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1、在光谱相机操作基类中添加自动调焦指数，并通过信号发送；

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2、将位置-指数写入csv文件，使用Eigen，通过高斯拟合加速实现自动调焦算法；
3、界面兼容老版（张卓）和新版（唐超）的马达控制和自动调焦算法流程，添加采样间隔参数；
4、配置文件备份，自动调焦电机厂商没有导程信息，唐超通过行程算出的，不准确，但完全够用；
This commit is contained in:
tangchao0503
2025-08-14 17:40:27 +08:00
parent 48be580226
commit 1867291c9b
8 changed files with 929 additions and 129 deletions
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118
HPPA/FocusDialog.ui
View File

@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>600</width>
<height>332</height>
<width>632</width>
<height>444</height>
</rect>
</property>
<property name="windowTitle">
@ -41,13 +41,10 @@
<widget class="QComboBox" name="motorPort_comboBox"/>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_3">
<widget class="QRadioButton" name="ultrasound_radioButton">
<property name="text">
<string>超声</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
@ -57,14 +54,14 @@
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QRadioButton" name="ultrasound_radioButton">
<item row="2" column="0" colspan="2">
<widget class="QRadioButton" name="is_new_version_radioButton">
<property name="text">
<string>超声</string>
<string>新版</string>
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="0" colspan="2">
<widget class="QPushButton" name="connectMotor_btn">
<property name="text">
<string>连接线性平台</string>
@ -81,20 +78,49 @@
</property>
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="0">
<widget class="QLabel" name="label_3">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string>采样率</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="sample_ratio_lineEdit">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>20</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QProgressBar" name="autoFocusProgress_progressBar">
<property name="value">
<number>24</number>
</property>
</widget>
</item>
<item row="0" column="1">
<item row="1" column="1">
<widget class="QPushButton" name="autoFocus_btn">
<property name="text">
<string>自动调焦</string>
</property>
</widget>
</item>
<item row="1" column="0">
<item row="2" column="0">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@ -107,7 +133,7 @@
</property>
</spacer>
</item>
<item row="1" column="1">
<item row="2" column="1">
<widget class="QPushButton" name="manualFocus_btn">
<property name="text">
<string>手动调焦</string>
@ -132,16 +158,16 @@
</sizepolicy>
</property>
<property name="text">
<string>更新</string>
<string>更新实时位置</string>
</property>
</widget>
</item>
<item row="0" column="1">
<item row="0" column="1" colspan="2">
<widget class="QLineEdit" name="currentLocation_lineEdit">
<property name="minimumSize">
<size>
<width>0</width>
<height>46</height>
<height>0</height>
</size>
</property>
<property name="text">
@ -150,75 +176,101 @@
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="2">
<item row="1" column="0">
<widget class="QPushButton" name="moveto_btn">
<property name="text">
<string>移动至</string>
</property>
</widget>
</item>
<item row="1" column="0">
<item row="1" column="1" colspan="2">
<widget class="QLineEdit" name="move2_lineEdit">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>10</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QPushButton" name="add_btn">
<property name="text">
<string>+</string>
</property>
</widget>
</item>
<item row="1" column="1">
<item row="2" column="1" colspan="2">
<widget class="QLineEdit" name="addStepSize_lineEdit">
<property name="minimumSize">
<size>
<width>0</width>
<height>46</height>
<height>0</height>
</size>
</property>
<property name="text">
<string>50</string>
<string>10</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QPushButton" name="logicZero_btn">
<property name="text">
<string>LogicZero</string>
</property>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<widget class="QPushButton" name="subtract_btn">
<property name="text">
<string>-</string>
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1" colspan="2">
<widget class="QLineEdit" name="subtractStepSize_lineEdit">
<property name="minimumSize">
<size>
<width>0</width>
<height>46</height>
<height>0</height>
</size>
</property>
<property name="text">
<string>50</string>
<string>10</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="2">
<item row="4" column="0">
<widget class="QPushButton" name="logicZero_btn">
<property name="text">
<string>LogicZero</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QPushButton" name="max_btn">
<property name="text">
<string>max</string>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QPushButton" name="rangeMeasurement_btn">
<property name="text">
<string>量程测量</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>

