def __init__(self, parent=None): QtGui.QWidget.__init__(self, parent) self.ui = Ui_diag() self.ui.setupUi(self) # init stuff self.pInterface = None self.bRunThread = 0 self.sSerialDevice = "/dev/ttyS0" self.iUSBDevice = 0 self.selectDeviceType = 0 # 0 = USB, 1 = Robo Serial, 2 = II, 3 = II+Slave self.bEnableDist = False self.ui.tabWidget.setTabEnabled(0, 0) self.ui.tabWidget.setTabEnabled(1, 0) self.ui.tabWidget.setTabEnabled(2, 0) self.ui.tabWidget.setTabEnabled(3, 0) # here we connect signals with our slots QtCore.QObject.connect(self.ui.actionOpen, QtCore.SIGNAL("triggered()"), self.action_open) QtCore.QObject.connect(self.ui.actionClose_Interface, QtCore.SIGNAL("triggered()"), self.action_close) QtCore.QObject.connect(self, QtCore.SIGNAL("SetAnalogSignal()"), self.set_AnalogValues) QtCore.QObject.connect(self.ui.pushButton_Stop, QtCore.SIGNAL("clicked()"), self.emerg_stop) QtCore.QObject.connect(self.ui.pushButton_Stop_2, QtCore.SIGNAL("clicked()"), self.emerg_stop) QtCore.QObject.connect(self.ui.pushButton_Stop_3, QtCore.SIGNAL("clicked()"), self.emerg_stop) QtCore.QObject.connect(self.ui.pushButton_Stop_4, QtCore.SIGNAL("clicked()"), self.emerg_stop) # Outputs Main QtCore.QObject.connect(self.ui.dial_MainBoth_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_1) QtCore.QObject.connect(self.ui.dial_MainLeft_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_1) QtCore.QObject.connect(self.ui.dial_MainRight_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_1) QtCore.QObject.connect(self.ui.dial_MainBoth_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_2) QtCore.QObject.connect(self.ui.dial_MainLeft_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_2) QtCore.QObject.connect(self.ui.dial_MainRight_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_2) QtCore.QObject.connect(self.ui.dial_MainBoth_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_3) QtCore.QObject.connect(self.ui.dial_MainLeft_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_3) QtCore.QObject.connect(self.ui.dial_MainRight_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_3) QtCore.QObject.connect(self.ui.dial_MainBoth_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_4) QtCore.QObject.connect(self.ui.dial_MainLeft_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_4) QtCore.QObject.connect(self.ui.dial_MainRight_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_4) QtCore.QObject.connect(self.ui.dial_Slave1Both_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_5) QtCore.QObject.connect(self.ui.dial_Slave1Left_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_5) QtCore.QObject.connect(self.ui.dial_Slave1Right_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_5) QtCore.QObject.connect(self.ui.dial_Slave1Both_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_6) QtCore.QObject.connect(self.ui.dial_Slave1Left_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_6) QtCore.QObject.connect(self.ui.dial_Slave1Right_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_6) QtCore.QObject.connect(self.ui.dial_Slave1Both_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_7) QtCore.QObject.connect(self.ui.dial_Slave1Left_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_7) QtCore.QObject.connect(self.ui.dial_Slave1Right_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_7) QtCore.QObject.connect(self.ui.dial_Slave1Both_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_8) QtCore.QObject.connect(self.ui.dial_Slave1Left_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_8) QtCore.QObject.connect(self.ui.dial_Slave1Right_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_8) QtCore.QObject.connect(self.ui.dial_Slave2Both_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_9) QtCore.QObject.connect(self.ui.dial_Slave2Left_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_9) QtCore.QObject.connect(self.ui.dial_Slave2Right_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_9) QtCore.QObject.connect(self.ui.dial_Slave2Both_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_10) QtCore.QObject.connect(self.ui.dial_Slave2Left_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_10) QtCore.QObject.connect(self.ui.dial_Slave2Right_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_10) QtCore.QObject.connect(self.ui.dial_Slave2Both_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_11) QtCore.QObject.connect(self.ui.dial_Slave2Left_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_11) QtCore.QObject.connect(self.ui.dial_Slave2Right_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_11) QtCore.QObject.connect(self.ui.dial_Slave2Both_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_12) QtCore.QObject.connect(self.ui.dial_Slave2Left_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_12) QtCore.QObject.connect(self.ui.dial_Slave2Right_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_12) QtCore.QObject.connect(self.ui.dial_Slave3Both_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_13) QtCore.QObject.connect(self.ui.dial_Slave3Left_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_13) QtCore.QObject.connect(self.ui.dial_Slave3Right_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_13) QtCore.QObject.connect(self.ui.dial_Slave3Both_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_14) QtCore.QObject.connect(self.ui.dial_Slave3Left_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_14) QtCore.QObject.connect(self.ui.dial_Slave3Right_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_14) QtCore.QObject.connect(self.ui.dial_Slave3Both_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_15) QtCore.QObject.connect(self.ui.dial_Slave3Left_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_15) QtCore.QObject.connect(self.ui.dial_Slave3Right_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_15) QtCore.QObject.connect(self.ui.dial_Slave3Both_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_16) QtCore.QObject.connect(self.ui.dial_Slave3Left_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_16) QtCore.QObject.connect(self.ui.dial_Slave3Right_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_16)
class DiagForm(QtGui.QMainWindow, Thread): def __init__(self, parent=None): QtGui.QWidget.__init__(self, parent) self.ui = Ui_diag() self.ui.setupUi(self) # init stuff self.pInterface = None self.bRunThread = 0 self.sSerialDevice = "/dev/ttyS0" self.iUSBDevice = 0 self.selectDeviceType = 0 # 0 = USB, 1 = Robo Serial, 2 = II, 3 = II+Slave self.bEnableDist = False self.ui.tabWidget.setTabEnabled(0, 0) self.ui.tabWidget.setTabEnabled(1, 0) self.ui.tabWidget.setTabEnabled(2, 0) self.ui.tabWidget.setTabEnabled(3, 0) # here we connect signals with our slots QtCore.QObject.connect(self.ui.actionOpen, QtCore.SIGNAL("triggered()"), self.action_open) QtCore.QObject.connect(self.ui.actionClose_Interface, QtCore.SIGNAL("triggered()"), self.action_close) QtCore.QObject.connect(self, QtCore.SIGNAL("SetAnalogSignal()"), self.set_AnalogValues) QtCore.QObject.connect(self.ui.pushButton_Stop, QtCore.SIGNAL("clicked()"), self.emerg_stop) QtCore.QObject.connect(self.ui.pushButton_Stop_2, QtCore.SIGNAL("clicked()"), self.emerg_stop) QtCore.QObject.connect(self.ui.pushButton_Stop_3, QtCore.SIGNAL("clicked()"), self.emerg_stop) QtCore.QObject.connect(self.ui.pushButton_Stop_4, QtCore.SIGNAL("clicked()"), self.emerg_stop) # Outputs Main QtCore.QObject.connect(self.ui.dial_MainBoth_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_1) QtCore.QObject.connect(self.ui.dial_MainLeft_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_1) QtCore.QObject.connect(self.ui.dial_MainRight_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_1) QtCore.QObject.connect(self.ui.dial_MainBoth_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_2) QtCore.QObject.connect(self.ui.dial_MainLeft_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_2) QtCore.QObject.connect(self.ui.dial_MainRight_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_2) QtCore.QObject.connect(self.ui.dial_MainBoth_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_3) QtCore.QObject.connect(self.ui.dial_MainLeft_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_3) QtCore.QObject.connect(self.ui.dial_MainRight_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_3) QtCore.QObject.connect(self.ui.dial_MainBoth_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_4) QtCore.QObject.connect(self.ui.dial_MainLeft_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_4) QtCore.QObject.connect(self.ui.dial_MainRight_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_4) QtCore.QObject.connect(self.ui.dial_Slave1Both_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_5) QtCore.QObject.connect(self.ui.dial_Slave1Left_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_5) QtCore.QObject