基于stm32的3轴云台开源程序EvvGC

最完整的基于stm32的3轴云台开源程序EvvGC，包含MPU6050检测加速度和陀螺仪，病对3个电机进行控制

import processing.core.*; 
import processing.data.*; 
import processing.event.*; 
import processing.opengl.*; 

import processing.serial.*; 
import controlP5.*; 
import processing.opengl.*; 

import java.util.HashMap; 
import java.util.ArrayList; 
import java.io.File; 
import java.io.BufferedReader; 
import java.io.PrintWriter; 
import java.io.InputStream; 
import java.io.OutputStream; 
import java.io.IOException; 

public class EvvGC_GUI_v0_3 extends Papplet {


 // controlP5 library


ControlP5 controlP5;
//The serial port:
Serial myPort;

int xPP        = 80;
int yPP        = 100;
int xPD        = 200;
int yPD        = 100;
int xRP        = 80;
int yRP        = 150;
int xRD        = 200;
int yRD        = 150;
int xYP        = 80;
int yYP        = 200;
int xYD        = 200;
int yYD        = 200;
int xPPWR        = 375;
int yPPWR        = 100;
int xRPWR        = 375;
int yRPWR        = 150;
int xYPWR        = 375;
int yYPWR        = 200;
int xRollCal     = 500;
int yRollCal     = 200;

// Constants
int Y_AXIS = 1;
int X_AXIS = 2;
int b1 b2 c1 c2;


Numberbox PitchP;
Numberbox PitchD;
Numberbox RollP;
Numberbox RollD;
Numberbox YawP;
Numberbox YawD;
Numberbox PitchPWR;
Numberbox RollPWR;
Numberbox YawPWR;
Numberbox RollCal;
Button buttonREADbuttonWRITE buttonCONFon buttonCONFoff buttonP0 buttonP1 buttonP2 buttonRCOff buttonRCOn buttonYawRC buttonYawAut;
int m=10 i commListMax;

int green_ = color（0 120 170） gray_ = color（60 60 60）; ///30 120 30
boolean writeEnable = false;
boolean readEnable = false;
boolean printlist = true;
boolean portopen = false;
char RCcontrol = ‘0‘; 
char YawRCon = ‘0‘; 
String readStatus = ““;

public controlP5.Controller hideLabel（controlP5.Controller c） {
  c.setLabel（““）;
  c.setLabelVisible（false）;
  return c;
}


public void setup（）
{
  
  size（600 280）;
  background（75）;
  
  textSize（28）;
  fill（0 120 170）;//blue
  text（“EvvGC GUI“2050）;
 
 
  // Define colors
  b1 = color（80）;
  b2 = color（60）;
  c1 = color（80 80 80）;
  c2 = color（60 61 59）;
  
  controlP5 = new ControlP5（this）; // initialize the GUI controls

  //List all the available serial ports:
  println（Serial.list（））;



  for（int i=0;i    commListMax = i;
  }  
  


  /******************************PID cells*************************************************************/
  PitchP = （controlP5.Numberbox） hideLabel（controlP5.addNumberbox（“PitchP“0xPPyPP4016））;
  PitchP.setColorBackground（gray_）;PitchP.setMin（0）;PitchP.setDirection（Controller.HORIZONTAL）;PitchP.setDecimalPrecision（2）;PitchP.setMultiplier（0.01f）;PitchP.setMax（1）;

  PitchD = （controlP5.Numberbox） hideLabel（controlP5.addNumberbox（“PitchD“0xPDyPD4016））;
  PitchD.setColorBackground（gray_）;PitchD.setMin（0）;PitchD.setDirection（Controller.HORIZONTAL）;PitchD.setDecimalPrecision（2）;PitchD.setMultiplier（0.01f）;PitchD.setMax（1）;

  RollP = （controlP5.Numberbox） hideLabel（controlP5.addNumberbox（“RollP“0xRPyRP4016））;
  RollP.setColorB