84
HPPA/ImagerOperationBase.cpp
View File

@ -74,6 +74,8 @@ double ImagerOperationBase::auto_exposure()
void ImagerOperationBase::focus()
{
m_iFocusFramesNumber = 0;
m_iFocusFrameCounter = 1;
//std::cout << "<22><><EFBFBD><EFBFBD>-----------" << std::endl;
@ -85,16 +87,42 @@ void ImagerOperationBase::focus()
auto_exposure();
std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>" << getIntegrationTime() << std::endl;
int iWidth, iHeight;
GetFrameSize(iWidth, iHeight);
unsigned short* tmp = new unsigned short[m_FrameSize];
imagerStartCollect();
//emit SpectralSignal(1);
m_bFocusControlState = true;
while (m_bFocusControlState)
{
////<2F><>֡ƽ<D6A1><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD>
//memset((void*)buffer, 0, m_FrameSize * sizeof(unsigned short));
//int fn = 5;
//for (int i = 0; i < fn; i++)
//{
// getFrame(tmp);
// for (int j = 0; j < m_FrameSize; j++)
// {
// buffer[j] += tmp[j];
// }
//}
//for (int j = 0; j < m_FrameSize; j++)
//{
// buffer[j] += buffer[j] / fn;
//}
getFrame(buffer);
//m_RgbImage->FillFocusGrayImage(buffer);
m_RgbImage->FillFocusGrayQImage(buffer);
double focusIndex = calcFocusIndexSobelPrivate(buffer);
emit FocusIndexSobelSignal(focusIndex);
std::cout << "focusIndex<EFBFBD><EFBFBD>" << focusIndex << std::endl;
emit SpectralSignal(1);
++m_iFocusFrameCounter;
@ -102,6 +130,7 @@ void ImagerOperationBase::focus()
emit SpectralSignal(0);
imagerStopCollect();
delete[] tmp;
setFramerate(tmpFrmerate);
setIntegrationTime(tmpIntegrationTime);
@ -335,6 +364,61 @@ int ImagerOperationBase::GetFrameSize(int& iWidth, int& iHeight)
return 0;
}
void ImagerOperationBase::getFocusIndexSobel()
{
imagerStartCollect();
getFrame(buffer);
imagerStopCollect();
double focusIndex = calcFocusIndexSobelPrivate(buffer);
emit FocusIndexSobelSignal(focusIndex);
}
double ImagerOperationBase::calcFocusIndexSobelPrivate(void* pvData)
{
int iSelection = 0;
int iWidth, iHeight;
GetFrameSize(iWidth, iHeight);
unsigned short* psData;
psData = (unsigned short*)pvData;
cv::Mat gray(iHeight, iWidth, CV_16UC1, psData);//<2F><><EFBFBD><EFBFBD>֤<EFBFBD><D6A4>gray.data<74><61><EFBFBD><EFBFBD><EFBFBD>ݺ<EFBFBD>psDataһ<61><D2BB><EFBFBD><EFBFBD>
/*string rgbFilePathNoStrech = "E:\\hppa\\delete\\focusImg_";
string tmp1 = std::to_string(m_iFocusFramesNumber);
string tmp2 = ".png";*/
string rgbFilePathNoStrech = "E:\\hppa\\delete\\focusImg_" + std::to_string(m_iFocusFramesNumber) + ".png";
//cv::imwrite(rgbFilePathNoStrech, gray);
m_iFocusFramesNumber++;
//<2F><><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD>
//cv::Mat outputImage;
//cv::Size kernelSize(5, 5);
//double sigmaX = 1.5;
//cv::GaussianBlur(gray, outputImage, kernelSize, sigmaX);
cv::Mat outputImage = gray;
cv::Mat gradX, gradY, absGradX, absGradY;
cv::Sobel(outputImage, gradX, CV_32F, 1, 0);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ΪCV_16S<36><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>cv::magnitude<64><65><EFBFBD><EFBFBD>
cv::Sobel(outputImage, gradY, CV_32F, 0, 1);
cv::convertScaleAbs(gradX, absGradX);
cv::convertScaleAbs(gradY, absGradY);
cv::Mat grad;
cv::addWeighted(absGradX, 0.5, absGradY, 0.5, 0, grad);
cv::Mat magnitude, direction;
cv::magnitude(gradX, gradY, magnitude);//
cv::phase(gradX, gradY, direction, true); // true<75><65>ʾ<EFBFBD><CABE><EFBFBD>ؽǶȶ<C7B6><C8B6>ǻ<EFBFBD><C7BB><EFBFBD>
return cv::mean(magnitude)[0];
}
CImage* ImagerOperationBase::getRgbImage() const
{
return m_RgbImage;

7
HPPA/ImagerOperationBase.h
View File

@ -55,6 +55,7 @@ public:
void setFocusControlState(bool FocusControlState);
int GetFrameSize(int& iWidth, int& iHeight);
protected:
CImage* m_RgbImage;//<2F><>ʾ<EFBFBD><CABE>rgbͼ<62><CDBC>
@ -85,6 +86,8 @@ protected:
private:
int m_iFocusFramesNumber;
double calcFocusIndexSobelPrivate(void* pvData);
public slots:
virtual void connect_imager(int frameNumber);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٻ<EFBFBD><D9BB><EFBFBD>
@ -93,6 +96,8 @@ public slots:
virtual void start_record();
virtual void record_dark();
virtual void record_white();
void getFocusIndexSobel();
signals:
void PlotSignal(int);//<2F><><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>źţ<C5BA>-1<><31><EFBFBD>˴βɼ<CEB2><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD>
void RecordFinishedSignal_WhenFrameNumberMeet();//<2F>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<C5BA><C5A3><EFBFBD>Ҫ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD>m_iFrameNumber<65><72><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>
@ -102,6 +107,8 @@ signals:
void RecordWhiteFinishSignal();
void RecordDarlFinishSignal();
void FocusIndexSobelSignal(double);
void testImagerStatus();//<2F><>ʾ<EFBFBD><CABE><EFBFBD>Բ<EFBFBD><D4B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬<D7B4><CCAC><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD>ӣ<EFBFBD><D3A3><EFBFBD><EFBFBD><EFBFBD>ӳ<EFBFBD><D3B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
};