.connect(self.ui.dial_Slave1Right_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_5) QtCore.QObject.connect(self.ui.dial_Slave1Both_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_6) QtCore.QObject.connect(self.ui.dial_Slave1Left_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_6) QtCore.QObject.connect(self.ui.dial_Slave1Right_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_6) QtCore.QObject.connect(self.ui.dial_Slave1Both_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_7) QtCore.QObject.connect(self.ui.dial_Slave1Left_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_7) QtCore.QObject.connect(self.ui.dial_Slave1Right_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_7) QtCore.QObject.connect(self.ui.dial_Slave1Both_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_8) QtCore.QObject.connect(self.ui.dial_Slave1Left_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_8) QtCore.QObject.connect(self.ui.dial_Slave1Right_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_8) QtCore.QObject.connect(self.ui.dial_Slave2Both_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_9) QtCore.QObject.connect(self.ui.dial_Slave2Left_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_9) QtCore.QObject.connect(self.ui.dial_Slave2Right_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_9) QtCore.QObject.connect(self.ui.dial_Slave2Both_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_10) QtCore.QObject.connect(self.ui.dial_Slave2Left_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_10) QtCore.QObject.connect(self.ui.dial_Slave2Right_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_10) QtCore.QObject.connect(self.ui.dial_Slave2Both_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_11) QtCore.QObject.connect(self.ui.dial_Slave2Left_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_11) QtCore.QObject.connect(self.ui.dial_Slave2Right_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_11) QtCore.QObject.connect(self.ui.dial_Slave2Both_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_12) QtCore.QObject.connect(self.ui.dial_Slave2Left_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_12) QtCore.QObject.connect(self.ui.dial_Slave2Right_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_12) QtCore.QObject.connect(self.ui.dial_Slave3Both_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_13) QtCore.QObject.connect(self.ui.dial_Slave3Left_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_13) QtCore.QObject.connect(self.ui.dial_Slave3Right_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_13) QtCore.QObject.connect(self.ui.dial_Slave3Both_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_14) QtCore.QObject.connect(self.ui.dial_Slave3Left_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_14) QtCore.QObject.connect(self.ui.dial_Slave3Right_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_14) QtCore.QObject.connect(self.ui.dial_Slave3Both_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_15) QtCore.QObject.connect(self.ui.dial_Slave3Left_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_15) QtCore.QObject.connect(self.ui.dial_Slave3Right_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_15) QtCore.QObject.connect(self.ui.dial_Slave3Both_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_16) QtCore.QObject.connect(self.ui.dial_Slave3Left_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_16) QtCore.QObject.connect(self.ui.dial_Slave3Right_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_16) def emerg_stop(self): self.pInterface.SetMotor(1, iSpeed=0) self.ui.dial_MainLeft_1.setSliderPosition(0) self.ui.dial_MainRight_1.setSliderPosition(0) self.ui.dial_MainBoth_1.setSliderPosition(0) self.pInterface.SetMotor(2, iSpeed=0) self.ui.dial_MainLeft_2.setSliderPosition(0) self.ui.dial_MainRight_2.setSliderPosition(0) self.ui.dial_MainBoth_2.setSliderPosition(0) self.pInterface.SetMotor(3, iSpeed=0) self.ui.dial_MainLeft_3.setSliderPosition(0) self.ui.dial_MainRight_3.setSliderPosition(0) self.ui.dial_MainBoth_3.setSliderPosition(0) self.pInterface.SetMotor(4, iSpeed=0) self.ui.dial_MainLeft_4.setSliderPosition(0) self.ui.dial_MainRight_4.setSliderPosition(0) self.ui.dial_MainBoth_4.setSliderPosition(0) self.pInterface.SetMotor(5, iSpeed=0) self.ui.dial_Slave1Left_1.setSliderPosition(0) self.ui.dial_Slave1Right_1.setSliderPosition(0) self.ui.dial_Slave1Both_1.setSliderPosition(0) self.pInterface.SetMotor(6, iSpeed=0) self.ui.dial_Slave1Left_2.setSliderPosition(0) self.ui.dial_Slave1Right_2.setSliderPosition(0) self.ui.dial_Slave1Both_2.setSliderPosition(0) self.pInterface.SetMotor(7, iSpeed=0) self.ui.dial_Slave1Left_3.setSliderPosition(0) self.ui.dial_Slave1Right_3.setSliderPosition(0) self.ui.dial_Slave1Both_3.setSliderPosition(0) self.pInterface.SetMotor(8, iSpeed=0) self.ui.dial_Slave1Left_4.setSliderPosition(0) self.ui.dial_Slave1Right_4.setSliderPosition(0) self.ui.dial_Slave1Both_4.setSliderPosition(0) self.pInterface.SetMotor(9, iSpeed=0) self.ui.dial_Slave2Left_1.setSliderPosition(0) self.ui.dial_Slave2Right_1.setSliderPosition(0) self.ui.dial_Slave2Both_1.setSliderPosition(0) self.pInterface.SetMotor(10, iSpeed=0) self.ui.dial_Slave2Left_2.setSliderPosition(0) self.ui.dial_Slave2Right_2.setSliderPosition(0) self.ui.dial_Slave2Both_2.setSliderPosition(0) self.pInterface.SetMotor(11, iSpeed=0) self.ui.dial_Slave2Left_3.setSliderPosition(0) self.ui.dial_Slave2Right_3.setSliderPosition(0) self.ui.dial_Slave2Both_3.setSliderPosition(0) self.pInterface.SetMotor(12, iSpeed=0) self.ui.dial_Slave2Left_4.setSliderPosition(0) self.ui.dial_Slave2Right_4.setSliderPosition(0) self.ui.dial_Slave2Both_4.setSliderPosition(0) self.pInterface.SetMotor(13, iSpeed=0) self.ui.dial_Slave3Left_1.setSliderPosition(0) self.ui.dial_Slave3Right_1.setSliderPosition(0) self.ui.dial_Slave3Both_1.setSliderPosition(0) self.pInterface.SetMotor(14, iSpeed=0) self.ui.dial_Slave3Left_2.setSliderPosition(0) self.ui.dial_Slave3Right_2.setSliderPosition(0) self.ui.dial_Slave3Both_2.setSliderPosition(0) self.pInterface.SetMotor(15, iSpeed=0) self.ui.dial_Slave3Left_3.setSliderPosition(0) self.ui.dial_Slave3Right_3.setSliderPosition(0) self.ui.dial_Slave3Both_3.setSliderPosition(0) self.pInterface.SetMotor(16, iSpeed=0) self.ui.dial_Slave3Left_4.setSliderPosition(0) self.ui.dial_Slave3Right_4.setSliderPosition(0) self.ui.dial_Slave3Both_4.setSliderPosition(0) def __del__(self): self.bRunThread = 0 if self.pInterface: self.pInterface.close() self.pInterface = None def run(self): while self.bRunThread and self.isVisible(): self.CheckDigitalInputs() self.CheckAnalogValues() sleep(0.1) self.ui.tabWidget.setEnabled(0) def action_open(self): self.action_close() self.openapp = OpenForm(parent=self) self.openapp.show() def open_device_selected(self): sSerialDevice = str(self.sSerialDevice) if self.selectDeviceType == 1: self.pInterface = RoboInterface(serialDevice=sSerialDevice, SerialType=RoboInterface.FT_ROBO_IF_COM) elif self.selectDeviceType == 2: self.pInterface = RoboInterface(serialDevice=sSerialDevice, SerialType=RoboInterface.FT_INTELLIGENT_IF) elif self.selectDeviceType == 3: self.pInterface = RoboInterface( serialDevice=sSerialDevice, SerialType=RoboInterface.FT_INTELLIGENT_IF_SLAVE ) else: self.pInterface = RoboInterface(self.iUSBDevice, bEnableDist=self.bEnableDist) if not self.pInterface.transfer_area: self.pErrorBox = QtGui.QMessageBox.critical(None, "Error", "Unable to open selected Interface") else: self.ui.tabWidget.setEnabled(1) self.ui.tabWidget.setTabEnabled(0, 1) typ = self.pInterface.GetDeviceType() if typ == RoboInterface.FT_INTELLIGENT_IF_SLAVE: self.ui.tabWidget.setTabEnabled(1, 1) elif typ in [ RoboInterface.FT_ROBO_IF_USB, RoboInterface.FT_ROBO_IF_OVER_RF, RoboInterface.FT_ROBO_RF_DATA_LINK, ]: self.ui.tabWidget.setTabEnabled(1, 1) self.ui.tabWidget.setTabEnabled(2, 1) self.ui.tabWidget.setTabEnabled(3, 1) Thread.