前言 python

例如：Python 的设计具有很强的可读性，相比其他语言经常使用英文关键字，其他语言的一些标点符号，它具有比其他语言更有特色语法结构。易于学习、易于阅读、易于维护、具有可移植、可扩展等特性。

一、云台的主要用途？

示例：云台用于相机的稳定器，起到平衡与稳定作用。云台的应用范围很广，各种特殊行业也对云台产品有一定的需求。

二、代码实现步骤

下面就是实现所有功能的代码！

代码如下（示例）：
class Mywindow(QtWidgets.QWidget, Ui_MainWindow):
# QtCore.QMetaObject.connectSlotsByName(Ui_MainWindow)
def init(self,):
super(Mywindow, self).init()
self.setupUi(self)
self.init()
self.setWindowTitle(“云台控制器”)
self.ser = serial.Serial()
self.port_check()
self.level_angel = 0
self.vertical_angle = 0
self.speed_data()
self.horizontalSlider.valueChanged.connect(self.valuechange)
self.horizontalSlider_2.valueChanged.connect(self.valuechange)
self.horizontalSlider.valueChanged.connect(self.va1)
self.horizontalSlider_2.valueChanged.connect(self.va2)

def init(self):# self.status = self.statusbar# self.status.showMessage('时间：', 1000)# 串口检测self.detected__button_1.clicked.connect(self.port_check)# 串口显示self.s1__box_8.currentTextChanged.connect(self.port_imf)# 打开串口self.open_button.clicked.connect(self.port_open)# 关闭串口self.close_button.clicked.connect(self.port_close)# 定时器接收数据self.timer = QTimer(self)# self.timer.timeout.connect(self.data_receive)# 按键控制动作self.a_button.clicked.connect(self.data_send_a)self.w_button.clicked.connect(self.data_send_w)self.s_button.clicked.connect(self.data_send_s)self.d_button.clicked.connect(self.data_send_d)self.x_button.clicked.connect(self.data_send_x)self.q_button.clicked.connect(self.data_send_q)self.e_button.clicked.connect(self.data_send_e)self.z_button.clicked.connect(self.data_send_z)self.c_button.clicked.connect(self.data_send_c)# 云台信息返回self.inquire1_button.clicked.connect(self.send_level_angel)self.inquire2_button.clicked.connect(self.send_vertical_angle)# 角度控制self.level_button.clicked.connect(self.send_leve)self.vertical_button.clicked.connect(self.send_vertical)self.pushButton.clicked.connect(self.exit)# 速度控制# self.setText(self.speed_data)
# 定义界面的操作
# 方向键控制def port_check(self):# 检测所有存在的串口，将信息存储在字典中self.Com_Dict = {}port_list = list(serial.tools.list_ports.comports())self.s1__box_8.clear()for port in port_list:self.Com_Dict["%s" % port[0]] = "%s" % port[1]self.s1__box_8.addItem(port[0])if len(self.Com_Dict) == 0:self.state_label.setText("无串口")def port_imf(self):# 显示选定的串口的详细信息imf_s = self.s1__box_8.currentText()if imf_s != "":self.state_label.setText(self.Com_Dict[self.s1__box_8.currentText()])# 打开串口
def port_open(self):self.ser.port = self.s1__box_8.currentText()self.ser.baudrate = int(self.s1__box_10.currentText())self.ser.bytesize = int(self.s1__box_7.currentText())self.ser.stopbits = int(self.s1__box_6.currentText())self.ser.parity = self.s1__box_9.currentText()try:self.ser.open()except:QMessageBox.critical(self, "Port Error", "此串口不能被打开！")