy = 0.0self.step = 0.0self.yaw = 0.0self.speed = 0.0def refresh(self):self.ps4.refresh()x = self.ps4.axis[2]y = -self.ps4.axis[3]xy = math.sqrt(x * x + y * y)if xy < 0.1:self.dx = 0.0self.dy = 0.0self.step = 0.0else:self.dx = x / xyself.dy = y / xyself.step = max(math.fabs(x), math.fabs(y))self.yaw = self.ps4.axis[0]if self.ps4.button_click[3]:self.speed += 0.1elif self.ps4.button_click[0]:self.speed -= 0.1self.speed = min(1.0, max(0.0, self.speed))msg_list=[]msg_list.append(self.dx)msg_list.append(self.dy)msg_list.append(self.step)msg_list.append(self.yaw)msg_list.append(self.speed)return msg_list# print("Yaw = %3.1f" % self.yaw)# print("Speed = %3.1f" % self.speed)
class MyMainForm(QMainWindow, Ui_Form):def __init__(self, robot,parent=None):super(MyMainForm, self).__init__(parent)self.setupUi(self)self.robot=robotself.pushButton_2.clicked.connect(self.close)self.timer=QtCore.QTimer()self.timer.timeout.connect(self.display)self.timer.start(100)def display(self):msg=self.robot.refresh()self.line_2.setGeometry(QtCore.QRect(130+self.robot.yaw*80, 30, 20, 31))temp=80self.line_3.setGeometry(QtCore.QRect(125+self.robot.dx*temp, 202-self.robot.dy*temp, 50, 20))self.line_4.setGeometry(QtCore.QRect(140+self.robot.dx*temp, 187-self.robot.dy*temp, 20, 50))self.line_10.setGeometry(QtCore.QRect(299, 300-self.robot.step*200, 20, 20+self.robot.step*200))# 利用text Browser控件对象setText()函数设置界面显示self.progressBar.setProperty("value",self.robot.speed*100)self.textBrowser.setText( "x: " + str(self.robot.dx) + "\n"+"y： "+str(self.robot.dy)+"\n"+"step: " + str(self.robot.step) +"\n"+ "yaw: " + str(self.robot.yaw)+"\n"+"speed: " + str(self.robot.speed))if __name__ == '__main__':# 初始化robot = PS4Robot()print(robot.ps4.name())app = QApplication(sys.argv)myWin = MyMainForm(robot)#将窗口控件显示在屏幕上myWin.show()#程序运行，sys.exit方法确保程序完整退出。myWin.display()time.sleep(0.1)sys.exit(app.exec_())```、2. login.py(将login.ui文件生成的.py文件)，将login.py文件放置程序当前目录可直接使用```python
# -*- coding: utf-8 -*-# Form implementation generated from reading ui file 'login.ui'
#
# Created by: PyQt5 UI code generator 5.9.2
#
# WARNING! All changes made in this file will be lost!from PyQt5 import QtCore, QtGui, QtWidgetsclass Ui_Form(object):def setupUi(self, Form):Form.setObjectName("Form")Form.resize(639, 414)palette = QtGui.QPalette()brush = QtGui.QBrush(QtGui.QColor(255, 255, 255))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Active, QtGui.QPalette.Base, brush)brush = QtGui.QBrush(QtGui.QColor(85, 255, 255))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Active, QtGui.QPalette.Window, brush)brush = QtGui.QBrush(QtGui.QColor(255, 255, 255))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Inactive, QtGui.QPalette.Base, brush)brush = QtGui.QBrush(QtGui.QColor(85, 255, 255))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Inactive, QtGui.QPalette.Window, brush)brush = QtGui.QBrush(QtGui.QColor(85, 255, 255))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Disabled, QtGui.QPalette.Base, brush)brush = QtGui.QBrush(QtGui.QColor(85, 255, 255))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Disabled, QtGui.QPalette.Window, brush)Form.setPalette(palette)self.label = QtWidgets.QLabel(Form)self.label.setGeometry(QtCore.QRect(120, 380, 101, 31))font = QtGui.QFont()font.setPointSize(15)font.setBold(True)font.setWeight(75)self.label.setFont(font)self.label.setObjectName("label")self.pushButton_2 = QtWidgets.QPushButton(Form)self.pushButton_2.setGeometry(QtCore.QRect(440, 360, 111, 31))self.pushButton_2.setObjectName("pushButton_2")self.progressBar = QtWidgets.QProgressBar(Form)self.progressBar.setGeometry(QtCore.QRect(50, 360, 221, 23))self.progressBar.setMaximum(100)self.progressBar.setProperty("value", 