__init__(self) self.bRunThread = 1 self.start() def action_close(self): self.bRunThread = 0 if self.pInterface: self.pInterface.close() self.pInterface = None self.ui.tabWidget.setTabEnabled(0, 0) self.ui.tabWidget.setTabEnabled(1, 0) self.ui.tabWidget.setTabEnabled(2, 0) self.ui.tabWidget.setTabEnabled(3, 0) self.ui.tabWidget.setEnabled(0) def set_AnalogValues(self): if self.pInterface: self.ui.progressBar_Voltage.setValue(self.pInterface.GetAV()) self.ui.progressBar_Voltage_Slave1.setValue(self.pInterface.GetAV_Slave1()) self.ui.progressBar_Voltage_Slave2.setValue(self.pInterface.GetAV_Slave2()) self.ui.progressBar_Voltage_Slave3.setValue(self.pInterface.GetAV_Slave3()) self.ui.lcdNumber_AX.display(self.pInterface.GetAX()) self.ui.lcdNumber_AY.display(self.pInterface.GetAY()) self.ui.lcdNumber_AZ.display(self.pInterface.GetAZ()) self.ui.lcdNumber_A1.display(self.pInterface.GetA1()) self.ui.lcdNumber_A2.display(self.pInterface.GetA2()) self.ui.lcdNumber_D1.display(self.pInterface.GetD1()) self.ui.lcdNumber_D2.display(self.pInterface.GetD2()) self.ui.lcdNumber_IR.display(self.pInterface.GetIR()) self.ui.lcdNumber_AX_Slave1.display(self.pInterface.GetAX_Slave1()) self.ui.lcdNumber_AX_Slave2.display(self.pInterface.GetAX_Slave2()) self.ui.lcdNumber_AX_Slave3.display(self.pInterface.GetAX_Slave3()) def CheckAnalogValues(self): if self.pInterface: self.emit(QtCore.SIGNAL("SetAnalogSignal()")) def CheckDigitalInputs(self): if self.pInterface: if self.pInterface.IsConnected(): self.ui.checkBoxConnection_Main.setCheckable(1) self.ui.checkBoxConnection_Main.setChecked(1) self.ui.checkBoxConnection_Slave1.setCheckable(1) self.ui.checkBoxConnection_Slave1.setChecked(1) self.ui.checkBoxConnection_Slave2.setCheckable(1) self.ui.checkBoxConnection_Slave2.setChecked(1) self.ui.checkBoxConnection_Slave3.setCheckable(1) self.ui.checkBoxConnection_Slave3.setChecked(1) else: self.ui.checkBoxConnection_Main.setChecked(0) self.ui.checkBoxConnection_Main.setCheckable(0) self.ui.checkBoxConnection_Slave1.setChecked(0) self.ui.checkBoxConnection_Slave1.setCheckable(0) self.ui.checkBoxConnection_Slave2.setChecked(0) self.ui.checkBoxConnection_Slave2.setCheckable(0) self.ui.checkBoxConnection_Slave3.setChecked(0) self.ui.checkBoxConnection_Slave3.setCheckable(0) if self.pInterface.Digital(1) and not self.ui.radioButton_MainDigital_1.isChecked(): self.ui.radioButton_MainDigital_1.setCheckable(1) self.ui.radioButton_MainDigital_1.setChecked(1) elif not self.pInterface.Digital(1) and self.ui.radioButton_MainDigital_1.isChecked(): self.ui.radioButton_MainDigital_1.setChecked(0) self.ui.radioButton_MainDigital_1.setCheckable(0) if self.pInterface.Digital(2) and not self.ui.radioButton_MainDigital_2.isChecked(): self.ui.radioButton_MainDigital_2.setCheckable(1) self.ui.radioButton_MainDigital_2.setChecked(1) elif not self.pInterface.Digital(2) and self.ui.radioButton_MainDigital_2.isChecked(): self.ui.radioButton_MainDigital_2.setChecked(0) self.ui.radioButton_MainDigital_2.setCheckable(0) if self.pInterface.Digital(3) and not self.ui.radioButton_MainDigital_3.isChecked(): self.ui.radioButton_MainDigital_3.setCheckable(1) self.ui.radioButton_MainDigital_3.setChecked(1) elif not self.pInterface.Digital(3) and self.ui.radioButton_MainDigital_3.isChecked(): self.ui.radioButton_MainDigital_3.setChecked(0) self.ui.radioButton_MainDigital_3.setCheckable(0) if self.pInterface.Digital(4) and not self.ui.radioButton_MainDigital_4.isChecked(): self.ui.radioButton_MainDigital_4.setCheckable(1) self.ui.radioButton_MainDigital_4.setChecked(1) elif not self.pInterface.Digital(4) and self.ui.radioButton_MainDigital_4.isChecked(): self.ui.radioButton_MainDigital_4.setChecked(0) self.ui.radioButton_MainDigital_4.setCheckable(0) if self.pInterface.Digital(5) and not self.ui.radioButton_MainDigital_5.isChecked(): self.ui.radioButton_MainDigital_5.setCheckable(1) self.ui.radioButton_MainDigital_5.setChecked(1) elif not self.pInterface.Digital(5) and self.ui.radioButton_MainDigital_5.isChecked(): self.ui.radioButton_MainDigital_5.setChecked(0) self.ui.radioButton_MainDigital_5.setCheckable(0) if self.pInterface.Digital(6) and not self.ui.radioButton_MainDigital_6.isChecked(): self.ui.radioButton_MainDigital_6.setCheckable(1) self.ui.radioButton_MainDigital_6.setChecked(1) elif not self.pInterface.Digital(6) and self.ui.radioButton_MainDigital_6.isChecked(): self.ui.radioButton_MainDigital_6.setChecked(0) self.ui.radioButton_MainDigital_6.setCheckable(0) if self.pInterface.Digital(7) and not self.ui.radioButton_MainDigital_7.isChecked(): self.ui.radioButton_MainDigital_7.setCheckable(1) self.ui.radioButton_MainDigital_7.setChecked(1) elif not self.pInterface.Digital(7) and self.ui.radioButton_MainDigital_7.isChecked(): self.ui.radioButton_MainDigital_7.setChecked(0) self.ui.radioButton_MainDigital_7.setCheckable(0) if self.pInterface.Digital(8) and not self.ui.radioButton_MainDigital_8.isChecked(): self.ui.radioButton_MainDigital_8.setCheckable(1) self.ui.radioButton_MainDigital_8.setChecked(1) elif not self.pInterface.Digital(8) and self.ui.radioButton_MainDigital_8.isChecked(): self.ui.radioButton_MainDigital_8.setChecked(0) self.ui.radioButton_MainDigital_8.setCheckable(0) if self.pInterface.Digital(9) and not self.ui.radioButton_Slave1Digital_1.isChecked(): self.ui.radioButton_Slave1Digital_1.setCheckable(1) self.ui.radioButton_Slave1Digital_1.setChecked(1) elif not self.pInterface.Digital(9) and self.ui.radioButton_Slave1Digital_1.isChecked(): self.ui.radioButton_Slave1Digital_1.setChecked(0) self.ui.radioButton_Slave1Digital_1.setCheckable(0) if self.pInterface.Digital(10) and not self.ui.radioButton_Slave1Digital_2.isChecked(): self.ui.radioButton_Slave1Digital_2.setCheckable(1) self.ui.radioButton_Slave1Digital_2.setChecked(1) elif not self.pInterface.Digital(10) and self.ui.radioButton_Slave1Digital_2.isChecked(): self.ui.radioButton_Slave1Digital_2.setChecked(0) self.ui.radioButton_Slave1Digital_2.setCheckable(0) if self.pInterface.Digital(11) and not self.ui.radioButton_Slave1Digital_3.isChecked(): self.ui.radioButton_Slave1Digital_3.setCheckable(1) self.ui.radioButton_Slave1Digital_3.setChecked(1) elif not self.pInterface.Digital(11) and self.ui.radioButton_Slave1Digital_3.isChecked(): self.ui.radioButton_Slave1Digital_3.setChecked(0) self.ui.radioButton_Slave1Digital_3.setCheckable(0) if self.pInterface.Digital(12) and not self.ui.radioButton_Slave1Digital_4.isChecked(): self.ui.radioButton_Slave1Digital_4.setCheckable(1) self.ui.radioButton_Slave1Digital_4.setChecked(1) elif not self.pInterface.Digital(12) and self.ui.radioButton_Slave1Digital_4.isChecked(): self.ui.radioButton_Slave1Digital_4.setChecked(0) self.ui.radioButton_Slave1Digital_4.setCheckable(0) if self.pInterface.Digital(13) and not self.ui.radioButton_Slave1Digital_5.isChecked(): self.ui.radioButton_Slave1Digital_5.setCheckable(1) self.ui.radioButton_Slave1Digital_5.setChecked(1) elif not self.pInterface.Digital(13) and self.ui.radioButton_Slave1Digital_5.isChecked(): self.ui.radioButton_Slave1Digital_5.setChecked(0) self.ui.radioButton_Slave1Digital_5.setCheckable(0) if self.pInterface.Digital(14) and not self.ui.radioButton_Slave1Digital_6.isChecked(): self.ui.radioButton_Slave1Digital_6.setCheckable(1) self.ui.radioButton_Slave1Digital_6.setChecked(1) elif not self.pInterface.Digital(14) and self.ui.radioButton_Slave1Digital_6.isChecked(): self.ui.radioButton_Slave1Digital_6.setChecked(0) self.ui.radioButton_Slave1Digital_6.setCheckable(0) if self.pInterface.Digital(15) and not self.ui.radioButton_Slave1Digital_7.isChecked(): self.ui.radioButton_Slave1Digital_7.setCheckable(1) self.ui.radioButton_Slave1Digital_7.setChecked(1) elif not self.pInterface.Digital(15) and self.ui.radioButton_Slave1Digital_7.isChecked(): self.ui.radioButton_Slave1Digital_7.setChecked(0) self.ui.radioButton_Slave1Digital_7.setCheckable(0) if self.pInterface.Digital(16) and not self.ui.radioButton_Slave1Digital_8.isChecked(): self.ui.radioButton_Slave1Digital_8.setCheckable(1) self.ui.radioButton_Slave1Digital_8.setChecked(1) elif not self.pInterface.Digital(16) and self.ui.radioButton_Slave1Digital_8.isChecked(): self.ui.radioButton_Slave1Digital_8.setChecked(0) self.ui.radioButton_Slave1Digital_8.setCheckable(0) if self.pInterface.Digital(17) and not self.ui.radioButton_Slave2Digital_1.isChecked(): self.ui.radioButton_Slave2Digital_1.setCheckable(1) self.ui.radioButton_Slave2Digital_1.setChecked(1) elif not self.pInterface.Digital(17) and self.ui.radioButton_Slave2Digital_1.isChecked(): self.ui.radioButton_Slave2Digital_1.setChecked(0) self.ui.radioButton_Slave2Digital_1.setCheckable(0) if self.pInterface.Digital(18) and not self.ui.radioButton_Slave2Digital_2.isChecked(): self.ui.radioButton_Slave2Digital_2.setCheckable(1) self.ui.radioButton_Slave2Digital_2.setChecked(1) elif not self.pInterface.Digital(18) and self.ui.radioButton_Slave2Digital_2.isChecked(): self.ui.radioButton_Slave2Digital_2.setChecked(0) self.ui.radioButton_Slave2Digital_2.setCheckable(0) if self.pInterface.Digital(19) and not self.ui.radioButton_Slave2Digital_3.isChecked(): self.ui.radioButton_Slave2Digital_3.setCheckable(1) self.ui.radioButton_Slave2Digital_3.setChecked(1) elif not self.pInterface.Digital(19) and self.ui.radioButton_Slave2Digital_3.isChecked(): self.ui.radioButton_Slave2Digital_3.setChecked(0) self.ui.radioButton_Slave2Digital_3.setCheckable(0) if self.pInterface.Digital(20) and not self.ui.radioButton_Slave2Digital_4.isChecked(): self.ui.radioButton_Slave2Digital_4.setCheckable(1) self.ui.radioButton_Slave2Digital_4.setChecked(1) elif not self.pInterface.Digital(20) and self.ui.radioButton_Slave2Digital_4.isChecked(): self.ui.radioButton_Slave2Digital_4.setChecked(0) self.ui.radioButton_Slave2Digital_4.setCheckable(0) if