596
HPPA/focusWindow.cpp
View File

@ -1,11 +1,11 @@
#include "stdafx.h"
#include "stdafx.h"
#include "focusWindow.h"
focusWindow::focusWindow(QWidget *parent, ImagerOperationBase* imager)
{
ui.setupUi(this);
//<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
//读取配置文件
string HPPACfgFile = getPathofEXE() + "\\HPPA.cfg";
Configfile configfile;
configfile.setConfigfilePath(HPPACfgFile);
@ -18,7 +18,7 @@ focusWindow::focusWindow(QWidget *parent, ImagerOperationBase* imager)
disableBeforeConnect(true);
setAttribute(Qt::WA_DeleteOnClose);//<EFBFBD><EFBFBD><EFBFBD>ùرմ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><EFBFBD>ô<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
setAttribute(Qt::WA_DeleteOnClose);//设置关闭窗体就调用窗体的析构函数
m_Imager = imager;
m_FocusState = 0;
@ -38,7 +38,9 @@ focusWindow::focusWindow(QWidget *parent, ImagerOperationBase* imager)
connect(this->ui.updateCurrentLocation_btn, SIGNAL(clicked()), this, SLOT(onUpdateCurrentLocation()));
connect(this->ui.moveto_btn, SIGNAL(clicked()), this, SLOT(onMoveto()));
//<2F><><EFBFBD>ҿ<EFBFBD><D2BF>ô<EFBFBD><C3B4>ڣ<EFBFBD><DAA3><EFBFBD><EFBFBD><EFBFBD>ʾ
connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
//查找可用串口，并显示
foreach(const QSerialPortInfo &info, QSerialPortInfo::availablePorts())
{
QSerialPort serial;
@ -51,20 +53,29 @@ focusWindow::focusWindow(QWidget *parent, ImagerOperationBase* imager)
}
}
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//设置自动调焦进度条
ui.autoFocusProgress_progressBar->setMinimum(0);
ui.autoFocusProgress_progressBar->setMaximum(100);
ui.autoFocusProgress_progressBar->reset();
m_dSpeed = 1.0;
}
focusWindow::~focusWindow()
{
printf("destroy focusWindow-------------------------\n");
emit StartManualFocusSignal(0);//<EFBFBD><EFBFBD><EFBFBD>û<EFBFBD>û<EFBFBD>е<EFBFBD><EFBFBD><EFBFBD>ֹͣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͹رմ<EFBFBD><EFBFBD><EFBFBD>
emit StartManualFocusSignal(0);//当用户没有点击停止调焦就关闭窗口
delete m_ctrlFocusMotor;
//delete thread1, progressThread;
m_motorThread.quit();
m_motorThread.wait();
m_MotionCaptureCoordinatorThread.quit();
m_MotionCaptureCoordinatorThread.wait();
}
void focusWindow::disableBeforeConnect(bool disable)
@ -92,142 +103,238 @@ bool test(void *pCaller, int *x, int *y, void **pvdata)
void focusWindow::onConnectMotor()
{
if (m_ctrlFocusMotor != nullptr)
if (ui.is_new_version_radioButton->isChecked())
{
printf("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-------------------------\n");
return;
}
FileOperation* fileOperation = new FileOperation();
string directory = fileOperation->getDirectoryOfExe();
QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile_focus.cfg";
bool isUltrasound = ui.ultrasound_radioButton->isChecked();
QString motorPortTmp = ui.motorPort_comboBox->currentText();
QString ultrasoundPortTmp = ui.ultrasoundPort_comboBox->currentText();
QRegExp rx("\\d+$");
rx.indexIn(motorPortTmp, 0);
int motorPort = rx.cap(0).toInt();
rx.indexIn(ultrasoundPortTmp, 0);
int ultrasoundPort = rx.cap(0).toInt();
if (isUltrasound)
{
PortInfo motor;
motor.iPortType = 0;
motor.indexParity = 0;
m_multiAxisController = new IrisMultiMotorController(configFilePath);
m_multiAxisController->moveToThread(&m_motorThread);
connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
connect(this, SIGNAL(rmoveSignal(int, double, double, int)), m_multiAxisController, SLOT(rmove(int, double, double, int)));
connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
connect(this, SIGNAL(rangeMeasurementSignal(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
connect(this, SIGNAL(move2MaxLocSignal(int, double, int)), m_multiAxisController, SLOT(moveToMax(int, double, int)));
connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
m_motorThread.start();
motor.iPortNumber = motorPort;
motor.indexBaudRate = 0x13;
motor.indexBytesize = 3;
motor.indexStopBits = 0;
//归零
//emit zeroStartSignal(0);
PortInfo ultrasound;
ultrasound.iPortType = 0;
ultrasound.indexParity = 0;
ultrasound.iPortNumber = ultrasoundPort;
ultrasound.indexBaudRate = 0x0C;
ultrasound.indexBytesize = 3;
ultrasound.indexStopBits = 0;
m_ctrlFocusMotor = new CFocusMotorControl();
m_ctrlFocusMotor->SetLogicZero(m_iMinPos);
