def __init__(self, parent):
super(QWidget, self).__init__(parent)
self.layout = QVBoxLayout(self)
self.test_time = [0]
self.test_data = [0]
self.filter_counter = 0
self.filter_storage = 0
self.filtered_value = 0
self.tick = 0
# Initialize tab screen
self.tabs = QTabWidget()
self.tab1 = QWidget()
self.tab2 = QWidget()
self.tab3 = QWidget()
self.tabs.resize(300, 200)
# Add tabs
self.tabs.addTab(self.tab1, "Main Menu")
self.tabs.addTab(self.tab2, "Test")
self.tabs.addTab(self.tab3, "Results")
# Create first tab
self.tab1.layout = QVBoxLayout(self)
self.pushButton1 = QPushButton("PyQt5 button")
self.tab1.layout.addWidget(self.pushButton1)
self.tab1.setLayout(self.tab1.layout)
# Create second tab
self.tab2.layout = QVBoxLayout(self)
self.pushButtonStart = QPushButton("Start the test")
self.pushButtonStop = QPushButton("Stop the test")
self.pushButtonWeight = QPushButton("Weight")
# Set Plotter
pg.setConfigOption('background', 'w')
pg.setConfigOption('foreground', 'k')
self.graphicsView = pg.PlotWidget(title="Coefficient of Friction Test")
self.tab2.layout.addWidget(self.pushButtonStart)
self.tab2.layout.addWidget(self.pushButtonStop)
self.tab2.layout.addWidget(self.pushButtonWeight)
self.tab2.setLayout(self.tab2.layout)
self.tab2.layout.addWidget(self.graphicsView)
self.layout.addWidget(self.tabs)
self.setLayout(self.layout)
pen = pg.mkPen(color=(255, 0, 0))
self.data_line = self.graphicsView.plot(self.test_time, self.test_data, pen=pen)
# button events
self.pushButtonStart.clicked.connect(self.start_test) # plot when clicked
self.pushButtonStop.clicked.connect(self.stop_test) # tare when clicked
self.pushButtonWeight.clicked.connect(self.btn_weight) # weight when clicked
self.md = motor_driver()
speed = 0
hdg = 0
oldsteer = 500
oldspeed = 500
oldhdg = 500
auto = False
comhdg = 0
left_limit = -36
right_limit = 36
epoch = time.time()
wstr = ""
cbuff = ""
flag = False
robot = motor_driver.motor_driver()
#===================================================================
# progressive steering
def turn():
strang = abs(steer)
if (strang < 3):
turnang = 1
elif (strang < 10):
turnang = 2
elif (strang < 20):
turnang = 3
else:
turnang = 4
return turnang
import motor_driver md = motor_driver.motor_driver() md.motor_run(0.001, 400, 1)