class Stepper(PluginBase, Ui_Stepper):
qtcb_position_reached = pyqtSignal(int)
qtcb_under_voltage = pyqtSignal(int)
def __init__ (self, ipcon, uid):
PluginBase.__init__(self, ipcon, uid)
self.setupUi(self)
self.stepper = brick_stepper.Stepper(self.uid)
self.device = self.stepper
self.ipcon.add_device(self.stepper)
version = self.stepper.get_version()
self.version = '.'.join(map(str, version[1]))
self.version_minor = version[1][1]
self.version_release = version[1][2]
self.endis_all(False)
self.update_timer = QTimer()
self.update_timer.timeout.connect(self.update_data)
self.speedometer = SpeedoMeter()
self.vertical_layout_right.insertWidget(5, self.speedometer)
self.new_value = 0
self.update_counter = 0
self.full_brake_time = 0
self.qem = QErrorMessage(self)
self.qem.setWindowTitle("Under Voltage")
self.velocity_slider.sliderReleased.connect(self.velocity_slider_released)
self.velocity_slider.valueChanged.connect(self.velocity_spin.setValue)
self.velocity_spin.editingFinished.connect(self.velocity_spin_finished)
self.acceleration_slider.sliderReleased.connect(self.acceleration_slider_released)
self.acceleration_slider.valueChanged.connect(self.acceleration_spin.setValue)
self.acceleration_spin.editingFinished.connect(self.acceleration_spin_finished)
self.deceleration_slider.sliderReleased.connect(self.deceleration_slider_released)
self.deceleration_slider.valueChanged.connect(self.deceleration_spin.setValue)
self.deceleration_spin.editingFinished.connect(self.deceleration_spin_finished)
# self.decay_slider.sliderReleased.connect(self.decay_slider_released)
# self.decay_slider.valueChanged.connect(self.decay_spin.setValue)
# self.decay_spin.editingFinished.connect(self.decay_spin_finished)
self.enable_checkbox.stateChanged.connect(self.enable_state_changed)
self.forward_button.pressed.connect(self.forward_pressed)
self.stop_button.pressed.connect(self.stop_pressed)
self.full_brake_button.pressed.connect(self.full_brake_pressed)
self.backward_button.pressed.connect(self.backward_pressed)
self.to_button.pressed.connect(self.to_button_pressed)
self.steps_button.pressed.connect(self.steps_button_pressed)
self.motor_current_button.pressed.connect(self.motor_current_button_pressed)
self.minimum_motor_voltage_button.pressed.connect(self.minimum_motor_voltage_button_pressed)
self.mode_dropbox.currentIndexChanged.connect(self.mode_changed)
self.qtcb_position_reached.connect(self.cb_position_reached)
self.stepper.register_callback(self.stepper.CALLBACK_POSITION_REACHED,
self.qtcb_position_reached.emit)
self.qtcb_under_voltage.connect(self.cb_under_voltage)
self.stepper.register_callback(self.stepper.CALLBACK_UNDER_VOLTAGE,
self.qtcb_under_voltage.emit)
self.update_data_async_thread = None
self.update_data_alive = False
self.ste = 0
self.pos = 0
self.current_velocity = 0
self.cur = 0
self.sv = 0
self.ev = 0
self.mv = 0
self.mod = 0
def start(self):
self.update_timer.start(100)
self.update_start()
self.update_data_alive = True
self.update_data_async_thread = Thread(target=self.update_data_async)
self.update_data_async_thread.daemon = True
self.update_data_async_thread.start()
def stop(self):
self.update_timer.stop()
self.update_data_alive = False
def has_reset_device(self):
return self.version_minor > 1 or (self.version_minor == 1 and self.version_release > 4)
def reset_device(self):
if self.has_reset_device():
self.stepper.reset()
def get_chip_temperature(self):
if self.version_minor > 1 or (self.version_minor == 1 and self.version_release > 4):
return u'{0} °C'.format(self.stepper.get_chip_temperature()/10.0)
else:
return '(> 1.1.4 needed)'
@staticmethod
def has_name(name):
return 'Stepper Brick' in name
def cb_position_reached(self, position):
self.position_update(position)
self.endis_all(True)
def disable_list(self, button_list):
for button in button_list:
button.setEnabled(False)
def endis_all(self, value):
self.forward_button.setEnabled(value)
self.stop_button.setEnabled(value)
self.backward_button.setEnabled(value)
self.to_button.setEnabled(value)
self.steps_button.setEnabled(value)
self.full_brake_button.setEnabled(value)
def mode_changed(self, index):
try:
self.stepper.set_step_mode(1 << index)
self.mod = 1 << index
except ip_connection.Error:
return
def forward_pressed(self):
try:
self.stepper.drive_forward()
except ip_connection.Error:
return
self.disable_list([self.to_button, self.steps_button])
def backward_pressed(self):
try:
self.stepper.drive_backward()
except ip_connection.Error:
return
self.disable_list([self.to_button, self.steps_button])
def stop_pressed(self):
try:
self.stepper.stop()
except ip_connection.Error:
return
self.endis_all(True)
def full_brake_pressed(self):
try:
self.stepper.full_brake()
except ip_connection.Error:
return
self.endis_all(True)
def to_button_pressed(self):
drive_to = self.to_spin.value()
try:
self.stepper.set_target_position(drive_to)
except ip_connection.Error:
return
self.disable_list([self.to_button,
self.steps_button,
self.forward_button,
self.backward_button])
def steps_button_pressed(self):
drive_steps = self.steps_spin.value()
try:
self.stepper.set_steps(drive_steps)
except ip_connection.Error:
return
self.disable_list([self.to_button,
self.steps_button,
self.forward_button,
self.backward_button])
def motor_current_button_pressed(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(0)
qid.setIntMaximum(2500)
qid.setIntStep(100)
try:
qid.setIntValue(self.stepper.get_motor_current())
except ip_connection.Error:
return
qid.intValueSelected.connect(self.motor_current_selected)
qid.setLabelText("Choose motor current in mA.")