m_ctrlFocusMotor->SetLimit(m_iMinPos, m_iMaxPos);
m_ctrlFocusMotor->InitSystem(motor, ultrasound, test, this);
//m_ctrlFocusMotor->MoveToLogicZero();
//自动调焦逻辑
m_coordinator = new MotionCaptureCoordinator(m_multiAxisController, m_Imager);
m_coordinator->moveToThread(&m_MotionCaptureCoordinatorThread);
connect(&m_MotionCaptureCoordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
connect(this, SIGNAL(startStepMotion(double, int, double, double)), m_coordinator, SLOT(startStepMotion(double, int, double, double)));
connect(m_coordinator, SIGNAL(progressChanged(int)), this, SLOT(onAutoFocusProgress(int)));
connect(m_coordinator, SIGNAL(sequenceComplete()), this, SLOT(onAutoFocusFinished()));
m_MotionCaptureCoordinatorThread.start();
}
else
{
PortInfo motor;
motor.iPortType = 0;
motor.indexParity = 0;
motor.iPortNumber = motorPort;
motor.indexBaudRate = 0x13;
motor.indexBytesize = 3;
motor.indexStopBits = 0;
if (m_ctrlFocusMotor != nullptr)
{
printf("不能重复连接-------------------------\n");
return;
}
m_ctrlFocusMotor = new CFocusMotorControl();
bool isUltrasound = ui.ultrasound_radioButton->isChecked();
m_ctrlFocusMotor->SetLogicZero(m_iMinPos);
m_ctrlFocusMotor->SetLimit(m_iMinPos, m_iMaxPos);
m_ctrlFocusMotor->InitSystem(motor, test, this);
m_ctrlFocusMotor->MoveToLogicZero();
QString motorPortTmp = ui.motorPort_comboBox->currentText();
QString ultrasoundPortTmp = ui.ultrasoundPort_comboBox->currentText();
QRegExp rx("\\d+$");
rx.indexIn(motorPortTmp, 0);
int motorPort = rx.cap(0).toInt();
rx.indexIn(ultrasoundPortTmp, 0);
int ultrasoundPort = rx.cap(0).toInt();
if (isUltrasound)
{
PortInfo motor;
motor.iPortType = 0;
motor.indexParity = 0;
motor.iPortNumber = motorPort;
motor.indexBaudRate = 0x13;
motor.indexBytesize = 3;
motor.indexStopBits = 0;
PortInfo ultrasound;
ultrasound.iPortType = 0;
ultrasound.indexParity = 0;
ultrasound.iPortNumber = ultrasoundPort;
ultrasound.indexBaudRate = 0x0C;
ultrasound.indexBytesize = 3;
ultrasound.indexStopBits = 0;
m_ctrlFocusMotor = new CFocusMotorControl();
m_ctrlFocusMotor->SetLogicZero(m_iMinPos);
m_ctrlFocusMotor->SetLimit(m_iMinPos, m_iMaxPos);
m_ctrlFocusMotor->InitSystem(motor, ultrasound, test, this);
//m_ctrlFocusMotor->MoveToLogicZero();
}
else
{
PortInfo motor;
motor.iPortType = 0;
motor.indexParity = 0;
motor.iPortNumber = motorPort;
motor.indexBaudRate = 0x13;
motor.indexBytesize = 3;
motor.indexStopBits = 0;
m_ctrlFocusMotor = new CFocusMotorControl();
m_ctrlFocusMotor->SetLogicZero(m_iMinPos);
m_ctrlFocusMotor->SetLimit(m_iMinPos, m_iMaxPos);
m_ctrlFocusMotor->InitSystem(motor, test, this);
m_ctrlFocusMotor->MoveToLogicZero();
}
}
disableBeforeConnect(false);
}
void focusWindow::display_x_loc(std::vector<double> loc)
{
double tmp = round(loc[0] * 100) / 100;
this->ui.currentLocation_lineEdit->setText(QString::number(tmp));
}
void focusWindow::onx_rangeMeasurement()
{
emit rangeMeasurementSignal(0, m_dSpeed, 1000);
}
void focusWindow::onMove2MotorLogicZero()
{
m_ctrlFocusMotor->MoveToLogicZero();
if (ui.is_new_version_radioButton->isChecked())
{
emit zeroStartSignal(0);
}
else
{
m_ctrlFocusMotor->MoveToLogicZero();
}
}
void focusWindow::onMove2MotorMax()
{
m_ctrlFocusMotor->MoveToPos(m_iMaxPos);
if (ui.is_new_version_radioButton->isChecked())
{
emit move2MaxLocSignal(0, m_dSpeed, 1000);
}
else
{
m_ctrlFocusMotor->MoveToPos(m_iMaxPos);
}
}
void focusWindow::onAdd()
{
DriverInfo di;
m_ctrlFocusMotor->GetDriverStatus(di);
double rdistance = ui.addStepSize_lineEdit->text().toDouble();
int stepSize = ui.addStepSize_lineEdit->text().toInt();
if (ui.is_new_version_radioButton->isChecked())
{
emit rmoveSignal(0, (double)abs(rdistance), m_dSpeed, 1000);
}
else
{
DriverInfo di;
m_ctrlFocusMotor->GetDriverStatus(di);
m_ctrlFocusMotor->MoveToPos(di.iAbsPosition + stepSize);
m_ctrlFocusMotor->MoveToPos(di.iAbsPosition + rdistance);
}
}
void focusWindow::onSubtract()
{
DriverInfo di;
m_ctrlFocusMotor->GetDriverStatus(di);
double rdistance = ui.subtractStepSize_lineEdit->text().toDouble();
int stepSize = ui.subtractStepSize_lineEdit->text().toInt();
if (ui.is_new_version_radioButton->isChecked())
{
emit rmoveSignal(0, (double)abs(rdistance) * -1, m_dSpeed, 1000);
}
else
{
DriverInfo di;