return None# 打开串口接收定时器，周期为2msself.timer.start(2)if self.ser.isOpen():self.open_button.setEnabled(False)self.close_button.setEnabled(True)self.groupBox_6.setTitle("串口状态（已开启）")def port_close(self):self.timer.stop()# self.timer_send.stop()try:self.ser.close()except:passself.open_button.setEnabled(True)self.close_button.setEnabled(False)# self.lineEdit_3.setEnabled(True)# 接收数据和发送数据数目置零# self.data_num_received = 0# self.lineEdit_3.setText(str(self.data_num_received))# self.data_num_sended = 0# self.lineEdit_4.setText(str(self.data_num_sended))self.groupBox_6.setTitle("串口状态（已关闭）")def data_send_a(self):      # 控制向左方向if self.ser.isOpen():a = 'FF 01 00 04 00 00 08'# a = a.strip()# send_list = []# input_s = a[2:].strip()# while (a) != '':#     try:#         num = int(a[0:2], 16)#     except ValueError:#         QMessageBox.critical(self, 'wrong data', '请检查命令是否对应正确')#         # print("Data-send-a Error")#     a = a[2:].strip()#     send_list.append(num)# # print(data)# input_s = bytes(send_list)# # print(input_s)# self.ser.write(input_s)"""方法2"""f_list = a.split(" ")d1 = self.va1()d1 = str(d1)data1 = hex(int(d1))[2:]if len(data1) != 2:data1 = data1.rjust(2, '0')f_list[4] = data1checksum = hex(sum([int(i, 16) for i in f_list[1:6]]))[2:]if len(checksum) != 2:checksum = checksum.rjust(2, '0')f_list[6] = checksumdata_str = ''.join(f_list)input_s = bytes.fromhex(data_str)self.ser.write(input_s)f_list = ' '.join(f_list)self.lineEdit_3.setText(str(f_list))else:QMessageBox.critical(self, 'open-port-error', "Check whether the serial port is enabled")# print("Check whether the serial port is enabled")def data_send_w(self):      # 控制向前方向if self.ser.isOpen():w = 'FF 01 00 08 00 00 09'"""方法2"""f_list = w.split(" ")# d1 = self.va1()# d1 = str(d1)# data1 = hex(int(d1))[2:]# f_list[4] = data1d2 = self.va2()d2 = str(d2)data2 = hex(int(d2))[2:]if len(data2) != 2:data2 = data2.rjust(2, '0')f_list[5] = data2checksum = hex(sum([int(i, 16) for i in f_list[1:6]]))[2:]if len(checksum) != 2:checksum = checksum.rjust(2, '0')f_list[6] = checksum# print(f_list)data_str = ''.join(f_list)input_s = bytes.fromhex(data_str)self.ser.write(input_s)f_list = ' '.join(f_list)self.lineEdit_3.setText(str(f_list))else:QMessageBox.critical(self, 'open-port-error', "Check whether the serial port is enabled")# print("Check whether the serial port is enabled")def data_send_s(self):       # stop命令if self.ser.isOpen():s = 'FF 01 00 00 00 00 01's = s.strip()send_list = []input_s = s[2:].strip()while (s) != '':try:num = int(s[0:2], 16)except ValueError:QMessageBox.critical(self, 'send-error', "请检查命令是否对应正确")# print("Data-send-s Error")s = s[2:].strip()send_list.append(num)input_s = bytes(send_list)self.ser.write(input_s)f_list = ['FF', '01', '00', '00', '00', '00', '01']f_list = ' '.join(f_list)self.lineEdit_3.setText(str(f_list))else:QMessageBox.critical(self, 'open-port-error', "Check whether the serial port is enabled")# print("Check whether the serial port is enabled")def data_send_d(self):       # 控制向右方向if self.ser.isOpen():d = 'FF 01 00 02 03 00 06'"""方法2"""f_list = d.split(" ")d1 = self.va1()d1 = str(d1)data1 = hex(int(d1))[2:]if len(data1) != 2:data1 = data1.rjust(2, '0')f_list[4] = data1checksum = hex(sum([int(i, 16) for i in f_list[1:6]]))[2:]if len(checksum) != 2:checksum = checksum.rjust(2, '0')f_list[6] = checksum# d2 = self.va2()# d2 = str(d2)# data2 = hex(int(d2))[2:]# f_list[5] = data2f_list[6] = checksumdata_str = ''.join(f_list)input_s = bytes.fromhex(data_str)self.ser.write(input_s)f_list = ' '.join(f_list)self.lineEdit_3.setText(str(f_list))else:QMessageBox.critical(self, 'open-port-error', "Check whether the serial port is enabled")# print("Check