# "<font color=red>Setting this too high can destroy your Motor.</font>")
qid.open()
def minimum_motor_voltage_button_pressed(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(0)
qid.setIntMaximum(40000)
qid.setIntStep(100)
try:
qid.setIntValue(self.stepper.get_minimum_voltage())
except ip_connection.Error:
return
qid.intValueSelected.connect(self.minimum_motor_voltage_selected)
qid.setLabelText("Choose minimum motor voltage in mV.")
qid.open()
def motor_current_selected(self, value):
try:
self.stepper.set_motor_current(value)
except ip_connection.Error:
return
def minimum_motor_voltage_selected(self, value):
try:
self.stepper.set_minimum_voltage(value)
except ip_connection.Error:
return
def cb_under_voltage(self, ov):
mv_str = self.minimum_voltage_label.text()
ov_str = "%gV" % round(ov/1000.0, 1)
if not self.qem.isVisible():
self.qem.showMessage("Under Voltage: Output Voltage of " + ov_str +
" is below minimum voltage of " + mv_str,
"Stepper_UnderVoltage")
def enable_state_changed(self, state):
try:
if state == Qt.Checked:
self.endis_all(True)
self.stepper.enable()
elif state == Qt.Unchecked:
self.endis_all(False)
self.stepper.disable()
except ip_connection.Error:
return
def stack_input_voltage_update(self, sv):
sv_str = "%gV" % round(sv/1000.0, 1)
self.stack_voltage_label.setText(sv_str)
def external_input_voltage_update(self, ev):
ev_str = "%gV" % round(ev/1000.0, 1)
self.external_voltage_label.setText(ev_str)
def minimum_voltage_update(self, mv):
mv_str = "%gV" % round(mv/1000.0, 1)
self.minimum_voltage_label.setText(mv_str)
def maximum_current_update(self, cur):
cur_str = "%gA" % round(cur/1000.0, 1)
self.maximum_current_label.setText(cur_str)
def position_update(self, pos):
pos_str = "%d" % pos
self.position_label.setText(pos_str)
def remaining_steps_update(self, ste):
ste_str = "%d" % ste
self.remaining_steps_label.setText(ste_str)
def mode_update(self, mod):
if mod == 8:
index = 3
elif mod == 4:
index = 2
elif mod == 2:
index = 1
else:
index = 0
self.mode_dropbox.setCurrentIndex(index)
def update_start(self):
try:
if not self.velocity_slider.isSliderDown():
velocity = self.stepper.get_max_velocity()
if velocity != self.velocity_slider.sliderPosition():
self.velocity_slider.setSliderPosition(velocity)
self.velocity_spin.setValue(velocity)
if not self.acceleration_slider.isSliderDown() and \
not self.deceleration_slider.isSliderDown():
acc, dec = self.stepper.get_speed_ramping()
if acc != self.acceleration_slider.sliderPosition():
self.acceleration_slider.setSliderPosition(acc)
self.acceleration_spin.setValue(acc)
if dec != self.deceleration_slider.sliderPosition():
self.deceleration_slider.setSliderPosition(dec)
self.deceleration_spin.setValue(dec)
# if not self.decay_slider.isSliderDown():
# dec = self.stepper.get_decay()
# if dec != self.decay_slider.sliderPosition():
# self.decay_slider.setSliderPosition(dec)
# self.decay_spin.setValue(dec)
enabled = self.stepper.is_enabled()
if enabled:
if self.enable_checkbox.checkState() != Qt.Checked:
self.endis_all(True)
self.enable_checkbox.setCheckState(Qt.Checked)
else:
if self.enable_checkbox.checkState() != Qt.Unchecked:
self.endis_all(False)
self.enable_checkbox.setCheckState(Qt.Unchecked)
except ip_connection.Error:
return
def update_data(self):
self.remaining_steps_update(self.ste)
self.position_update(self.pos)
if self.current_velocity != self.speedometer.value():
self.speedometer.set_velocity(self.current_velocity)
self.maximum_current_update(self.cur)
self.stack_input_voltage_update(self.sv)
self.external_input_voltage_update(self.ev)
self.minimum_voltage_update(self.mv)
self.mode_update(self.mod)
def update_data_async(self):
while self.update_data_alive:
try:
self.ste = self.stepper.get_remaining_steps()
self.pos = self.stepper.get_current_position()