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----

     文件        101  2013-12-14 07:11  Firmware-master - 副本\.gitignore

     文件        757  2013-12-14 07:11  Firmware-master - 副本\.project

     文件        240  2013-12-14 07:11  Firmware-master - 副本\ArmGCC47.bat

     文件       9284  2013-12-14 07:11  Firmware-master - 副本\bootloader\maple_boot.bin

     文件      69412  2013-12-14 07:11  Firmware-master - 副本\built-versions\0.3b\FW03preB.hex

     文件      69480  2013-12-14 07:11  Firmware-master - 副本\built-versions\0.3e\EvvGC_FW_03e.hex

     文件      69436  2013-12-14 07:11  Firmware-master - 副本\built-versions\0.3g\EvvGC_FW_03g.hex

     文件      62596  2013-12-14 07:11  Firmware-master - 副本\built-versions\0.4\STM32Gimbal.bin

     文件     172200  2013-12-14 07:11  Firmware-master - 副本\built-versions\0.4\STM32Gimbal.hex

     文件      62596  2013-12-14 07:11  Firmware-master - 副本\built-versions\0.4\STM32Gimbal.USB.bin

     文件     148006  2013-12-14 07:11  Firmware-master - 副本\built-versions\0.4\STM32Gimbal.zip

     文件      57156  2013-12-14 07:11  Firmware-master - 副本\built-versions\GUI\0.3e\application.windows32\EvvGC_GUI_v0_3.exe

     文件      69412  2013-12-14 07:11  Firmware-master - 副本\built-versions\GUI\0.3e\application.windows32\FW03preB.hex

     文件      21555  2013-12-14 07:11  Firmware-master - 副本\built-versions\GUI\0.3e\application.windows32\hs_err_pid3264.log

     文件        180  2013-12-14 07:11  Firmware-master - 副本\built-versions\GUI\0.3e\application.windows32\lib\args.txt

     文件     221865  2013-12-14 07:11  Firmware-master - 副本\built-versions\GUI\0.3e\application.windows32\lib\controlP5.jar

     文件     572067  2013-12-14 07:11  Firmware-master - 副本\built-versions\GUI\0.3e\application.windows32\lib\core.jar

     文件       4843  2013-12-14 07:11  Firmware-master - 副本\built-versions\GUI\0.3e\application.windows32\lib\EvvGC_GUI_v0_3.jar

     文件       4456  2013-12-14 07:11  Firmware-master - 副本\built-versions\GUI\0.3e\application.windows32\lib\gluegen-rt-natives-windows-i586.jar

     文件     248411  2013-12-14 07:11  Firmware-master - 副本\built-versions\GUI\0.3e\application.windows32\lib\gluegen-rt.jar

     文件     135224  2013-12-14 07:11  Firmware-master - 副本\built-versions\GUI\0.3e\application.windows32\lib\jogl-all-natives-windows-i586.jar

     文件    4803414  2013-12-14 07:11  Firmware-master - 副本\built-versions\GUI\0.3e\application.windows32\lib\jogl-all.jar

     文件      59467  2013-12-14 07:11  Firmware-master - 副本\built-versions\GUI\0.3e\application.windows32\lib\RXTXcomm.jar

     文件      77759  2013-12-14 07:11  Firmware-master - 副本\built-versions\GUI\0.3e\application.windows32\lib\rxtxSerial.dll

     文件       6426  2013-12-14 07:11  Firmware-master - 副本\built-versions\GUI\0.3e\application.windows32\lib\serial.jar

     文件      12581  2013-12-14 07:11  Firmware-master - 副本\built-versions\GUI\0.3e\application.windows32\source\EvvGC_GUI_v0_3.java

     文件      11743  2013-12-14 07:11  Firmware-master - 副本\built-versions\GUI\0.3e\application.windows32\source\EvvGC_GUI_v0_3.pde

     文件      57156  2013-12-14 07:11  Firmware-master - 副本\built-versions\GUI\0.4\application.windows32\EvvGC_GUI_v0_4.exe

     文件        179  2013-12-14 07:11  Firmware-master - 副本\built-versions\GUI\0.4\application.windows32\lib\args.txt

     文件     221865  2013-12-14 07:11  Firmware-master - 副本\built-versions\GUI\0.4\application.windows32\lib\controlP5.jar

............此处省略2687个文件信息