whether the serial port is enabled")def data_send_x(self):       # 控制向后方向if self.ser.isOpen():x = 'FF 01 00 10 00 00 11'"""方法2"""f_list = x.split(" ")# d1 = self.va1()# d1 = str(d1)# data1 = hex(int(d1))[2:]# f_list[4] = data1d2 = self.va2()d2 = str(d2)data2 = hex(int(d2))[2:]if len(data2) != 2:data2 = data2.rjust(2, '0')f_list[5] = data2checksum = hex(sum([int(i, 16) for i in f_list[1:6]]))[2:]if len(checksum) != 2:checksum = checksum.rjust(2, '0')f_list[6] = checksum# print(f_list)data_str = ''.join(f_list)input_s = bytes.fromhex(data_str)self.ser.write(input_s)f_list = ' '.join(f_list)self.lineEdit_3.setText(str(f_list))else:QMessageBox.critical(self, 'open-port-error', "Check whether the serial port is enabled")# print("Check whether the serial port is enabled")def data_send_q(self):       # 控制向前左方向if self.ser.isOpen():q = 'FF 01 00 0C 03 00 10'"""方法2"""f_list = q.split(" ")d1 = self.va1()d1 = str(d1)data1 = hex(int(d1))[2:]if len(data1) != 2:data1 = data1.rjust(2, '0')f_list[4] = data1d2 = self.va2()d2 = str(d2)data2 = hex(int(d2))[2:]if len(data2) != 2:data2 = data2.rjust(2, '0')f_list[5] = data2checksum = hex(sum([int(i, 16) for i in f_list[1:6]]))[2:]if len(checksum) != 2:checksum = checksum.rjust(2, '0')f_list[6] = checksumdata_str = ''.join(f_list)input_s = bytes.fromhex(data_str)self.ser.write(input_s)f_list = ' '.join(f_list)self.lineEdit_3.setText(str(f_list))else:QMessageBox.critical(self, 'open-port-error', "Check whether the serial port is enabled")# print("Check whether the serial port is enabled")def data_send_e(self):       # 控制向前右方向if self.ser.isOpen():e = 'FF 01 00 0A 03 00 0E'"""方法2"""f_list = e.split(" ")d1 = self.va1()d1 = str(d1)data1 = hex(int(d1))[2:]if len(data1) != 2:data1 = data1.rjust(2, '0')f_list[4] = data1d2 = self.va2()d2 = str(d2)data2 = hex(int(d2))[2:]if len(data2) != 2:data2 = data2.rjust(2, '0')f_list[5] = data2checksum = hex(sum([int(i, 16) for i in f_list[1:6]]))[2:]if len(checksum) != 2:checksum = checksum.rjust(2, '0')f_list[6] = checksum# print(f_list[6])# print(f_list)data_str = ''.join(f_list)input_s = bytes.fromhex(data_str)self.ser.write(input_s)f_list = ' '.join(f_list)self.lineEdit_3.setText(str(f_list))else:QMessageBox.critical(self, 'open-port-error', "Check whether the serial port is enabled")# print("Check whether the serial port is enabled")def data_send_z(self):       # 控制向后左方向if self.ser.isOpen():z = 'FF 01 00 14 03 00 18'"""方法2"""f_list = z.split(" ")d1 = self.va1()d1 = str(d1)data1 = hex(int(d1))[2:]if len(data1) != 2:data1 = data1.rjust(2, '0')f_list[4] = data1d2 = self.va2()d2 = str(d2)data2 = hex(int(d2))[2:]if len(data2) != 2:data2 = data2.rjust(2, '0')f_list[5] = data2checksum = hex(sum([int(i, 16) for i in f_list[1:6]]))[2:]if len(checksum) != 2:checksum = checksum.rjust(2, '0')f_list[6] = checksum# print(f_list[6])data_str = ''.join(f_list)input_s = bytes.fromhex(data_str)self.ser.write(input_s)f_list = ' '.join(f_list)self.lineEdit_3.setText(str(f_list))else:QMessageBox.critical(self, 'open-port-error', "Check whether the serial port is enabled")# print("Check whether the serial port is enabled")def data_send_c(self):       # 控制向后右方向# checksum = 0if self.ser.isOpen():c = 