m_ctrlFocusMotor->GetDriverStatus(di);
m_ctrlFocusMotor->MoveToPos(di.iAbsPosition - stepSize);
m_ctrlFocusMotor->MoveToPos(di.iAbsPosition - rdistance);
}
}
void focusWindow::onAutoFocus()
{
bool isUltrasound = ui.ultrasound_radioButton->isChecked();
WorkerThread2 *thread1 = new WorkerThread2(m_ctrlFocusMotor, isUltrasound);
if (ui.is_new_version_radioButton->isChecked())
{
//先按照一定间隔从负极限到正极限获取一系列（位置，调焦指数）
m_iStepSize = ui.sample_ratio_lineEdit->text().toInt();
ui.autoFocusProgress_progressBar->setMinimum(0);
ui.autoFocusProgress_progressBar->setMaximum(m_iStepSize);
ui.autoFocusProgress_progressBar->reset();
connect(thread1, SIGNAL(AutoFocusFinishedSignal()), this, SLOT(onAutoFocusFinished()));
//获取马达最大位置
std::vector<double> maxRangeLocations = m_multiAxisController->getMaxPos();
double maxPos = maxRangeLocations[0];
emit startStepMotion(m_dSpeed, m_iStepSize, 0, maxPos);
}
else
{
bool isUltrasound = ui.ultrasound_radioButton->isChecked();
WorkerThread2* thread1 = new WorkerThread2(m_ctrlFocusMotor, isUltrasound);
thread1->start();
connect(thread1, SIGNAL(AutoFocusFinishedSignal()), this, SLOT(onAutoFocusFinished()));
thread1->start();
WorkerThread4* progressThread = new WorkerThread4(m_ctrlFocusMotor);
connect(progressThread, SIGNAL(AutoFocusProgressSignal(int)), this, SLOT(onAutoFocusProgress(int)));
progressThread->start();
ui.autoFocusProgress_progressBar->reset();
}
this->setDisabled(true);
WorkerThread4 *progressThread = new WorkerThread4(m_ctrlFocusMotor);
connect(progressThread, SIGNAL(AutoFocusProgressSignal(int)), this, SLOT(onAutoFocusProgress(int)));
progressThread->start();
ui.autoFocusProgress_progressBar->reset();
}
void focusWindow::onManualFocus()
{
if (ui.is_new_version_radioButton->isChecked())
{
}
else
{
}
m_FocusState += 1;
std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ť<EFBFBD><EFBFBD>" << std::endl;
std::cout << "点击调焦按钮！" << std::endl;
if (m_FocusState % 2 == 1)
{
//<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//开始调焦
emit StartManualFocusSignal(1);
ui.manualFocus_btn->setText(QString::fromLocal8Bit("ֹͣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
ui.manualFocus_btn->setText(QString::fromLocal8Bit("停止调焦"));
ui.manualFocus_btn->setStyleSheet("QWidget{background-color:rgb(255,0,0);}");
ui.autoFocus_btn->setDisabled(true);
//std::cout << "------------------------------------------<EFBFBD><EFBFBD>" << m_FocusState << std::endl;
//std::cout << "------------------------------------------：" << m_FocusState << std::endl;
}
else
{
emit StartManualFocusSignal(0);
m_Imager->setFocusControlState(false);
ui.manualFocus_btn->setText(QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
ui.manualFocus_btn->setText(QString::fromLocal8Bit("调焦"));
ui.manualFocus_btn->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
@ -237,30 +344,157 @@ void focusWindow::onManualFocus()
void focusWindow::onUpdateCurrentLocation()
{
DriverInfo di;
m_ctrlFocusMotor->GetDriverStatus(di);
ui.currentLocation_lineEdit->setText(QString::number(di.iAbsPosition));
if (ui.is_new_version_radioButton->isChecked())
{
//因为新版的马达控制是实时反馈位置信息，所以不需要做任何事
}
else
{
DriverInfo di;
m_ctrlFocusMotor->GetDriverStatus(di);
ui.currentLocation_lineEdit->setText(QString::number(di.iAbsPosition));
}
}
void focusWindow::onMoveto()
{
int pos = ui.currentLocation_lineEdit->text().toInt();
//<2F><>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ч<EFBFBD><D0A7><EFBFBD><EFBFBD>֤<EFBFBD><D6A4><EFBFBD>鿴<EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>Ч<EFBFBD><D0A7>Χ<EFBFBD><CEA7>
double pos = ui.move2_lineEdit->text().toDouble();
if (ui.is_new_version_radioButton->isChecked())
{
emit move2LocSignal(0, (double)pos, m_dSpeed, 1000);
}
else
{
//需要做参数有效性验证，查看是否在有效范围内
m_ctrlFocusMotor->MoveToPos(pos);
m_ctrlFocusMotor->MoveToPos(pos);
}
}
void focusWindow::onAutoFocusFinished()
{
this->setDisabled(false);
if (ui.is_new_version_radioButton->isChecked())
{
//通过高斯拟合获取最佳位置
QVector<PositionData> positionData = m_coordinator->getAllPositionData();
onUpdateCurrentLocation();
std::vector<double> actualPositions;
std::vector<double> cameraIndices;
actualPositions.reserve(positionData.size());
cameraIndices.reserve(positionData.size());