self.pInterface.Digital(21) and not self.ui.radioButton_Slave2Digital_5.isChecked(): self.ui.radioButton_Slave2Digital_5.setCheckable(1) self.ui.radioButton_Slave2Digital_5.setChecked(1) elif not self.pInterface.Digital(21) and self.ui.radioButton_Slave2Digital_5.isChecked(): self.ui.radioButton_Slave2Digital_5.setChecked(0) self.ui.radioButton_Slave2Digital_5.setCheckable(0) if self.pInterface.Digital(22) and not self.ui.radioButton_Slave2Digital_6.isChecked(): self.ui.radioButton_Slave2Digital_6.setCheckable(1) self.ui.radioButton_Slave2Digital_6.setChecked(1) elif not self.pInterface.Digital(22) and self.ui.radioButton_Slave2Digital_6.isChecked(): self.ui.radioButton_Slave2Digital_6.setChecked(0) self.ui.radioButton_Slave2Digital_6.setCheckable(0) if self.pInterface.Digital(23) and not self.ui.radioButton_Slave2Digital_7.isChecked(): self.ui.radioButton_Slave2Digital_7.setCheckable(1) self.ui.radioButton_Slave2Digital_7.setChecked(1) elif not self.pInterface.Digital(23) and self.ui.radioButton_Slave2Digital_7.isChecked(): self.ui.radioButton_Slave2Digital_7.setChecked(0) self.ui.radioButton_Slave2Digital_7.setCheckable(0) if self.pInterface.Digital(24) and not self.ui.radioButton_Slave2Digital_8.isChecked(): self.ui.radioButton_Slave2Digital_8.setCheckable(1) self.ui.radioButton_Slave2Digital_8.setChecked(1) elif not self.pInterface.Digital(24) and self.ui.radioButton_Slave2Digital_8.isChecked(): self.ui.radioButton_Slave2Digital_8.setChecked(0) self.ui.radioButton_Slave2Digital_8.setCheckable(0) if self.pInterface.Digital(25) and not self.ui.radioButton_Slave3Digital_1.isChecked(): self.ui.radioButton_Slave3Digital_1.setCheckable(1) self.ui.radioButton_Slave3Digital_1.setChecked(1) elif not self.pInterface.Digital(25) and self.ui.radioButton_Slave3Digital_1.isChecked(): self.ui.radioButton_Slave3Digital_1.setChecked(0) self.ui.radioButton_Slave3Digital_1.setCheckable(0) if self.pInterface.Digital(26) and not self.ui.radioButton_Slave3Digital_2.isChecked(): self.ui.radioButton_Slave3Digital_2.setCheckable(1) self.ui.radioButton_Slave3Digital_2.setChecked(1) elif not self.pInterface.Digital(26) and self.ui.radioButton_Slave3Digital_2.isChecked(): self.ui.radioButton_Slave3Digital_2.setChecked(0) self.ui.radioButton_Slave3Digital_2.setCheckable(0) if self.pInterface.Digital(27) and not self.ui.radioButton_Slave3Digital_3.isChecked(): self.ui.radioButton_Slave3Digital_3.setCheckable(1) self.ui.radioButton_Slave3Digital_3.setChecked(1) elif not self.pInterface.Digital(27) and self.ui.radioButton_Slave3Digital_3.isChecked(): self.ui.radioButton_Slave3Digital_3.setChecked(0) self.ui.radioButton_Slave3Digital_3.setCheckable(0) if self.pInterface.Digital(28) and not self.ui.radioButton_Slave3Digital_4.isChecked(): self.ui.radioButton_Slave3Digital_4.setCheckable(1) self.ui.radioButton_Slave3Digital_4.setChecked(1) elif not self.pInterface.Digital(28) and self.ui.radioButton_Slave3Digital_4.isChecked(): self.ui.radioButton_Slave3Digital_4.setChecked(0) self.ui.radioButton_Slave3Digital_4.setCheckable(0) if self.pInterface.Digital(29) and not self.ui.radioButton_Slave3Digital_5.isChecked(): self.ui.radioButton_Slave3Digital_5.setCheckable(1) self.ui.radioButton_Slave3Digital_5.setChecked(1) elif not self.pInterface.Digital(29) and self.ui.radioButton_Slave3Digital_5.isChecked(): self.ui.radioButton_Slave3Digital_5.setChecked(0) self.ui.radioButton_Slave3Digital_5.setCheckable(0) if self.pInterface.Digital(30) and not self.ui.radioButton_Slave3Digital_6.isChecked(): self.ui.radioButton_Slave3Digital_6.setCheckable(1) self.ui.radioButton_Slave3Digital_6.setChecked(1) elif not self.pInterface.Digital(30) and self.ui.radioButton_Slave3Digital_6.isChecked(): self.ui.radioButton_Slave3Digital_6.setChecked(0) self.ui.radioButton_Slave3Digital_6.setCheckable(0) if self.pInterface.Digital(31) and not self.ui.radioButton_Slave3Digital_7.isChecked(): self.ui.radioButton_Slave3Digital_7.setCheckable(1) self.ui.radioButton_Slave3Digital_7.setChecked(1) elif not self.pInterface.Digital(31) and self.ui.radioButton_Slave3Digital_7.isChecked(): self.ui.radioButton_Slave3Digital_7.setChecked(0) self.ui.radioButton_Slave3Digital_7.setCheckable(0) if self.pInterface.Digital(32) and not self.ui.radioButton_Slave3Digital_8.isChecked(): self.ui.radioButton_Slave3Digital_8.setCheckable(1) self.ui.radioButton_Slave3Digital_8.setChecked(1) elif not self.pInterface.Digital(32) and self.ui.radioButton_Slave3Digital_8.isChecked(): self.ui.radioButton_Slave3Digital_8.setChecked(0) self.ui.radioButton_Slave3Digital_8.setCheckable(0) def set_engineBoth_1(self, val): if self.pInterface: self.pInterface.SetMotor(1, iSpeed=val) self.ui.dial_MainLeft_1.setSliderPosition(0) self.ui.dial_MainRight_1.setSliderPosition(0) def set_engineLeft_1(self, val): if self.pInterface: self.pInterface.SetOutput(1, val) self.ui.dial_MainBoth_1.setSliderPosition(0) def set_engineRight_1(self, val): if self.pInterface: self.pInterface.SetOutput(2, val) self.ui.dial_MainBoth_1.setSliderPosition(0) def set_engineBoth_2(self, val): if self.pInterface: self.pInterface.SetMotor(2, iSpeed=val) self.ui.dial_MainLeft_2.setSliderPosition(0) self.ui.dial_MainRight_2.setSliderPosition(0) def set_engineLeft_2(self, val): if self.pInterface: self.pInterface.SetOutput(3, val) self.ui.dial_MainBoth_2.setSliderPosition(0) def set_engineRight_2(self, val): if self.pInterface: self.pInterface.SetOutput(4, val) self.ui.dial_MainBoth_2.setSliderPosition(0) def set_engineBoth_3(self, val): if self.pInterface: self.pInterface.SetMotor(3, iSpeed=val) self.ui.dial_MainLeft_3.setSliderPosition(0) self.ui.dial_MainRight_3.setSliderPosition(0) def set_engineLeft_3(self, val): if self.pInterface: self.pInterface.SetOutput(5, val) self.ui.dial_MainBoth_3.setSliderPosition(0) def set_engineRight_3(self, val): if self.pInterface: self.pInterface.SetOutput(6, val) self.ui.dial_MainBoth_3.setSliderPosition(0) def set_engineBoth_4(self, val): if self.pInterface: self.pInterface.SetMotor(4, iSpeed=val) self.ui.dial_MainLeft_4.setSliderPosition(0) self.ui.dial_MainRight_4.setSliderPosition(0) def set_engineLeft_4(self, val): if self.pInterface: self.pInterface.SetOutput(7, val) self.ui.dial_MainBoth_4.setSliderPosition(0) def set_engineRight_4(self, val): if self.pInterface: self.pInterface.SetOutput(8, val) self.ui.dial_MainBoth_4.setSliderPosition(0) def set_engineBoth_5(self, val): if self.pInterface: self.pInterface.SetMotor(5, iSpeed=val) self.ui.dial_Slave1Left_1.setSliderPosition(0) self.ui.dial_Slave1Right_1.setSliderPosition(0) def set_engineLeft_5(self, val): if self.pInterface: self.pInterface.SetOutput(9, val) self.ui.dial_Slave1Both_1.setSliderPosition(0) def set_engineRight_5(self, val): if self.pInterface: self.pInterface.SetOutput(10, val) self.ui.dial_Slave1Both_1.setSliderPosition(0) def set_engineBoth_6(self, val): if self.pInterface: self.pInterface.SetMotor(6, iSpeed=val) self.ui.dial_Slave1Left_2.setSliderPosition(0) self.ui.dial_Slave1Right_2.setSliderPosition(0) def set_engineLeft_6(self, val): if self.pInterface: self.pInterface.SetOutput(11, val) self.ui.dial_Slave1Both_2.setSliderPosition(0) def set_engineRight_6(self, val): if self.pInterface: self.pInterface.SetOutput(12, val) self.ui.dial_Slave1Both_2.setSliderPosition(0) def set_engineBoth_7(self, val): if self.pInterface: self.pInterface.SetMotor(7, iSpeed=val) self.ui.dial_Slave1Left_3.setSliderPosition(0) self.ui.dial_Slave1Right_3.setSliderPosition(0) def set_engineLeft_7(self, val): if self.pInterface: self.pInterface.SetOutput(13, val) self.ui.dial_Slave1Both_3.setSliderPosition(0) def set_engineRight_7(self, val): if self.pInterface: self.pInterface.SetOutput(14, val) self.ui.dial_Slave1Both_3.setSliderPosition(0) def set_engineBoth_8(self, val): if self.pInterface: self.pInterface.SetMotor(8, iSpeed=val) self.ui.dial_Slave1Left_4.setSliderPosition(0) self.ui.dial_Slave1Right_4.setSliderPosition(0) def set_engineLeft_8(self, val): if self.pInterface: self.pInterface.SetOutput(15, val) self.ui.dial_Slave1Both_4.setSliderPosition(0) def set_engineRight_8(self, val): if self.pInterface: self.pInterface.SetOutput(16, val) self.ui.dial_Slave1Both_4.setSliderPosition(0) def set_engineBoth_9(self, val): if self.pInterface: self.pInterface.SetMotor(9, iSpeed=val) self.ui.dial_Slave2Left_1.setSliderPosition(0) self.ui.dial_Slave2Right_1.setSliderPosition(0) def set_engineLeft_9(self, val): if self.pInterface: self.pInterface.SetOutput(17, val) self.ui.dial_Slave2Both_1.setSliderPosition(0) def set_engineRight_9(self, val): if self.pInterface: self.pInterface.SetOutput(18, val) self.ui.dial_Slave2Both_1.setSliderPosition(0) def set_engineBoth_10(self, val): if self.pInterface: self.pInterface.SetMotor(10, iSpeed=val) self.ui.dial_Slave2Left_2.setSliderPosition(0) self.ui.dial_Slave2Right_2.setSliderPosition(0) def