self.current_velocity = self.stepper.get_current_velocity()
self.update_counter += 1
if self.update_counter % 10 == 0:
self.cur = self.stepper.get_motor_current()
self.sv = self.stepper.get_stack_input_voltage()
self.ev = self.stepper.get_external_input_voltage()
self.mv = self.stepper.get_minimum_voltage()
self.mod = self.stepper.get_step_mode()
except:
pass
time.sleep(0.1)
def velocity_slider_released(self):
value = self.velocity_slider.value()
self.velocity_spin.setValue(value)
try:
self.stepper.set_max_velocity(value)
except ip_connection.Error:
return
def velocity_spin_finished(self):
value = self.velocity_spin.value()
self.velocity_slider.setValue(value)
try:
self.stepper.set_max_velocity(value)
except ip_connection.Error:
return
def acceleration_slider_released(self):
acc = self.acceleration_slider.value()
dec = self.deceleration_slider.value()
self.acceleration_spin.setValue(acc)
try:
self.stepper.set_speed_ramping(acc, dec)
except ip_connection.Error:
return
def acceleration_spin_finished(self):
acc = self.acceleration_spin.value()
dec = self.deceleration_spin.value()
self.acceleration_slider.setValue(acc)
try:
self.stepper.set_speed_ramping(acc, dec)
except ip_connection.Error:
return
def deceleration_slider_released(self):
acc = self.acceleration_slider.value()
dec = self.deceleration_slider.value()
self.deceleration_spin.setValue(dec)
try:
self.stepper.set_speed_ramping(acc, dec)
except ip_connection.Error:
return
def deceleration_spin_finished(self):
acc = self.acceleration_spin.value()
dec = self.deceleration_spin.value()
self.deceleration_slider.setValue(dec)
try:
self.stepper.set_speed_ramping(acc, dec)
except ip_connection.Error:
return
class DC(PluginBase, Ui_DC):
qtcb_position_reached = pyqtSignal(int)
qtcb_under_voltage = pyqtSignal(int)
qtcb_emergency_shutdown = pyqtSignal()
def __init__ (self, ipcon, uid):
PluginBase.__init__(self, ipcon, uid)
self.setupUi(self)
self.dc = brick_dc.DC(self.uid)
self.device = self.dc
self.ipcon.add_device(self.dc)
self.version = '.'.join(map(str, self.dc.get_version()[1]))
self.update_timer = QTimer()
self.update_timer.timeout.connect(self.update_data)
self.speedometer = SpeedoMeter()
self.vertical_layout_right.insertWidget(4, self.speedometer)
self.new_value = 0
self.update_counter = 0
self.full_brake_time = 0
self.velocity_slider.sliderReleased.connect(self.velocity_slider_released)
self.velocity_slider.valueChanged.connect(self.velocity_spin.setValue)
self.velocity_spin.editingFinished.connect(self.velocity_spin_finished)
self.acceleration_slider.sliderReleased.connect(self.acceleration_slider_released)
self.acceleration_slider.valueChanged.connect(self.acceleration_spin.setValue)
self.acceleration_spin.editingFinished.connect(self.acceleration_spin_finished)
self.frequency_slider.sliderReleased.connect(self.frequency_slider_released)
self.frequency_slider.valueChanged.connect(self.frequency_spin.setValue)
self.frequency_spin.editingFinished.connect(self.frequency_spin_finished)
self.radio_mode_brake.toggled.connect(self.brake_value_changed)
self.radio_mode_coast.toggled.connect(self.coast_value_changed)
self.minimum_voltage_button.pressed.connect(self.minimum_voltage_button_pressed)
self.full_brake_button.pressed.connect(self.full_brake_pressed)
self.enable_checkbox.stateChanged.connect(self.enable_state_changed)
self.emergency_signal = None
self.under_signal = None
self.current_velocity_signal = None
self.velocity_reached_signal = None
self.qem = QErrorMessage(self)
self.qtcb_under_voltage.connect(self.cb_under_voltage)
self.dc.register_callback(self.dc.CALLBACK_UNDER_VOLTAGE,
self.qtcb_under_voltage.emit)
self.qtcb_emergency_shutdown.connect(self.cb_emergency_shutdown)
self.dc.register_callback(self.dc.CALLBACK_EMERGENCY_SHUTDOWN,
self.qtcb_emergency_shutdown.emit)
