def stop_motor(self):
self.stop = True
try:
driver_address = self.advanced_options.motor_driver_address
_driver.stop_motor(driver_address)
except Exception:
_traceback.print_exc(file=_sys.stdout)
msg = _QCoreApplication.translate(
'', 'Failed to stop motor.')
title = _QCoreApplication.translate('', 'Failure')
_QMessageBox.critical(self, title, msg, _QMessageBox.Ok)
return
def stop_measurement(self, silent=False):
try:
self.stop = True
self.ui.pbt_start_measurement.setEnabled(True)
_driver.stop_motor(
self.advanced_options.motor_driver_address)
if not silent:
msg = _QCoreApplication.translate(
'', 'The user stopped the measurements.')
title = _QCoreApplication.translate('', 'Abort')
_QMessageBox.information(
self, title, msg, _QMessageBox.Ok)
except Exception:
self.stop = True
_traceback.print_exc(file=_sys.stdout)
msg = _QCoreApplication.translate(
'', 'Failed to stop measurements.')
title = _QCoreApplication.translate('', 'Failure')
_QMessageBox.critical(self, title, msg, _QMessageBox.Ok)
def move_half_turn(self):
try:
if self.stop:
return False
wait = 0.5
motor_resolution = self.advanced_options.motor_resolution
driver_address = self.advanced_options.motor_driver_address
steps = int(int(motor_resolution)*0.5)
_driver.stop_motor(driver_address)
_time.sleep(wait)
if not self.configure_driver(steps):
return False
if self.stop:
return False
_driver.move_motor(driver_address)
_time.sleep(wait)
while not _driver.ready(driver_address) and not self.stop:
_time.sleep(wait)
_QApplication.processEvents()
_time.sleep(wait)
if self.stop:
return False
return True
except Exception:
msg = _QCoreApplication.translate(
'', 'Failed to move motor to initial position.')
title = _QCoreApplication.translate('', 'Failure')
_QMessageBox.critical(self, title, msg, _QMessageBox.Ok)
_traceback.print_exc(file=_sys.stdout)
return False
def configure_driver(self, steps):
try:
_driver.stop_motor(
self.advanced_options.motor_driver_address)
_time.sleep(0.1)
return _driver.config_motor(
self.advanced_options.motor_driver_address,
0,
self.advanced_options.motor_rotation_direction,
self.advanced_options.motor_resolution,
self.advanced_options.motor_velocity,
self.advanced_options.motor_acceleration,
steps)
except Exception:
msg = _QCoreApplication.translate(
'', 'Failed to configure driver.')
title = _QCoreApplication.translate('', 'Failure')
_QMessageBox.critical(self, title, msg, _QMessageBox.Ok)
_traceback.print_exc(file=_sys.stdout)
return False
def move_to_initial_position(self):
try:
if self.stop:
return False
if not _integrator.connected:
msg = _QCoreApplication.translate(
'', 'Integrator not connected.')
title = _QCoreApplication.translate('', 'Failure')
_QMessageBox.critical(self, title, msg, _QMessageBox.Ok)
return False
trigger = self.advanced_options.integration_trigger
encoder_res = self.advanced_options.integrator_encoder_resolution
motor_resolution = self.advanced_options.motor_resolution
rotation_direction = self.advanced_options.motor_rotation_direction
driver_address = self.advanced_options.motor_driver_address
wait = 0.5
tol = encoder_res/10
_driver.stop_motor(driver_address)
_time.sleep(wait)
current_position = int(_integrator.read_encoder())
position = trigger
if _np.abs(current_position - position) <= tol:
return True
diff = (current_position - position)
if rotation_direction == '-':
diff = diff*(-1)
pulses = (encoder_res - diff) % encoder_res
steps = int((pulses*motor_resolution)/encoder_res)
if not self.configure_driver(steps):
return False
if self.stop:
return False
_driver.move_motor(driver_address)
_time.sleep(wait)
while not _driver.ready(driver_address) and not self.stop:
_time.sleep(wait)
_QApplication.processEvents()
_time.sleep(wait)
if self.stop:
return False
return True
except Exception:
msg = _QCoreApplication.translate(
'', 'Failed to move motor to initial position.')
title = _QCoreApplication.translate('', 'Failure')
_QMessageBox.critical(self, title, msg, _QMessageBox.Ok)
_traceback.print_exc(file=_sys.stdout)
return False
def measure_position(self, gain):
try:
if self.stop:
return False
self.integrated_voltage = []
steps = int((self.advanced_options.integration_nr_turns + 1)*(
self.advanced_options.motor_resolution))
if not self.configure_integrator(gain):
return False
if not self.configure_driver(steps):
return False
driver_address = self.advanced_options.motor_driver_address
nr_turns = self.advanced_options.integration_nr_turns
integration_points = self.advanced_options.integration_points
total_npts = nr_turns*integration_points
if total_npts > 100:
step_status = int(total_npts/20)
elif total_npts > 50:
step_status = int(total_npts/10)
else:
step_status = 1
if not _integrator.start_measurement():
msg = _QCoreApplication.translate(
'', 'Incorrect integrator status.')
title = _QCoreApplication.translate('', 'Failure')
_QMessageBox.critical(
self, title, msg, _QMessageBox.Ok)
return False
if self.stop:
return False
_driver.move_motor(driver_address)
self.ui.pgb_status.setMinimum(0)
self.ui.pgb_status.setMaximum(total_npts)
self.ui.pgb_status.setValue(0)
count = 0
while (count < total_npts) and (not self.stop):
_QApplication.processEvents()
count = _integrator.get_data_count()
if count % step_status == 0:
self.ui.pgb_status.setValue(count)
data = _integrator.get_data_array()
if any(_np.isnan(di) for di in data):
msg = _QCoreApplication.translate(
'', (
'Integrator over-range.\n' +
'Please configure a lower gain.'
))
title = _QCoreApplication.translate('', 'Warning')
_QMessageBox.warning(self, title, msg, _QMessageBox.Ok)
return False
if self.stop:
return False
_driver.stop_motor(driver_address)
self.ui.pgb_status.setValue(total_npts)
integrated_voltage = _np.array(data).reshape(
nr_turns, integration_points).transpose()
if nr_turns > 5:
integrated_voltage = integrated_voltage[:, 1:-1]
self.integrated_voltage = integrated_voltage*(
_integrator.conversion_factor)
if self.stop:
return False
return True
except Exception:
_traceback.print_exc(file=_sys.stdout)
_driver.stop_motor(
self.advanced_options.motor_driver_address)
self.ui.pgb_status.setValue(0)
msg = _QCoreApplication.translate(
'', 'Measurement failed.')
title = _QCoreApplication.translate('', 'Failure')
_QMessageBox.critical(self, title, msg, _QMessageBox.Ok)
return False