set_engineLeft_10(self, val): if self.pInterface: self.pInterface.SetOutput(19, val) self.ui.dial_Slave2Both_2.setSliderPosition(0) def set_engineRight_10(self, val): if self.pInterface: self.pInterface.SetOutput(20, val) self.ui.dial_Slave2Both_2.setSliderPosition(0) def set_engineBoth_11(self, val): if self.pInterface: self.pInterface.SetMotor(11, iSpeed=val) self.ui.dial_Slave2Left_3.setSliderPosition(0) self.ui.dial_Slave2Right_3.setSliderPosition(0) def set_engineLeft_11(self, val): if self.pInterface: self.pInterface.SetOutput(21, val) self.ui.dial_Slave2Both_3.setSliderPosition(0) def set_engineRight_11(self, val): if self.pInterface: self.pInterface.SetOutput(22, val) self.ui.dial_Slave2Both_3.setSliderPosition(0) def set_engineBoth_12(self, val): if self.pInterface: self.pInterface.SetMotor(12, iSpeed=val) self.ui.dial_Slave2Left_4.setSliderPosition(0) self.ui.dial_Slave2Right_4.setSliderPosition(0) def set_engineLeft_12(self, val): if self.pInterface: self.pInterface.SetOutput(23, val) self.ui.dial_Slave2Both_4.setSliderPosition(0) def set_engineRight_12(self, val): if self.pInterface: self.pInterface.SetOutput(24, val) self.ui.dial_Slave2Both_4.setSliderPosition(0) def set_engineBoth_13(self, val): if self.pInterface: self.pInterface.SetMotor(13, iSpeed=val) self.ui.dial_Slave3Left_1.setSliderPosition(0) self.ui.dial_Slave3Right_1.setSliderPosition(0) def set_engineLeft_13(self, val): if self.pInterface: self.pInterface.SetOutput(25, val) self.ui.dial_Slave3Both_1.setSliderPosition(0) def set_engineRight_13(self, val): if self.pInterface: self.pInterface.SetOutput(26, val) self.ui.dial_Slave3Both_1.setSliderPosition(0) def set_engineBoth_14(self, val): if self.pInterface: self.pInterface.SetMotor(14, iSpeed=val) self.ui.dial_Slave3Left_2.setSliderPosition(0) self.ui.dial_Slave3Right_2.setSliderPosition(0) def set_engineLeft_14(self, val): if self.pInterface: self.pInterface.SetOutput(27, val) self.ui.dial_Slave3Both_2.setSliderPosition(0) def set_engineRight_14(self, val): if self.pInterface: self.pInterface.SetOutput(28, val) self.ui.dial_Slave3Both_2.setSliderPosition(0) def set_engineBoth_15(self, val): if self.pInterface: self.pInterface.SetMotor(15, iSpeed=val) self.ui.dial_Slave3Left_3.setSliderPosition(0) self.ui.dial_Slave3Right_3.setSliderPosition(0) def set_engineLeft_15(self, val): if self.pInterface: self.pInterface.SetOutput(29, val) self.ui.dial_Slave3Both_3.setSliderPosition(0) def set_engineRight_15(self, val): if self.pInterface: self.pInterface.SetOutput(30, val) self.ui.dial_Slave3Both_3.setSliderPosition(0) def set_engineBoth_16(self, val): if self.pInterface: self.pInterface.SetMotor(16, iSpeed=val) self.ui.dial_Slave3Left_4.setSliderPosition(0) self.ui.dial_Slave3Right_4.setSliderPosition(0) def set_engineLeft_16(self, val): if self.pInterface: self.pInterface.SetOutput(31, val) self.ui.dial_Slave3Both_4.setSliderPosition(0) def set_engineRight_16(self, val): if self.pInterface: self.pInterface.SetOutput(32, val) self.ui.dial_Slave3Both_4.setSliderPosition(0)
class DiagForm(QtGui.QMainWindow, Thread): def __init__(self, parent=None): QtGui.QWidget.__init__(self, parent) self.ui = Ui_diag() self.ui.setupUi(self) # init stuff self.pInterface = None self.bRunThread = 0 self.sSerialDevice = "/dev/ttyS0" self.iUSBDevice = 0 self.selectDeviceType = 0 # 0 = USB, 1 = Robo Serial, 2 = II, 3 = II+Slave self.bEnableDist = False self.ui.tabWidget.setTabEnabled(0, 0) self.ui.tabWidget.setTabEnabled(1, 0) self.ui.tabWidget.setTabEnabled(2, 0) self.ui.tabWidget.setTabEnabled(3, 0) # here we connect signals with our slots QtCore.QObject.connect(self.ui.actionOpen, QtCore.SIGNAL("triggered()"), self.action_open) QtCore.QObject.connect(self.ui.actionClose_Interface, QtCore.SIGNAL("triggered()"), self.action_close) QtCore.QObject.connect(self, QtCore.SIGNAL("SetAnalogSignal()"), self.set_AnalogValues) QtCore.QObject.connect(self.ui.pushButton_Stop, QtCore.SIGNAL("clicked()"), self.emerg_stop) QtCore.QObject.connect(self.ui.pushButton_Stop_2, QtCore.SIGNAL("clicked()"), self.emerg_stop) QtCore.QObject.connect(self.ui.pushButton_Stop_3, QtCore.SIGNAL("clicked()"), self.emerg_stop) QtCore.QObject.connect(self.ui.pushButton_Stop_4, QtCore.SIGNAL("clicked()"), self.emerg_stop) # Outputs Main QtCore.QObject.connect(self.ui.dial_MainBoth_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_1) QtCore.QObject.connect(self.ui.dial_MainLeft_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_1) QtCore.QObject.connect(self.ui.dial_MainRight_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_1) QtCore.QObject.connect(self.ui.dial_MainBoth_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_2) QtCore.QObject.connect(self.ui.dial_MainLeft_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_2) QtCore.QObject.connect(self.ui.dial_MainRight_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_2) QtCore.QObject.connect(self.ui.dial_MainBoth_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_3) QtCore.QObject.connect(self.ui.dial_MainLeft_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_3) QtCore.QObject.connect(self.ui.dial_MainRight_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_3) QtCore.QObject.connect(self.ui.dial_MainBoth_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_4) QtCore.QObject.connect(self.ui.dial_MainLeft_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_4) QtCore.QObject.connect(self.ui.dial_MainRight_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_4) QtCore.QObject.connect(self.ui.dial_Slave1Both_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_5) QtCore.QObject.connect(self.ui.dial_Slave1Left_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_5) QtCore.QObject.connect(self.ui.dial_Slave1Right_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_5) QtCore.QObject.connect(self.ui.dial_Slave1Both_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_6) QtCore.QObject.connect(self.ui.dial_Slave1Left_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_6) QtCore.QObject.connect(self.ui.dial_Slave1Right_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_6) QtCore.QObject.connect(self.ui.dial_Slave1Both_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_7) QtCore.QObject.connect(self.ui.dial_Slave1Left_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_7) QtCore.QObject.connect(self.ui.dial_Slave1Right_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_7) QtCore.QObject.connect(self.ui.dial_Slave1Both_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_8) QtCore.QObject.connect(self.ui.dial_Slave1Left_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_8) QtCore.QObject.connect(self.ui.dial_Slave1Right_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_8) QtCore.QObject.connect(self.ui.dial_Slave2Both_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_9) QtCore.QObject.connect(self.ui.dial_Slave2Left_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_9) QtCore.QObject.connect(self.ui.dial_Slave2Right_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_9) QtCore.QObject.connect(self.ui.dial_Slave2Both_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_10) QtCore.QObject.connect(self.ui.dial_Slave2Left_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_10) QtCore.QObject.connect(self.ui.dial_Slave2Right_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_10) QtCore.QObject.connect(self.ui.dial_Slave2Both_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_11) QtCore.QObject.connect(self.ui.dial_Slave2Left_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_11) QtCore.QObject.connect(self.ui.dial_Slave2Right_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_11) QtCore.QObject.connect(self.ui.dial_Slave2Both_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_12) QtCore.QObject.connect(self.ui.dial_Slave2Left_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_12) QtCore.QObject.connect(self.ui.dial_Slave2Right_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_12) QtCore.QObject.connect(self.ui.dial_Slave3Both_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_13) QtCore.QObject.connect(self.ui.dial_Slave3Left_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_13) QtCore.QObject.connect(self.ui.dial_Slave3Right_1, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_13) QtCore.QObject.connect(self.ui.dial_Slave3Both_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_14) QtCore.QObject.connect(self.ui.dial_Slave3Left_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_14) QtCore.QObject.connect(self.ui.dial_Slave3Right_2, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_14) QtCore.QObject.connect(self.ui.dial_Slave3Both_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_15) QtCore.QObject.connect(self.ui.dial_Slave3Left_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_15) QtCore.QObject.connect(self.ui.dial_Slave3Right_3, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_15) QtCore.QObject.connect(self.ui.dial_Slave3Both_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineBoth_16) QtCore.QObject.connect(self.ui.dial_Slave3Left_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineLeft_16) QtCore.QObject.connect(self.ui.dial_Slave3Right_4, QtCore.SIGNAL("valueChanged(int)"), self.set_engineRight_16) def