0)self.progressBar.setObjectName("progressBar")self.label_2 = QtWidgets.QLabel(Form)self.label_2.setGeometry(QtCore.QRect(120, 60, 71, 20))self.label_2.setBaseSize(QtCore.QSize(0, 0))font = QtGui.QFont()font.setPointSize(15)font.setBold(True)font.setWeight(75)self.label_2.setFont(font)self.label_2.setObjectName("label_2")self.textBrowser = QtWidgets.QTextBrowser(Form)self.textBrowser.setGeometry(QtCore.QRect(350, 90, 261, 251))font = QtGui.QFont()font.setPointSize(15)self.textBrowser.setFont(font)self.textBrowser.setFrameShadow(QtWidgets.QFrame.Plain)self.textBrowser.setLineWidth(5)self.textBrowser.setObjectName("textBrowser")self.line = QtWidgets.QFrame(Form)self.line.setGeometry(QtCore.QRect(60, 40, 160, 20))palette = QtGui.QPalette()brush = QtGui.QBrush(QtGui.QColor(0, 0, 0))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Active, QtGui.QPalette.WindowText, brush)brush = QtGui.QBrush(QtGui.QColor(0, 0, 0))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Inactive, QtGui.QPalette.WindowText, brush)brush = QtGui.QBrush(QtGui.QColor(120, 120, 120))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Disabled, QtGui.QPalette.WindowText, brush)self.line.setPalette(palette)self.line.setFrameShadow(QtWidgets.QFrame.Plain)self.line.setLineWidth(9)self.line.setMidLineWidth(6)self.line.setFrameShape(QtWidgets.QFrame.HLine)self.line.setObjectName("line")self.line_2 = QtWidgets.QFrame(Form)self.line_2.setGeometry(QtCore.QRect(130, 30, 20, 31))self.line_2.setFrameShadow(QtWidgets.QFrame.Raised)self.line_2.setLineWidth(19)self.line_2.setMidLineWidth(4)self.line_2.setFrameShape(QtWidgets.QFrame.VLine)self.line_2.setObjectName("line_2")self.label_4 = QtWidgets.QLabel(Form)self.label_4.setGeometry(QtCore.QRect(400, 60, 141, 20))self.label_4.setBaseSize(QtCore.QSize(0, 0))font = QtGui.QFont()font.setPointSize(15)font.setBold(True)font.setWeight(75)self.label_4.setFont(font)self.label_4.setObjectName("label_4")self.label_5 = QtWidgets.QLabel(Form)self.label_5.setGeometry(QtCore.QRect(144, 320, 21, 20))self.label_5.setBaseSize(QtCore.QSize(0, 0))font = QtGui.QFont()font.setPointSize(15)font.setBold(True)font.setWeight(75)self.label_5.setFont(font)self.label_5.setObjectName("label_5")self.label_6 = QtWidgets.QLabel(Form)self.label_6.setGeometry(QtCore.QRect(20, 204, 21, 20))self.label_6.setBaseSize(QtCore.QSize(0, 0))font = QtGui.QFont()font.setPointSize(15)font.setBold(True)font.setWeight(75)self.label_6.setFont(font)self.label_6.setObjectName("label_6")self.line_3 = QtWidgets.QFrame(Form)self.line_3.setGeometry(QtCore.QRect(125, 202, 50, 20))palette = QtGui.QPalette()brush = QtGui.QBrush(QtGui.QColor(0, 0, 0))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Active, QtGui.QPalette.WindowText, brush)brush = QtGui.QBrush(QtGui.QColor(0, 0, 0))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Inactive, QtGui.QPalette.WindowText, brush)brush = QtGui.QBrush(QtGui.QColor(120, 120, 120))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Disabled, QtGui.QPalette.WindowText, brush)self.line_3.setPalette(palette)self.line_3.setFrameShadow(QtWidgets.QFrame.Plain)self.line_3.setLineWidth(10)self.line_3.setMidLineWidth(10)self.line_3.setFrameShape(QtWidgets.QFrame.HLine)self.line_3.setObjectName("line_3")self.line_4 = QtWidgets.QFrame(Form)self.line_4.setGeometry(QtCore.QRect(140, 187, 20, 50))palette = QtGui.QPalette()brush = QtGui.QBrush(QtGui.QColor(0, 0, 0))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Active, QtGui.QPalette.WindowText, brush)brush = QtGui.QBrush(QtGui.QColor(0, 0, 0))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Inactive, QtGui.QPalette.WindowText, brush)brush = QtGui.QBrush(QtGui.QColor(120, 120, 