int scaleFactor = 100;
for (const auto& data : positionData)
{
actualPositions.push_back(data.actualPosition * scaleFactor);
cameraIndices.push_back(data.cameraIndex);
}
double a_init, mu_init, sigma_init, c_init;
getGaussianInitParam(actualPositions, cameraIndices, a_init, mu_init, sigma_init, c_init);
double a = a_init, mu = mu_init, sigma = sigma_init, c = c_init;
gaussian_fit(actualPositions, cameraIndices, a, mu, sigma, c);
mu_init = mu_init / scaleFactor;
mu = mu / scaleFactor;
std::cout << "mu 初值：" << mu_init << std::endl << "mu 拟合值：" << mu << std::endl;
//对拟合值进行判断，排除错误拟合情况（地物没有纹理）
std::vector<double> maxRangeLocations = m_multiAxisController->getMaxPos();
double maxPos = maxRangeLocations[0];
if (mu < 0 || mu > maxPos)
{
std::cout << "拟合失败！！！！！" << std::endl;
QMessageBox msgBox;
msgBox.setText(QString::fromLocal8Bit("纹理较弱，自动调焦效果不佳！请使用调焦纸进行自动调焦！"));
msgBox.exec();
mu = mu_init;
}
FileOperation* fileOperation = new FileOperation();
string directory = fileOperation->getDirectoryOfExe();
QDateTime now = QDateTime::currentDateTime();
QString format1 = "yyyyMMdd_HHmmss";
QString fileName = now.toString("yyyyMMdd_HHmmss");
QString tmp = QDir::cleanPath(QString::fromStdString(directory) + QDir::separator() + fileName + "_" + QString::number(m_iStepSize) + "interval_" + QString::number(mu) + ".csv");
QString focusFilePath = QString::fromStdString(directory) + "\\focus.csv";
m_coordinator->saveToCsv(tmp);
//移动马达到最佳位置
emit move2LocSignal(0, (double)mu, m_dSpeed, 1000);
}
else
{
onUpdateCurrentLocation();
}
this->setDisabled(false);
}
void focusWindow::getGaussianInitParam(const std::vector<double>& pos, const std::vector<double>& index, double& a_init, double& mu_init, double& sigma_init, double& c_init)
{
auto minmax_element = std::minmax_element(index.begin(), index.end());
a_init = *minmax_element.second - *minmax_element.first;
mu_init = pos[std::distance(index.begin(), minmax_element.second)];
c_init = *minmax_element.first;
//sigma_init
double half_max = (*minmax_element.second + *minmax_element.first) / 2.0;
size_t peak_idx = std::distance(index.begin(), minmax_element.second);
size_t left_idx = peak_idx;// 找左半高点
while (left_idx > 0 && index[left_idx] > half_max) left_idx--;
size_t right_idx = peak_idx;// 找右半高点
while (right_idx < index.size() - 1 && index[right_idx] > half_max) right_idx++;
double fwhm = pos[right_idx] - pos[left_idx];
sigma_init = fwhm / 2.3548;
}
// 使用 Gauss-Newton 进行高斯拟合
void focusWindow::gaussian_fit(const std::vector<double>& x_data,
const std::vector<double>& y_data,
double& a, double& mu, double& sigma, double& c)
{
const int max_iter = 100;
for (int iter = 0; iter < max_iter; iter++)
{
Eigen::MatrixXd J(x_data.size(), 4);
Eigen::VectorXd r(x_data.size());
for (size_t i = 0; i < x_data.size(); i++)
{
double xi = x_data[i];
double yi = y_data[i];
double exp_part = std::exp(-(xi - mu) * (xi - mu) / (2 * sigma * sigma));
double fi = a * exp_part + c;
r(i) = yi - fi;
// 雅可比
J(i, 0) = -exp_part; // ∂f/∂a
J(i, 1) = -a * exp_part * ((xi - mu) / (sigma * sigma)); // ∂f/∂mu
J(i, 2) = -a * exp_part * ((xi - mu) * (xi - mu) / (sigma * sigma * sigma)); // ∂f/∂sigma
J(i, 3) = -1.0; // ∂f/∂c
}
Eigen::VectorXd delta = (J.transpose() * J).ldlt().solve(-J.transpose() * r);
a += delta(0);
mu += delta(1);
sigma += delta(2);
c += delta(3);
if (delta.norm() < 1e-8) break;
}
}
void focusWindow::onAutoFocusProgress(int progress)
{
//std::cout << "<EFBFBD><EFBFBD><EFBFBD>ȣ<EFBFBD>" << progress << std::endl;
//std::cout << "进度：" << progress << std::endl;
ui.autoFocusProgress_progressBar->setValue(progress);
}
@ -287,7 +521,7 @@ WorkerThread2::WorkerThread2(CFocusMotorControl * ctrlFocusMotor, bool isUltraso
void WorkerThread2::run()
{
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
//配置文件
string HPPACfgFile = getPathofEXE() + "\\HPPA.cfg";
Configfile configfile;
configfile.setConfigfilePath(HPPACfgFile);
@ -326,15 +560,185 @@ void WorkerThread4::run()
{
int progress = m_ctrlFocusMotor->GetProgressIndex();
//std::cout << "WorkerThread4::run----<EFBFBD>Զ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȣ<EFBFBD>" << progress << std::endl;
//std::cout << "WorkerThread4::run----自动调焦进度：" << progress << std::endl;