emerg_stop(self): self.pInterface.SetMotor(1, iSpeed=0) self.ui.dial_MainLeft_1.setSliderPosition(0) self.ui.dial_MainRight_1.setSliderPosition(0) self.ui.dial_MainBoth_1.setSliderPosition(0) self.pInterface.SetMotor(2, iSpeed=0) self.ui.dial_MainLeft_2.setSliderPosition(0) self.ui.dial_MainRight_2.setSliderPosition(0) self.ui.dial_MainBoth_2.setSliderPosition(0) self.pInterface.SetMotor(3, iSpeed=0) self.ui.dial_MainLeft_3.setSliderPosition(0) self.ui.dial_MainRight_3.setSliderPosition(0) self.ui.dial_MainBoth_3.setSliderPosition(0) self.pInterface.SetMotor(4, iSpeed=0) self.ui.dial_MainLeft_4.setSliderPosition(0) self.ui.dial_MainRight_4.setSliderPosition(0) self.ui.dial_MainBoth_4.setSliderPosition(0) self.pInterface.SetMotor(5, iSpeed=0) self.ui.dial_Slave1Left_1.setSliderPosition(0) self.ui.dial_Slave1Right_1.setSliderPosition(0) self.ui.dial_Slave1Both_1.setSliderPosition(0) self.pInterface.SetMotor(6, iSpeed=0) self.ui.dial_Slave1Left_2.setSliderPosition(0) self.ui.dial_Slave1Right_2.setSliderPosition(0) self.ui.dial_Slave1Both_2.setSliderPosition(0) self.pInterface.SetMotor(7, iSpeed=0) self.ui.dial_Slave1Left_3.setSliderPosition(0) self.ui.dial_Slave1Right_3.setSliderPosition(0) self.ui.dial_Slave1Both_3.setSliderPosition(0) self.pInterface.SetMotor(8, iSpeed=0) self.ui.dial_Slave1Left_4.setSliderPosition(0) self.ui.dial_Slave1Right_4.setSliderPosition(0) self.ui.dial_Slave1Both_4.setSliderPosition(0) self.pInterface.SetMotor(9, iSpeed=0) self.ui.dial_Slave2Left_1.setSliderPosition(0) self.ui.dial_Slave2Right_1.setSliderPosition(0) self.ui.dial_Slave2Both_1.setSliderPosition(0) self.pInterface.SetMotor(10, iSpeed=0) self.ui.dial_Slave2Left_2.setSliderPosition(0) self.ui.dial_Slave2Right_2.setSliderPosition(0) self.ui.dial_Slave2Both_2.setSliderPosition(0) self.pInterface.SetMotor(11, iSpeed=0) self.ui.dial_Slave2Left_3.setSliderPosition(0) self.ui.dial_Slave2Right_3.setSliderPosition(0) self.ui.dial_Slave2Both_3.setSliderPosition(0) self.pInterface.SetMotor(12, iSpeed=0) self.ui.dial_Slave2Left_4.setSliderPosition(0) self.ui.dial_Slave2Right_4.setSliderPosition(0) self.ui.dial_Slave2Both_4.setSliderPosition(0) self.pInterface.SetMotor(13, iSpeed=0) self.ui.dial_Slave3Left_1.setSliderPosition(0) self.ui.dial_Slave3Right_1.setSliderPosition(0) self.ui.dial_Slave3Both_1.setSliderPosition(0) self.pInterface.SetMotor(14, iSpeed=0) self.ui.dial_Slave3Left_2.setSliderPosition(0) self.ui.dial_Slave3Right_2.setSliderPosition(0) self.ui.dial_Slave3Both_2.setSliderPosition(0) self.pInterface.SetMotor(15, iSpeed=0) self.ui.dial_Slave3Left_3.setSliderPosition(0) self.ui.dial_Slave3Right_3.setSliderPosition(0) self.ui.dial_Slave3Both_3.setSliderPosition(0) self.pInterface.SetMotor(16, iSpeed=0) self.ui.dial_Slave3Left_4.setSliderPosition(0) self.ui.dial_Slave3Right_4.setSliderPosition(0) self.ui.dial_Slave3Both_4.setSliderPosition(0) def __del__(self): self.bRunThread = 0 if self.pInterface: self.pInterface.close() self.pInterface = None def run(self): while (self.bRunThread and self.isVisible()): self.CheckDigitalInputs() self.CheckAnalogValues() sleep(0.1) self.ui.tabWidget.setEnabled(0) def action_open(self): self.action_close() self.openapp = OpenForm(parent=self) self.openapp.show() def open_device_selected(self): sSerialDevice = str(self.sSerialDevice) if self.selectDeviceType == 1: self.pInterface = RoboInterface( serialDevice=sSerialDevice, SerialType=RoboInterface.FT_ROBO_IF_COM) elif self.selectDeviceType == 2: self.pInterface = RoboInterface( serialDevice=sSerialDevice, SerialType=RoboInterface.FT_INTELLIGENT_IF) elif self.selectDeviceType == 3: self.pInterface = RoboInterface( serialDevice=sSerialDevice, SerialType=RoboInterface.FT_INTELLIGENT_IF_SLAVE) else: self.pInterface = RoboInterface(self.iUSBDevice, bEnableDist=self.bEnableDist) if not self.pInterface.transfer_area: self.pErrorBox = QtGui.QMessageBox.critical( None, "Error", "Unable to open selected Interface") else: self.ui.tabWidget.setEnabled(1) self.ui.tabWidget.setTabEnabled(0, 1) typ = self.pInterface.GetDeviceType() if typ == RoboInterface.FT_INTELLIGENT_IF_SLAVE: self.ui.tabWidget.setTabEnabled(1, 1) elif typ in [ RoboInterface.FT_ROBO_IF_USB, RoboInterface.FT_ROBO_IF_OVER_RF, RoboInterface.FT_ROBO_RF_DATA_LINK ]: self.ui.tabWidget.setTabEnabled(1, 1) self.ui.tabWidget.setTabEnabled(2, 1) self.ui.tabWidget.setTabEnabled(3, 1) Thread.__init__(self) self.bRunThread = 1 self.start() def action_close(self): self.bRunThread = 0 if self.pInterface: self.pInterface.close() self.pInterface = None self.ui.tabWidget.setTabEnabled(0, 0) self.ui.tabWidget.setTabEnabled(1, 0) self.ui.tabWidget.setTabEnabled(2, 0) self.ui.tabWidget.setTabEnabled(3, 0) self.ui.tabWidget.setEnabled(0) def set_AnalogValues(self): if self.pInterface: self.ui.progressBar_Voltage.setValue(self.pInterface.GetAV()) self.ui.progressBar_Voltage_Slave1.setValue( self.pInterface.GetAV_Slave1()) self.ui.progressBar_Voltage_Slave2.setValue( self.pInterface.GetAV_Slave2()) self.ui.progressBar_Voltage_Slave3.setValue( self.pInterface.GetAV_Slave3()) self.ui.lcdNumber_AX.display(self.pInterface.GetAX()) self.ui.lcdNumber_AY.display(self.pInterface.GetAY()) self.ui.lcdNumber_AZ.display(self.pInterface.GetAZ()) self.ui.lcdNumber_A1.display(self.pInterface.GetA1()) self.ui.lcdNumber_A2.display(self.pInterface.GetA2()) self.ui.lcdNumber_D1.display(self.pInterface.GetD1()) self.ui.lcdNumber_D2.display(self.pInterface.GetD2()) self.ui.lcdNumber_IR.display(self.pInterface.GetIR()) self.ui.lcdNumber_AX_Slave1.display(self.pInterface.GetAX_Slave1()) self.ui.lcdNumber_AX_Slave2.display(self.pInterface.GetAX_Slave2()) self.ui.lcdNumber_AX_Slave3.display(self.pInterface.GetAX_Slave3()) def CheckAnalogValues(self): if self.pInterface: self.emit(QtCore.SIGNAL('SetAnalogSignal()')) def CheckDigitalInputs(self): if self.pInterface: if self.pInterface.IsConnected(): self.ui.checkBoxConnection_Main.setCheckable(1) self.ui.checkBoxConnection_Main.setChecked(1) self.ui.checkBoxConnection_Slave1.setCheckable(1) self.ui.checkBoxConnection_Slave1.setChecked(1) self.ui.checkBoxConnection_Slave2.setCheckable(1) self.ui.checkBoxConnection_Slave2.setChecked(1) self.ui.checkBoxConnection_Slave3.setCheckable(1) self.ui.checkBoxConnection_Slave3.setChecked(1) else: self.ui.checkBoxConnection_Main.setChecked(0) self.ui.checkBoxConnection_Main.setCheckable(0) self.ui.checkBoxConnection_Slave1.setChecked(0) self.ui.checkBoxConnection_Slave1.setCheckable(0) self.ui.checkBoxConnection_Slave2.setChecked(0) self.ui.checkBoxConnection_Slave2.setCheckable(0) self.ui.checkBoxConnection_Slave3.setChecked(0) self.ui.checkBoxConnection_Slave3.setCheckable(0) if self.pInterface.Digital( 1) and not self.ui.radioButton_MainDigital_1.isChecked(): self.ui.radioButton_MainDigital_1.setCheckable(1) self.ui.radioButton_MainDigital_1.setChecked(1) elif not self.pInterface.Digital( 1) and self.ui.radioButton_MainDigital_1.isChecked(): self.ui.radioButton_MainDigital_1.setChecked(0) self.ui.radioButton_MainDigital_1.setCheckable(0) if self.pInterface.Digital( 2) and not self.ui.radioButton_MainDigital_2.isChecked(): self.ui.radioButton_MainDigital_2.setCheckable(1) self.ui.radioButton_MainDigital_2.setChecked(1) elif not self.pInterface.Digital( 2) and self.ui.radioButton_MainDigital_2.isChecked(): self.ui.radioButton_MainDigital_2.setChecked(0) self.ui.radioButton_MainDigital_2.setCheckable(0) if self.pInterface.Digital( 3) and not self.ui.radioButton_MainDigital_3.isChecked(): self.ui.radioButton_MainDigital_3.setCheckable(1) self.ui.radioButton_MainDigital_3.setChecked(1) elif not self.pInterface.Digital( 3) and self.ui.radioButton_MainDigital_3.isChecked(): self.ui.radioButton_MainDigital_3.setChecked(0) self.ui.radioButton_MainDigital_3.setCheckable(0) if self.pInterface.Digital( 4) and not self.ui.radioButton_MainDigital_4.isChecked(): self.ui.radioButton_MainDigital_4.setCheckable(1) self.ui.radioButton_MainDigital_4.setChecked(1) elif not self.pInterface.Digital( 4) and self.ui.radioButton_MainDigital_4.isChecked(): self.ui.radioButton_MainDigital_4.setChecked(0) self.ui.radioButton_MainDigital_4.setCheckable(0) if self.pInterface.Digital( 5) and not self.ui.radioButton_MainDigital_5.isChecked(): self.ui.radioButton_MainDigital_5.setCheckable(1) self.ui.radioButton_MainDigital_5.setChecked(1) elif not self.pInterface.Digital( 5) and