'FF 01 00 12 03 00 16'"""简化后的一种方式"""f_list = c.split(" ")# print(f_list)d1 = self.va1()d1 = str(d1)data1 = hex(int(d1))[2:]if len(data1) != 2:data1 = data1.rjust(2, '0')f_list[4] = data1d2 = self.va2()d2 = str(d2)data2 = hex(int(d2))[2:]if len(data2) != 2:data2 = data2.rjust(2, '0')f_list[5] = data2checksum = hex(sum([int(i, 16) for i in f_list[1:6]]))[2:]if len(checksum) != 2:checksum = checksum.rjust(2, '0')f_list[6] = checksum# print(f_list[6])# print(f_list)data_str = ''.join(f_list)# print(f_list[5])# print(data_str)input_s = bytes.fromhex(data_str)# print(input_s)self.ser.write(input_s)f_list = ' '.join(f_list)self.lineEdit_3.setText(str(f_list))else:QMessageBox.critical(self, 'open-port-error', "Check whether the serial port is enabled")# print("Check whether the serial port is enabled")def send_level_angel(self):       # 水平角度查询y_list = []x_list = []if self.ser.isOpen():data = "FF 01 00 51 00 00 52"d1 = bytes.fromhex(data)result = self.ser.write(d1)time.sleep(0.5)count = self.ser.inWaiting()if (count) > 0:d2 = self.ser.read(count)if d2 != b'':d1 = str(binascii.b2a_hex(d2))[2:-1]result_d1 = re.sub(r"(?<=\w)(?=(?:\w\w)+$)", " ", d1)# y_list = []# x_list = []try:x_list = result_d1.split(" ")for i in x_list:i = int("0x" + i, 16)y_list.append(i)except ValueError:QMessageBox.critical(self, 'angle-error', "角度命令不正确，请查找并更改")# print("Trans Error")# QMessageBox.critical(self, 'send-error', "请检查命令是否对应正确")pmsb = y_list[4]plsb = y_list[5]pdata = (pmsb * 256 + plsb)pangle = (pdata / 100)pangle = str(pangle)# print(pangle)self.label_3.setText(pangle)# self.ser.close()self.lineEdit_3.setText(data)else:QMessageBox.critical(self, 'Error', 'd2的类型为bytes')else:QMessageBox.critical(self, 'Error', '命令错误')else:QMessageBox.critical(self, 'open-port-error', "Check whether the serial port is enabled")# print("Check whether the serial port is enabled")def send_vertical_angle(self):      # 垂直角度查询if self.ser.isOpen():data = "FF 01 00 53 00 00 54"d1 = bytes.fromhex(data)result = self.ser.write(d1)time.sleep(0.5)count = self.ser.inWaiting()if (count) > 0:d2 = self.ser.read(count)if d2 != b'':d1 = str(binascii.b2a_hex(d2))[2:-1]result_d1 = re.sub(r"(?<=\w)(?=(?:\w\w)+$)", " ", d1)y_list = []x_list = []try:x_list = result_d1.split(" ")for i in x_list:i = int("0x" + i, 16)y_list.append(i)except:# print("Trans Error")QMessageBox.critical(self, 'angle-error', "角度命令不正确，请查找并更改")tmsb = y_list[4]tlsb = y_list[5]Tdata = (tmsb * 256 + tlsb)if Tdata > 18000:Tdata = 36000-Tdataelif Tdata <18000:Tdata = -Tdataelse:print("数据错误")pangle = Tdata / 100pangle = str(pangle)# print(pangle)self.label_4.setText(pangle)self.lineEdit_3.setText(data)else:QMessageBox.critical(self, 'Error', 'd2的类型为bytes')else:QMessageBox.critical(self, 'Error', '命令错误')else:QMessageBox.critical(self, 'open-port-error', "Check whether the serial port is enabled")# print("Check whether the serial port is enabled")def send_leve(self):        # 直接控制水平if self.ser.isOpen():le = "FF 01 00 4B 00 00 4C"checksum = 0x_list = []input_data = self.lineEdit.text()# print(input_data)if int(input_data) == 0:input_s = bytes.fromhex(le)self.ser.write(input_s)self.lineEdit_3.setText(le)else:da1 = int(input_data) * 100da = hex(da1).upper()[2:]byte_val = da.encode()result_d1 = re.sub(r"(?