emit AutoFocusProgressSignal(progress);
if (progress == 100)
{
//std::cout << "<EFBFBD>Զ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɣ<EFBFBD>" << std::endl;
//std::cout << "自动调焦完成！" << std::endl;
break;
}
msleep(200);
}
}
}
//-------------------------------------------------------------------------------------------------------------------------------------------------------------
MotionCaptureCoordinator::MotionCaptureCoordinator(
IrisMultiMotorController* motorCtrl,
ImagerOperationBase* cameraCtrl,
QObject* parent)
: QObject(parent)
, m_motorCtrl(motorCtrl)
, m_cameraCtrl(cameraCtrl)
, m_currentPos(0)
, m_endPos(0)
, m_isRunning(false)
{
//这些信号槽是按照逻辑顺序的
connect(this, SIGNAL(moveTo(int, double, double, int)),
m_motorCtrl, SLOT(moveTo(int, double, double, int)));
connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
this, &MotionCaptureCoordinator::handlePositionReached);
//connect(m_motorCtrl, &IrisMultiMotorController::moveFailed,
// this, &MotionCaptureCoordinator::handleError);
connect(this, SIGNAL(getFocusIndexSobel()),
m_cameraCtrl, SLOT(getFocusIndexSobel()));
connect(m_cameraCtrl, &ImagerOperationBase::FocusIndexSobelSignal,
this, &MotionCaptureCoordinator::handleCaptureComplete);
//connect(m_cameraCtrl, &ImagerOperationBase::captureFailed,
// this, &MotionCaptureCoordinator::handleError);
}
MotionCaptureCoordinator::~MotionCaptureCoordinator()
{
}
void MotionCaptureCoordinator::startStepMotion(double speed, int stepInterval, double startPos, double endPos)
{
QMutexLocker locker(&m_dataMutex);
if (m_isRunning)
{
emit errorOccurred("Sequence already running");
return;
}
m_counter = 0;
m_positionData.clear();
m_speed = speed;
m_iStepInterval = stepInterval;
m_iStepIntervalRealTime = 1;
m_currentPos = startPos;
m_endPos = endPos;
m_posInternal = (endPos - startPos) / stepInterval;
m_isRunning = true;
processNextPosition();
}
void MotionCaptureCoordinator::stopStepMotion()
{
QMutexLocker locker(&m_dataMutex);
m_isRunning = false;
emit sequenceStopped();
}
QVector<PositionData> MotionCaptureCoordinator::getAllPositionData() const
{
//QMutexLocker locker(&m_dataMutex);
return m_positionData;
}
bool MotionCaptureCoordinator::saveToCsv(const QString& filename)
{
//QMutexLocker locker(&m_dataMutex);
QFile file(filename);
if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
{
return false;
}
QTextStream out(&file);
out << "Timestamp,targetPosition,ActualPosition,FocusIndex\n";
for (const auto& data : m_positionData)
{
out << data.timestamp.toString("yyyy-MM-dd HH:mm:ss.zzz") << ","
<< QString::number(data.targetPosition, 'f', 4) << ","
<< QString::number(data.actualPosition, 'f', 4) << ","
<< QString::number(data.cameraIndex, 'f', 4) << "\n";
}
file.close();
return true;
}
void MotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
{
if (!m_isRunning) return;
QMutexLocker locker(&m_dataMutex);
//验证马达运动位置是否到达指定位置
//if (pos != m_currentPos) return;
// 记录位置信息
PositionData data;
data.targetPosition = m_currentPos;
data.actualPosition = pos;
data.timestamp = QDateTime::currentDateTime();
m_positionData.append(data);
// 开始采集
emit getFocusIndexSobel();
}
void MotionCaptureCoordinator::handleCaptureComplete(double index)
{
if (!m_isRunning) return;
QMutexLocker locker(&m_dataMutex);
// 更新最近一条记录的相机指数
//if (!m_positionData.isEmpty() &&
// m_positionData.last().targetPosition == m_positionData.last().actualPosition)
//{
// m_positionData.last().cameraIndex = index;
//}
m_positionData.last().cameraIndex = index;
m_currentPos += m_posInternal;
m_iStepIntervalRealTime++;
emit progressChanged(m_iStepIntervalRealTime);
m_counter += 1;
std::cout << "第" << m_counter << "次采集：" << std::endl;
std::cout << "目标位置：" << m_positionData.last().targetPosition << std::endl;
std::cout << "实际位置：" << m_positionData.last().actualPosition << std::endl;
processNextPosition();
}
void MotionCaptureCoordinator::handleError(const QString& error)
{
QMutexLocker locker(&m_dataMutex);
m_isRunning = false;
emit errorOccurred(error);
}
void MotionCaptureCoordinator::processNextPosition()
{
if (!m_isRunning) return;
if (m_currentPos > m_endPos)
{
m_isRunning = false;
emit sequenceComplete();
return;
}
emit moveTo(0, m_currentPos, m_speed, 1000);
}