self.ui.radioButton_MainDigital_5.isChecked(): self.ui.radioButton_MainDigital_5.setChecked(0) self.ui.radioButton_MainDigital_5.setCheckable(0) if self.pInterface.Digital( 6) and not self.ui.radioButton_MainDigital_6.isChecked(): self.ui.radioButton_MainDigital_6.setCheckable(1) self.ui.radioButton_MainDigital_6.setChecked(1) elif not self.pInterface.Digital( 6) and self.ui.radioButton_MainDigital_6.isChecked(): self.ui.radioButton_MainDigital_6.setChecked(0) self.ui.radioButton_MainDigital_6.setCheckable(0) if self.pInterface.Digital( 7) and not self.ui.radioButton_MainDigital_7.isChecked(): self.ui.radioButton_MainDigital_7.setCheckable(1) self.ui.radioButton_MainDigital_7.setChecked(1) elif not self.pInterface.Digital( 7) and self.ui.radioButton_MainDigital_7.isChecked(): self.ui.radioButton_MainDigital_7.setChecked(0) self.ui.radioButton_MainDigital_7.setCheckable(0) if self.pInterface.Digital( 8) and not self.ui.radioButton_MainDigital_8.isChecked(): self.ui.radioButton_MainDigital_8.setCheckable(1) self.ui.radioButton_MainDigital_8.setChecked(1) elif not self.pInterface.Digital( 8) and self.ui.radioButton_MainDigital_8.isChecked(): self.ui.radioButton_MainDigital_8.setChecked(0) self.ui.radioButton_MainDigital_8.setCheckable(0) if self.pInterface.Digital( 9) and not self.ui.radioButton_Slave1Digital_1.isChecked(): self.ui.radioButton_Slave1Digital_1.setCheckable(1) self.ui.radioButton_Slave1Digital_1.setChecked(1) elif not self.pInterface.Digital( 9) and self.ui.radioButton_Slave1Digital_1.isChecked(): self.ui.radioButton_Slave1Digital_1.setChecked(0) self.ui.radioButton_Slave1Digital_1.setCheckable(0) if self.pInterface.Digital( 10 ) and not self.ui.radioButton_Slave1Digital_2.isChecked(): self.ui.radioButton_Slave1Digital_2.setCheckable(1) self.ui.radioButton_Slave1Digital_2.setChecked(1) elif not self.pInterface.Digital( 10) and self.ui.radioButton_Slave1Digital_2.isChecked(): self.ui.radioButton_Slave1Digital_2.setChecked(0) self.ui.radioButton_Slave1Digital_2.setCheckable(0) if self.pInterface.Digital( 11 ) and not self.ui.radioButton_Slave1Digital_3.isChecked(): self.ui.radioButton_Slave1Digital_3.setCheckable(1) self.ui.radioButton_Slave1Digital_3.setChecked(1) elif not self.pInterface.Digital( 11) and self.ui.radioButton_Slave1Digital_3.isChecked(): self.ui.radioButton_Slave1Digital_3.setChecked(0) self.ui.radioButton_Slave1Digital_3.setCheckable(0) if self.pInterface.Digital( 12 ) and not self.ui.radioButton_Slave1Digital_4.isChecked(): self.ui.radioButton_Slave1Digital_4.setCheckable(1) self.ui.radioButton_Slave1Digital_4.setChecked(1) elif not self.pInterface.Digital( 12) and self.ui.radioButton_Slave1Digital_4.isChecked(): self.ui.radioButton_Slave1Digital_4.setChecked(0) self.ui.radioButton_Slave1Digital_4.setCheckable(0) if self.pInterface.Digital( 13 ) and not self.ui.radioButton_Slave1Digital_5.isChecked(): self.ui.radioButton_Slave1Digital_5.setCheckable(1) self.ui.radioButton_Slave1Digital_5.setChecked(1) elif not self.pInterface.Digital( 13) and self.ui.radioButton_Slave1Digital_5.isChecked(): self.ui.radioButton_Slave1Digital_5.setChecked(0) self.ui.radioButton_Slave1Digital_5.setCheckable(0) if self.pInterface.Digital( 14 ) and not self.ui.radioButton_Slave1Digital_6.isChecked(): self.ui.radioButton_Slave1Digital_6.setCheckable(1) self.ui.radioButton_Slave1Digital_6.setChecked(1) elif not self.pInterface.Digital( 14) and self.ui.radioButton_Slave1Digital_6.isChecked(): self.ui.radioButton_Slave1Digital_6.setChecked(0) self.ui.radioButton_Slave1Digital_6.setCheckable(0) if self.pInterface.Digital( 15 ) and not self.ui.radioButton_Slave1Digital_7.isChecked(): self.ui.radioButton_Slave1Digital_7.setCheckable(1) self.ui.radioButton_Slave1Digital_7.setChecked(1) elif not self.pInterface.Digital( 15) and self.ui.radioButton_Slave1Digital_7.isChecked(): self.ui.radioButton_Slave1Digital_7.setChecked(0) self.ui.radioButton_Slave1Digital_7.setCheckable(0) if self.pInterface.Digital( 16 ) and not self.ui.radioButton_Slave1Digital_8.isChecked(): self.ui.radioButton_Slave1Digital_8.setCheckable(1) self.ui.radioButton_Slave1Digital_8.setChecked(1) elif not self.pInterface.Digital( 16) and self.ui.radioButton_Slave1Digital_8.isChecked(): self.ui.radioButton_Slave1Digital_8.setChecked(0) self.ui.radioButton_Slave1Digital_8.setCheckable(0) if self.pInterface.Digital( 17 ) and not self.ui.radioButton_Slave2Digital_1.isChecked(): self.ui.radioButton_Slave2Digital_1.setCheckable(1) self.ui.radioButton_Slave2Digital_1.setChecked(1) elif not self.pInterface.Digital( 17) and self.ui.radioButton_Slave2Digital_1.isChecked(): self.ui.radioButton_Slave2Digital_1.setChecked(0) self.ui.radioButton_Slave2Digital_1.setCheckable(0) if self.pInterface.Digital( 18 ) and not self.ui.radioButton_Slave2Digital_2.isChecked(): self.ui.radioButton_Slave2Digital_2.setCheckable(1) self.ui.radioButton_Slave2Digital_2.setChecked(1) elif not self.pInterface.Digital( 18) and self.ui.radioButton_Slave2Digital_2.isChecked(): self.ui.radioButton_Slave2Digital_2.setChecked(0) self.ui.radioButton_Slave2Digital_2.setCheckable(0) if self.pInterface.Digital( 19 ) and not self.ui.radioButton_Slave2Digital_3.isChecked(): self.ui.radioButton_Slave2Digital_3.setCheckable(1) self.ui.radioButton_Slave2Digital_3.setChecked(1) elif not self.pInterface.Digital( 19) and self.ui.radioButton_Slave2Digital_3.isChecked(): self.ui.radioButton_Slave2Digital_3.setChecked(0) self.ui.radioButton_Slave2Digital_3.setCheckable(0) if self.pInterface.Digital( 20 ) and not self.ui.radioButton_Slave2Digital_4.isChecked(): self.ui.radioButton_Slave2Digital_4.setCheckable(1) self.ui.radioButton_Slave2Digital_4.setChecked(1) elif not self.pInterface.Digital( 20) and self.ui.radioButton_Slave2Digital_4.isChecked(): self.ui.radioButton_Slave2Digital_4.setChecked(0) self.ui.radioButton_Slave2Digital_4.setCheckable(0) if self.pInterface.Digital( 21 ) and not self.ui.radioButton_Slave2Digital_5.isChecked(): self.ui.radioButton_Slave2Digital_5.setCheckable(1) self.ui.radioButton_Slave2Digital_5.setChecked(1) elif not self.pInterface.Digital( 21) and self.ui.radioButton_Slave2Digital_5.isChecked(): self.ui.radioButton_Slave2Digital_5.setChecked(0) self.ui.radioButton_Slave2Digital_5.setCheckable(0) if self.pInterface.Digital( 22 ) and not self.ui.radioButton_Slave2Digital_6.isChecked(): self.ui.radioButton_Slave2Digital_6.setCheckable(1) self.ui.radioButton_Slave2Digital_6.setChecked(1) elif not self.pInterface.Digital( 22) and self.ui.radioButton_Slave2Digital_6.isChecked(): self.ui.radioButton_Slave2Digital_6.setChecked(0) self.ui.radioButton_Slave2Digital_6.setCheckable(0) if self.pInterface.Digital( 23 ) and not self.ui.radioButton_Slave2Digital_7.isChecked(): self.ui.radioButton_Slave2Digital_7.setCheckable(1) self.ui.radioButton_Slave2Digital_7.setChecked(1) elif not self.pInterface.Digital( 23) and self.ui.radioButton_Slave2Digital_7.isChecked(): self.ui.radioButton_Slave2Digital_7.setChecked(0) self.ui.radioButton_Slave2Digital_7.setCheckable(0) if self.pInterface.Digital( 24 ) and not self.ui.radioButton_Slave2Digital_8.isChecked(): self.ui.radioButton_Slave2Digital_8.setCheckable(1) self.ui.radioButton_Slave2Digital_8.setChecked(1) elif not self.pInterface.Digital( 24) and self.ui.radioButton_Slave2Digital_8.isChecked(): self.ui.radioButton_Slave2Digital_8.setChecked(0) self.ui.radioButton_Slave2Digital_8.setCheckable(0) if self.pInterface.Digital( 25 ) and not self.ui.radioButton_Slave3Digital_1.isChecked(): self.ui.radioButton_Slave3Digital_1.setCheckable(1) self.ui.radioButton_Slave3Digital_1.setChecked(1) elif not self.pInterface.Digital( 25) and self.ui.radioButton_Slave3Digital_1.isChecked(): self.ui.radioButton_Slave3Digital_1.setChecked(0) self.ui.radioButton_Slave3Digital_1.setCheckable(0) if self.pInterface.Digital( 26 ) and not self.ui.radioButton_Slave3Digital_2.isChecked(): self.ui.radioButton_Slave3Digital_2.setCheckable(1) self.ui.radioButton_Slave3Digital_2.setChecked(1) elif not self.pInterface.Digital( 26) and self.ui.radioButton_Slave3Digital_2.isChecked(): self.ui.radioButton_Slave3Digital_2.setChecked(0) self.ui.radioButton_Slave3Digital_2.setCheckable(0) if self.pInterface.Digital( 27 ) and not self.ui.radioButton_Slave3Digital_3.isChecked(): self.ui.radioButton_Slave3Digital_3.setCheckable(1) self.ui.radioButton_Slave3Digital_3.setChecked(1) elif not self.pInterface.Digital( 27) and self.ui.radioButton_Slave3Digital_3.isChecked(): self.ui.radioButton_Slave3Digital_3.setChecked(0) self.ui.radioButton_Slave3Digital_3.setCheckable(0) if self.pInterface.Digital( 28 ) and not self.ui.radioButton_Slave3Digital_4.isChecked(): self.ui.radioButton_Slave3Digital_4.setCheckable(1) self.ui.radioButton_Slave3Digital_4.setChecked(1) elif not self.pInterface.Digital( 28) and self.ui.radioButton_Slave3Digital_4.isChecked(): self.ui.radioButton_Slave3Digital_4.setChecked(0) self.ui.radioButton_Slave3Digital_4.setCheckable(0) if