120))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Disabled, QtGui.QPalette.WindowText, brush)self.line_4.setPalette(palette)self.line_4.setFrameShadow(QtWidgets.QFrame.Plain)self.line_4.setLineWidth(10)self.line_4.setMidLineWidth(10)self.line_4.setFrameShape(QtWidgets.QFrame.VLine)self.line_4.setObjectName("line_4")self.line_5 = QtWidgets.QFrame(Form)self.line_5.setGeometry(QtCore.QRect(30, 100, 20, 220))self.line_5.setFrameShadow(QtWidgets.QFrame.Plain)self.line_5.setLineWidth(5)self.line_5.setFrameShape(QtWidgets.QFrame.VLine)self.line_5.setObjectName("line_5")self.line_6 = QtWidgets.QFrame(Form)self.line_6.setGeometry(QtCore.QRect(250, 100, 20, 220))self.line_6.setFrameShadow(QtWidgets.QFrame.Plain)self.line_6.setLineWidth(5)self.line_6.setFrameShape(QtWidgets.QFrame.VLine)self.line_6.setObjectName("line_6")self.line_7 = QtWidgets.QFrame(Form)self.line_7.setGeometry(QtCore.QRect(38, 92, 224, 16))self.line_7.setFrameShadow(QtWidgets.QFrame.Plain)self.line_7.setLineWidth(5)self.line_7.setFrameShape(QtWidgets.QFrame.HLine)self.line_7.setObjectName("line_7")self.line_8 = QtWidgets.QFrame(Form)self.line_8.setGeometry(QtCore.QRect(40, 310, 220, 16))self.line_8.setFrameShadow(QtWidgets.QFrame.Plain)self.line_8.setLineWidth(5)self.line_8.setFrameShape(QtWidgets.QFrame.HLine)self.line_8.setObjectName("line_8")self.label_7 = QtWidgets.QLabel(Form)self.label_7.setGeometry(QtCore.QRect(20, 110, 21, 20))self.label_7.setBaseSize(QtCore.QSize(0, 0))font = QtGui.QFont()font.setPointSize(15)font.setBold(True)font.setWeight(75)self.label_7.setFont(font)self.label_7.setObjectName("label_7")self.label_8 = QtWidgets.QLabel(Form)self.label_8.setGeometry(QtCore.QRect(10, 290, 21, 20))self.label_8.setBaseSize(QtCore.QSize(0, 0))font = QtGui.QFont()font.setPointSize(15)font.setBold(True)font.setWeight(75)self.label_8.setFont(font)self.label_8.setObjectName("label_8")self.label_9 = QtWidgets.QLabel(Form)self.label_9.setGeometry(QtCore.QRect(240, 320, 21, 20))self.label_9.setBaseSize(QtCore.QSize(0, 0))font = QtGui.QFont()font.setPointSize(15)font.setBold(True)font.setWeight(75)self.label_9.setFont(font)self.label_9.setObjectName("label_9")self.label_10 = QtWidgets.QLabel(Form)self.label_10.setGeometry(QtCore.QRect(40, 320, 21, 20))self.label_10.setBaseSize(QtCore.QSize(0, 0))font = QtGui.QFont()font.setPointSize(15)font.setBold(True)font.setWeight(75)self.label_10.setFont(font)self.label_10.setObjectName("label_10")self.line_9 = QtWidgets.QFrame(Form)self.line_9.setGeometry(QtCore.QRect(300, 300, 21, 21))palette = QtGui.QPalette()brush = QtGui.QBrush(QtGui.QColor(255, 0, 0))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Active, QtGui.QPalette.WindowText, brush)brush = QtGui.QBrush(QtGui.QColor(255, 0, 0))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Inactive, QtGui.QPalette.WindowText, brush)brush = QtGui.QBrush(QtGui.QColor(120, 120, 120))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Disabled, QtGui.QPalette.WindowText, brush)self.line_9.setPalette(palette)font = QtGui.QFont()font.setPointSize(12)self.line_9.setFont(font)self.line_9.setFrameShadow(QtWidgets.QFrame.Raised)self.line_9.setLineWidth(10)self.line_9.setMidLineWidth(3)self.line_9.setFrameShape(QtWidgets.QFrame.VLine)self.line_9.setObjectName("line_9")self.label_11 = QtWidgets.QLabel(Form)self.label_11.setGeometry(QtCore.QRect(290, 330, 51, 20))self.label_11.setBaseSize(QtCore.QSize(0, 0))font = QtGui.QFont()font.setPointSize(15)font.setBold(True)font.setWeight(75)self.label_11.setFont(font)self.label_11.setObjectName("label_11")self.line_10 = QtWidgets.QFrame(Form)self.line_10.setGeometry(QtCore.QRect(299, 300, 20, 20))palette = QtGui.QPalette()brush = QtGui.QBrush(QtGui.QColor(0, 255, 0))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Active, QtGui.QPalette.WindowText, brush)brush = QtGui.QBrush(QtGui.QColor(0, 255, 0))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Inactive, QtGui.QPalette.WindowText, brush)brush = QtGui.QBrush(QtGui.QColor(120, 120, 120))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Disabled, QtGui.QPalette.WindowText, brush)self.line_10.setPalette(palette)self.line_10.setFrameShadow(QtWidgets.QFrame.Plain)self.line_10.setLineWidth(15)self.line_10.setMidLineWidth(3)self.line_10.setFrameShape(QtWidgets.QFrame.VLine)self.line_10.setObjectName("line_10")self.line_11 = QtWidgets.QFrame(Form)self.line_11.setGeometry(QtCore.QRect(302, 90, 16, 10))self.line_11.setFrameShadow(QtWidgets.QFrame.Raised)self.line_11.setLineWidth(10)self.line_11.setMidLineWidth(3)self.line_11.setFrameShape(QtWidgets.QFrame.VLine)self.line_11.setObjectName("line_11")self.line_12 = QtWidgets.QFrame(Form)self.line_12.setGeometry(QtCore.QRect(293, 100, 20, 201))palette = QtGui.QPalette()brush = QtGui.QBrush(QtGui.QColor(0, 255, 0))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Active, QtGui.QPalette.WindowText, brush)brush = QtGui.QBrush(QtGui.QColor(0, 255, 0))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Inactive, QtGui.QPalette.WindowText, brush)brush = QtGui.QBrush(QtGui.QColor(120, 120, 120))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Disabled, QtGui.QPalette.WindowText, brush)self.line_12.setPalette(palette)self.line_12.setFrameShadow(QtWidgets.QFrame.Plain)self.line_12.setLineWidth(3)self.line_12.setFrameShape(QtWidgets.QFrame.VLine)self.line_12.setObjectName("line_12")self.line_13 = QtWidgets.QFrame(Form)self.line_13.setGeometry(QtCore.QRect(306, 100, 20, 201))palette = QtGui.QPalette()brush = QtGui.QBrush(QtGui.QColor(0, 255, 0))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Active, QtGui.QPalette.WindowText, brush)brush = QtGui.QBrush(QtGui.QColor(0, 255, 0))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Inactive, QtGui.QPalette.WindowText, brush)brush = QtGui.QBrush(QtGui.QColor(120, 120, 120))brush.setStyle(QtCore.Qt.SolidPattern)palette.setBrush(QtGui.QPalette.Disabled, QtGui.QPalette.WindowText, brush)self.line_13.setPalette(palette)self.line_13.setFrameShadow(QtWidgets.QFrame.Plain)self.line_13.setLineWidth(3)self.line_13.setFrameShape(QtWidgets.QFrame.VLine)self.line_13.setObjectName("line_13")self.line_10.raise_()self.label.raise_()self.pushButton_2.raise_()self.progressBar.raise_()self.label_2.raise_()self.textBrowser.raise_()self.line.raise_()self.line_2.raise_()self.label_4.raise_()self.label_5.raise_()self.label_6.raise_()self.line_3.raise_()self.line_4.raise_()self.line_5.raise_()self.line_6.raise_()self.line_7.raise_()self.line_8.raise_()self.label_7.raise_()self.label_8.raise_()self.label_9.raise_()self.label_10.raise_()self.label_11.raise_()self.line_11.raise_()self.line_12.raise_()self.line_13.raise_()self.line_9.raise_()self.retranslateUi(Form)QtCore.QMetaObject.connectSlotsByName(Form)def retranslateUi(self, Form):_translate = QtCore.QCoreApplication.translateForm.setWindowTitle(_translate("Form", "Form"))self.label.setText(_translate("Form", "speed"))self.pushButton_2.setText(_translate("Form", "退出"))self.label_2.setText(_translate("Form", "yaw"))self.label_4.setText(_translate("Form", "data display"))self.label_5.setText(_translate("Form", "x"))self.label_6.setText(_translate("Form", "y"))self.label_7.setText(_translate("Form", "1"))self.label_8.setText(_translate("Form", "-1"))self.label_9.setText(_translate("Form", "1"))self.label_10.setText(_translate("Form", "-1"))self.label_11.setText(_translate("Form", "step"))

运行界面展示

程序中需要手柄提供控制方向x，y,yaw(偏航角)以及机器人速度speed和步长step。

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