<=\w)(?=(?:\w\w)+$)", ' ', da)x_list = result_d1.split(' ')d1 = x_list[0]d2 = x_list[1]if len(d1) != 2:d1 = d1.rjust(2, '0')fp = le.split(' ')fp[4] = d1fp[5] = d2result = " ".join(fp)checksum = hex(sum([int(i, 16) for i in fp[1:6]]))d3 = checksum[-2:]fp[6] = d3data = " ".join(fp)r1 = bytes.fromhex(data)self.ser.write(r1)self.lineEdit_3.setText(data)else:QMessageBox.critical(self, 'open-port-error', "Check whether the serial port is enabled")# print("Check whether the serial port is enabled")# self.lineEdit.setText(str("data"))def send_vertical(self):        # 直接控制垂直if self.ser.isOpen():ve = 'FF 01 00 4D 8C A0 7A'checksum = 0x_list = []input_data = self.lineEdit_2.text()# print(input_data)if int(input_data) < 0:da1 = -int(input_data) * 100da = hex(da1).upper()[2:]byte_val = da.encode()result_d1 = re.sub(r"(?<=\w)(?=(?:\w\w)+$)", ' ', da)x_list = result_d1.split(' ')d1 = x_list[0]d2 = x_list[1]if len(d1) != 2:d1 = d1.rjust(2, '0')fp = ve.split(' ')fp[4] = d1# print(d1)fp[5] = d2result = " ".join(fp)# print(fp)checksum = hex(sum([int(i, 16) for i in fp[1:6]]))d3 = checksum[-2:]fp[6] = d3data = " ".join(fp)r1 = bytes.fromhex(data)self.ser.write(r1)self.lineEdit_3.setText(data)elif int(input_data) > 0:da1 = 36000 - int(input_data) * 100da = hex(da1).upper()[2:]byte_val = da.encode()result_d1 = re.sub(r"(?<=\w)(?=(?:\w\w)+$)", ' ', da)x_list = result_d1.split(' ')d1 = x_list[0]d2 = x_list[1]if len(d1) != 2:d1 = d1.rjust(2, '0')fp = ve.split(' ')fp[4] = d1fp[5] = d2result = " ".join(fp)checksum = hex(sum([int(i, 16) for i in fp[1:6]]))d3 = checksum[-2:]fp[6] = d3data = " ".join(fp)r1 = bytes.fromhex(data)self.ser.write(r1)self.lineEdit_3.setText(data)else:input_s = bytes.fromhex(ve)self.ser.write(input_s)# print(input_s)self.lineEdit_3.setText(ve)else:QMessageBox.critical(self, 'open-port-error', "Check whether the serial port is enabled")# print("Check whether the serial port is enabled")def speed_data(self):   # 速度控制self.horizontalSlider.setMinimum(0)  ##设置最小值self.horizontalSlider.setMaximum(63)   #设置最大值dwaself.horizontalSlider.setSingleStep(1)     #步长self.horizontalSlider.setValue(23)     #设置当前值data = self.horizontalSlider.value()        #获取当前值self.label_17.setText(str(data))# print(data)self.horizontalSlider_2.setMinimum(0)self.horizontalSlider_2.setMaximum(63)self.horizontalSlider_2.setSingleStep(1)self.horizontalSlider_2.setValue(23)data2 = self.horizontalSlider_2.value()self.label_18.setText(str(data2))def valuechange(self):# print('current slider value=%s'%self.horizontalSlider.value())self.label_17.setText(str(self.horizontalSlider.value()))self.label_18.setText(str(self.horizontalSlider_2.value()))data1 = self.horizontalSlider.value()# print(data1)data2 = self.horizontalSlider_2.value()def va1(self):  # 控制水平方向速度data1 = self.horizontalSlider.value()return data1# print(data1)def va2(self):  # 控制垂直方向速度data2 = self.horizontalSlider_2.value()return data2# print(data2)def exit(self):exit()

if name == ‘main’:
app = QtWidgets.QApplication(sys.argv)
win = Mywindow()
win.show()
sys.exit(app.exec_())

三、总结

提示：这里对文章进行总结：
例如：以上就是初步实现云台控制的基本功能代码。

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