self.pInterface.Digital( 29 ) and not self.ui.radioButton_Slave3Digital_5.isChecked(): self.ui.radioButton_Slave3Digital_5.setCheckable(1) self.ui.radioButton_Slave3Digital_5.setChecked(1) elif not self.pInterface.Digital( 29) and self.ui.radioButton_Slave3Digital_5.isChecked(): self.ui.radioButton_Slave3Digital_5.setChecked(0) self.ui.radioButton_Slave3Digital_5.setCheckable(0) if self.pInterface.Digital( 30 ) and not self.ui.radioButton_Slave3Digital_6.isChecked(): self.ui.radioButton_Slave3Digital_6.setCheckable(1) self.ui.radioButton_Slave3Digital_6.setChecked(1) elif not self.pInterface.Digital( 30) and self.ui.radioButton_Slave3Digital_6.isChecked(): self.ui.radioButton_Slave3Digital_6.setChecked(0) self.ui.radioButton_Slave3Digital_6.setCheckable(0) if self.pInterface.Digital( 31 ) and not self.ui.radioButton_Slave3Digital_7.isChecked(): self.ui.radioButton_Slave3Digital_7.setCheckable(1) self.ui.radioButton_Slave3Digital_7.setChecked(1) elif not self.pInterface.Digital( 31) and self.ui.radioButton_Slave3Digital_7.isChecked(): self.ui.radioButton_Slave3Digital_7.setChecked(0) self.ui.radioButton_Slave3Digital_7.setCheckable(0) if self.pInterface.Digital( 32 ) and not self.ui.radioButton_Slave3Digital_8.isChecked(): self.ui.radioButton_Slave3Digital_8.setCheckable(1) self.ui.radioButton_Slave3Digital_8.setChecked(1) elif not self.pInterface.Digital( 32) and self.ui.radioButton_Slave3Digital_8.isChecked(): self.ui.radioButton_Slave3Digital_8.setChecked(0) self.ui.radioButton_Slave3Digital_8.setCheckable(0) def set_engineBoth_1(self, val): if self.pInterface: self.pInterface.SetMotor(1, iSpeed=val) self.ui.dial_MainLeft_1.setSliderPosition(0) self.ui.dial_MainRight_1.setSliderPosition(0) def set_engineLeft_1(self, val): if self.pInterface: self.pInterface.SetOutput(1, val) self.ui.dial_MainBoth_1.setSliderPosition(0) def set_engineRight_1(self, val): if self.pInterface: self.pInterface.SetOutput(2, val) self.ui.dial_MainBoth_1.setSliderPosition(0) def set_engineBoth_2(self, val): if self.pInterface: self.pInterface.SetMotor(2, iSpeed=val) self.ui.dial_MainLeft_2.setSliderPosition(0) self.ui.dial_MainRight_2.setSliderPosition(0) def set_engineLeft_2(self, val): if self.pInterface: self.pInterface.SetOutput(3, val) self.ui.dial_MainBoth_2.setSliderPosition(0) def set_engineRight_2(self, val): if self.pInterface: self.pInterface.SetOutput(4, val) self.ui.dial_MainBoth_2.setSliderPosition(0) def set_engineBoth_3(self, val): if self.pInterface: self.pInterface.SetMotor(3, iSpeed=val) self.ui.dial_MainLeft_3.setSliderPosition(0) self.ui.dial_MainRight_3.setSliderPosition(0) def set_engineLeft_3(self, val): if self.pInterface: self.pInterface.SetOutput(5, val) self.ui.dial_MainBoth_3.setSliderPosition(0) def set_engineRight_3(self, val): if self.pInterface: self.pInterface.SetOutput(6, val) self.ui.dial_MainBoth_3.setSliderPosition(0) def set_engineBoth_4(self, val): if self.pInterface: self.pInterface.SetMotor(4, iSpeed=val) self.ui.dial_MainLeft_4.setSliderPosition(0) self.ui.dial_MainRight_4.setSliderPosition(0) def set_engineLeft_4(self, val): if self.pInterface: self.pInterface.SetOutput(7, val) self.ui.dial_MainBoth_4.setSliderPosition(0) def set_engineRight_4(self, val): if self.pInterface: self.pInterface.SetOutput(8, val) self.ui.dial_MainBoth_4.setSliderPosition(0) def set_engineBoth_5(self, val): if self.pInterface: self.pInterface.SetMotor(5, iSpeed=val) self.ui.dial_Slave1Left_1.setSliderPosition(0) self.ui.dial_Slave1Right_1.setSliderPosition(0) def set_engineLeft_5(self, val): if self.pInterface: self.pInterface.SetOutput(9, val) self.ui.dial_Slave1Both_1.setSliderPosition(0) def set_engineRight_5(self, val): if self.pInterface: self.pInterface.SetOutput(10, val) self.ui.dial_Slave1Both_1.setSliderPosition(0) def set_engineBoth_6(self, val): if self.pInterface: self.pInterface.SetMotor(6, iSpeed=val) self.ui.dial_Slave1Left_2.setSliderPosition(0) self.ui.dial_Slave1Right_2.setSliderPosition(0) def set_engineLeft_6(self, val): if self.pInterface: self.pInterface.SetOutput(11, val) self.ui.dial_Slave1Both_2.setSliderPosition(0) def set_engineRight_6(self, val): if self.pInterface: self.pInterface.SetOutput(12, val) self.ui.dial_Slave1Both_2.setSliderPosition(0) def set_engineBoth_7(self, val): if self.pInterface: self.pInterface.SetMotor(7, iSpeed=val) self.ui.dial_Slave1Left_3.setSliderPosition(0) self.ui.dial_Slave1Right_3.setSliderPosition(0) def set_engineLeft_7(self, val): if self.pInterface: self.pInterface.SetOutput(13, val) self.ui.dial_Slave1Both_3.setSliderPosition(0) def set_engineRight_7(self, val): if self.pInterface: self.pInterface.SetOutput(14, val) self.ui.dial_Slave1Both_3.setSliderPosition(0) def set_engineBoth_8(self, val): if self.pInterface: self.pInterface.SetMotor(8, iSpeed=val) self.ui.dial_Slave1Left_4.setSliderPosition(0) self.ui.dial_Slave1Right_4.setSliderPosition(0) def set_engineLeft_8(self, val): if self.pInterface: self.pInterface.SetOutput(15, val) self.ui.dial_Slave1Both_4.setSliderPosition(0) def set_engineRight_8(self, val): if self.pInterface: self.pInterface.SetOutput(16, val) self.ui.dial_Slave1Both_4.setSliderPosition(0) def set_engineBoth_9(self, val): if self.pInterface: self.pInterface.SetMotor(9, iSpeed=val) self.ui.dial_Slave2Left_1.setSliderPosition(0) self.ui.dial_Slave2Right_1.setSliderPosition(0) def set_engineLeft_9(self, val): if self.pInterface: self.pInterface.SetOutput(17, val) self.ui.dial_Slave2Both_1.setSliderPosition(0) def set_engineRight_9(self, val): if self.pInterface: self.pInterface.SetOutput(18, val) self.ui.dial_Slave2Both_1.setSliderPosition(0) def set_engineBoth_10(self, val): if self.pInterface: self.pInterface.SetMotor(10, iSpeed=val) self.ui.dial_Slave2Left_2.setSliderPosition(0) self.ui.dial_Slave2Right_2.setSliderPosition(0) def set_engineLeft_10(self, val): if self.pInterface: self.pInterface.SetOutput(19, val) self.ui.dial_Slave2Both_2.setSliderPosition(0) def set_engineRight_10(self, val): if self.pInterface: self.pInterface.SetOutput(20, val) self.ui.dial_Slave2Both_2.setSliderPosition(0) def set_engineBoth_11(self, val): if self.pInterface: self.pInterface.SetMotor(11, iSpeed=val) self.ui.dial_Slave2Left_3.setSliderPosition(0) self.ui.dial_Slave2Right_3.setSliderPosition(0) def set_engineLeft_11(self, val): if self.pInterface: self.pInterface.SetOutput(21, val) self.ui.dial_Slave2Both_3.setSliderPosition(0) def set_engineRight_11(self, val): if self.pInterface: self.pInterface.SetOutput(22, val) self.ui.dial_Slave2Both_3.setSliderPosition(0) def set_engineBoth_12(self, val): if self.pInterface: self.pInterface.SetMotor(12, iSpeed=val) self.ui.dial_Slave2Left_4.setSliderPosition(0) self.ui.dial_Slave2Right_4.setSliderPosition(0) def set_engineLeft_12(self, val): if self.pInterface: self.pInterface.SetOutput(23, val) self.ui.dial_Slave2Both_4.setSliderPosition(0) def set_engineRight_12(self, val): if self.pInterface: self.pInterface.SetOutput(24, val) self.ui.dial_Slave2Both_4.setSliderPosition(0) def set_engineBoth_13(self, val): if self.pInterface: self.pInterface.SetMotor(13, iSpeed=val) self.ui.dial_Slave3Left_1.setSliderPosition(0) self.ui.dial_Slave3Right_1.setSliderPosition(0) def set_engineLeft_13(self, val): if self.pInterface: self.pInterface.SetOutput(25, val) self.ui.dial_Slave3Both_1.setSliderPosition(0) def set_engineRight_13(self, val): if self.pInterface: self.pInterface.SetOutput(26, val) self.ui.dial_Slave3Both_1.setSliderPosition(0) def set_engineBoth_14(self, val): if self.pInterface: self.pInterface.SetMotor(14, iSpeed=val) self.ui.dial_Slave3Left_2.setSliderPosition(0) self.ui.dial_Slave3Right_2.setSliderPosition(0) def set_engineLeft_14(self, val): if self.pInterface: self.pInterface.SetOutput(27, val) self.ui.dial_Slave3Both_2.setSliderPosition(0) def set_engineRight_14(self, val): if self.pInterface: self.pInterface.SetOutput(28, val) self.ui.dial_Slave3Both_2.setSliderPosition(0) def set_engineBoth_15(self, val): if self.pInterface: self.pInterface.SetMotor(15, iSpeed=val) self.ui.dial_Slave3Left_3.setSliderPosition(0) self.ui.dial_Slave3Right_3.setSliderPosition(0) def set_engineLeft_15(self, val): if self.pInterface: self.pInterface.SetOutput(29, val) self.ui.dial_Slave3Both_3.setSliderPosition(0) def set_engineRight_15(self, val): if self.pInterface: self.pInterface.SetOutput(30, val) self.ui.dial_Slave3Both_3.setSliderPosition(0) def set_engineBoth_16(self, val): if self.pInterface: self.pInterface.SetMotor(16, iSpeed=val) self.ui.dial_Slave3Left_4.setSliderPosition(0) self.ui.dial_Slave3Right_4.setSliderPosition(0) def set_engineLeft_16(self, val): if self.pInterface: self.pInterface.SetOutput(31, val) self.ui.dial_Slave3Both_4.setSliderPosition(0) def set_engineRight_16(self, val): if self.pInterface: self.pInterface.SetOutput(32, val) self.ui.dial_Slave3Both_4.setSliderPosition(0)