90
HPPA/focusWindow.h
View File

@ -16,6 +16,8 @@
#include <QFileDialog>
#include <QtSerialPort/QSerialPort>
#include <QtSerialPort/QSerialPortInfo>
#include <QDateTime>
#include <QMutex>
#include "ui_FocusDialog.h"
#include "AbstractPortMiscDefines.h"
@ -26,6 +28,71 @@
#include "hppaConfigFile.h"
#include "path_tc.h"
#include "ImagerOperationBase.h"
#include "IrisMultiMotorController.h"
#include <Eigen/Dense>
#include <cmath>
// <20><><EFBFBD>ݼ<EFBFBD>¼<EFBFBD>ṹ<EFBFBD><E1B9B9>
struct PositionData {
double targetPosition; // Ŀ<><C4BF>λ<EFBFBD><CEBB>
double actualPosition; // ʵ<><CAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
double cameraIndex; // <20><><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD>ָ<EFBFBD><D6B8>
QDateTime timestamp; // ʱ<><CAB1><EFBFBD><EFBFBD>
PositionData(double target = 0, double actual = 0.0, double index = 0.0)
: targetPosition(target), actualPosition(actual),
cameraIndex(index), timestamp(QDateTime::currentDateTime()) {}
};
// Э<><D0AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
class MotionCaptureCoordinator : public QObject
{
Q_OBJECT
public:
MotionCaptureCoordinator(IrisMultiMotorController* motorCtrl,
ImagerOperationBase* cameraCtrl,
QObject* parent = nullptr);
~MotionCaptureCoordinator();
QVector<PositionData> getAllPositionData() const;
bool saveToCsv(const QString& filename);
public slots:
void startStepMotion(double speed, int stepInterval = 100, double startPos = 0, double endPos = -1);//-1<><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܵ<EFBFBD><DCB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զλ<D4B6><CEBB>
void stopStepMotion();
signals:
void progressChanged(int progress);
void sequenceComplete();
void sequenceStopped();
void errorOccurred(const QString& error);
void moveTo(int, double, double, int);
void getFocusIndexSobel();
private slots:
void handlePositionReached(int motorID, double pos);
void handleCaptureComplete(double index);
void handleError(const QString& error);
private:
void processNextPosition();
IrisMultiMotorController* m_motorCtrl;
ImagerOperationBase* m_cameraCtrl;
QVector<PositionData> m_positionData;
mutable QMutex m_dataMutex;
double m_posInternal;
double m_currentPos;
double m_endPos;
bool m_isRunning;
double m_speed;
int m_iStepInterval;
int m_iStepIntervalRealTime;
int m_counter;
};
class focusWindow:public QDialog
{
@ -50,6 +117,18 @@ private:
void disableBeforeConnect(bool disable);
QThread m_motorThread;
IrisMultiMotorController* m_multiAxisController;
double m_dSpeed;
QThread m_MotionCaptureCoordinatorThread;
MotionCaptureCoordinator* m_coordinator;
int m_iStepSize;
void getGaussianInitParam(const std::vector<double>& pos, const std::vector<double>& index, double& a_init, double& mu_init, double& sigma_init, double& c_init);
void gaussian_fit(const std::vector<double>& x_data, const std::vector<double>& y_data, double& a, double& mu, double& sigma, double& c);
public Q_SLOTS:
void onConnectMotor();
void onMove2MotorLogicZero();
@ -64,8 +143,19 @@ public Q_SLOTS:
void onAutoFocusProgress(int progress);
void onUltrasound_radioButton();
void display_x_loc(std::vector<double> loc);
void onx_rangeMeasurement();
signals:
void StartManualFocusSignal(int);//1<><31><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><30>ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void move2LocSignal(int, double, double, int);
void move2MaxLocSignal(int, double, int);
void rmoveSignal(int, double, double, int);
void rangeMeasurementSignal(int, double, int);
void zeroStartSignal(int);
void startStepMotion(double speed, int stepInterval = 100, double startPos = 0, double endPos = -1);
};
class WorkerThread2 : public QThread

43
cfg_file_backup/HPPA.cfg Normal file
View File

@ -0,0 +1,43 @@
SN = "2004";
autoFocus :
{
PositionRestriction :
{
max = 1000;
min = 120;
};
TuningStepSize :
{
coarse = 10;
fine = 2;
};
FitParams :
{
fa = 0.0017;
fb = 0.3277;
};
AutoFocusRange :
{
max = 688;
min = 144;
};
};
motionPlatform :
{
x :
{
StepAnglemar = 1.8;
Lead = 1.0;
SubdivisionMultiples = 8;
ScaleFactor = 1.0;
MaxRange = 30.742266;
};
y :
{
StepAnglemar = 1.8;
Lead = 1.0;
SubdivisionMultiples = 8;
ScaleFactor = 1.0;
MaxRange = 31.283163;
};
};

60
cfg_file_backup/oneMotorConfigFile.cfg Normal file
View File

@ -0,0 +1,60 @@
SN = "0";
motors :
{
motor1 :
{
platformParams :
{
hardwareParams :
{
StepAngle = 1.8;
Lead = 4.0;
ScaleFactor = 1.0;
};
runParams :
{
RecordSpeed = 1.8;
MoveSpeed = 1.8;
ReturnSpeed = 1.8;
MaxRange = 120.0;
};
};
motorParams :
{
Manufacturer = 0;
CommunicationProtocol = 0;
connectionParams :
{
SerialPortNumber = "COM10";
BaudRate = 9600;
};
initParams :
{
limit :
{
msr = 1;
msv = 0;
psr = 2;
psv = 0;
};
other :
{
acc = 20000.0;
cra = 4.0;
crh = 1.0;
crn = 4.0;
dec = 20000.0;
mcs = 7;
};
zeroStart :
{
osv = 0;
snr = 0;
zmd = 2;
zsd = 3000;
zsp = 2400;
};
};
};
};
};

60
cfg_file_backup/oneMotorConfigFile_focus.cfg Normal file
View File

@ -0,0 +1,60 @@
SN = "0";
motors :
{
motor1 :
{
platformParams :
{
hardwareParams :
{
StepAngle = 1.8;
Lead = 1.37;
ScaleFactor = 1.0;
};
runParams :
{
RecordSpeed = 1.0;
MoveSpeed = 1.0;
ReturnSpeed = 1.0;
MaxRange = 11.559696;
};
};
motorParams :
{
Manufacturer = 0;
CommunicationProtocol = 1;
connectionParams :
{
SerialPortNumber = "COM10";
BaudRate = 9600;
};
initParams :
{
limit :
{
msr = 1;
msv = 1;
psr = 2;
psv = 1;
};
other :
{
acc = 19200.0;
cra = 0.2;
crh = 0.0;
crn = 0.2;
dec = 19200.0;
mcs = 6;
};
zeroStart :
{
osv = 1;
snr = 0;
zmd = 1;
zsd = 4000;
zsp = 2400;
};
};
};
};
};