self.qtcb_position_reached.connect(self.update_velocity)
self.dc.register_callback(self.dc.CALLBACK_VELOCITY_REACHED,
self.qtcb_position_reached.emit)
self.dc.register_callback(self.dc.CALLBACK_CURRENT_VELOCITY,
self.qtcb_position_reached.emit)
def start(self):
self.update_timer.start(1000)
try:
self.dc.set_current_velocity_period(100)
self.update_start()
self.update_data()
except ip_connection.Error:
return
def stop(self):
self.update_timer.stop()
try:
self.dc.set_current_velocity_period(0)
except ip_connection.Error:
return
@staticmethod
def has_name(name):
return 'DC Brick' in name
def cb_emergency_shutdown(self):
if not self.qem.isVisible():
self.qem.setWindowTitle("Emergency Shutdown")
self.qem.showMessage("Emergency Shutdown: Short-Circuit or Over-Temperature")
def cb_under_voltage(self, ov):
mv_str = self.minimum_voltage_label.text()
ov_str = "%gV" % round(ov/1000.0, 1)
if not self.qem.isVisible():
self.qem.setWindowTitle("Under Voltage")
self.qem.showMessage("Under Voltage: Output Voltage of " + ov_str +
" is below minimum voltage of " + mv_str)
def enable_state_changed(self, state):
try:
if state == Qt.Checked:
self.dc.enable()
elif state == Qt.Unchecked:
self.dc.disable()
except ip_connection.Error:
return
def brake_value_changed(self, checked):
if checked:
try:
self.dc.set_drive_mode(0)
except ip_connection.Error:
return
def coast_value_changed(self, checked):
if checked:
try:
self.dc.set_drive_mode(1)
except ip_connection.Error:
return
def full_brake_pressed(self):
try:
self.dc.full_brake()
except ip_connection.Error:
return
def minimum_voltage_selected(self, value):
try:
self.dc.set_minimum_voltage(value)
except ip_connection.Error:
return
def minimum_voltage_button_pressed(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(5000)
qid.setIntMaximum(0xFFFF)
qid.setIntStep(100)
try:
qid.setIntValue(self.dc.get_minimum_voltage())
except ip_connection.Error:
return
qid.intValueSelected.connect(self.minimum_voltage_selected)
qid.setLabelText("Choose minimum motor voltage in mV.")
qid.open()
def stack_input_voltage_update(self, sv):
sv_str = "%gV" % round(sv/1000.0, 1)
self.stack_voltage_label.setText(sv_str)
def external_input_voltage_update(self, ev):
ev_str = "%gV" % round(ev/1000.0, 1)
self.external_voltage_label.setText(ev_str)
def minimum_voltage_update(self, mv):
mv_str = "%gV" % round(mv/1000.0, 1)
self.minimum_voltage_label.setText(mv_str)
def drive_mode_update(self, dm):
if dm == 0:
self.radio_mode_brake.setChecked(True)
self.radio_mode_coast.setChecked(False)
else:
self.radio_mode_brake.setChecked(False)
self.radio_mode_coast.setChecked(True)
def current_consumption_update(self, cc):
if cc >= 1000:
cc_str = "%gA" % round(cc/1000.0, 1)
else:
cc_str = "%gmA" % cc
self.current_label.setText(cc_str)
def update_velocity(self, value):
if value != self.speedometer.value():
self.speedometer.set_velocity(value)
def update_start(self):
try:
dm = self.dc.get_drive_mode()
self.drive_mode_update(dm)
if not self.velocity_slider.isSliderDown():
velocity = self.dc.get_velocity()
if velocity != self.velocity_slider.sliderPosition():
self.velocity_slider.setSliderPosition(velocity)
self.velocity_spin.setValue(velocity)
if not self.acceleration_slider.isSliderDown():
acceleration = self.dc.get_acceleration()
if acceleration != self.acceleration_slider.sliderPosition():
self.acceleration_slider.setSliderPosition(acceleration)
self.acceleration_spin.setValue(acceleration)
if not self.frequency_slider.isSliderDown():
frequency = self.dc.get_pwm_frequency()
if frequency != self.frequency_slider.sliderPosition():
self.frequency_slider.setSliderPosition(frequency)
self.frequency_spin.setValue(frequency)
enabled = self.dc.is_enabled()
if enabled:
self.enable_checkbox.setCheckState(Qt.Checked)
else:
self.enable_checkbox.setCheckState(Qt.Unchecked)
except ip_connection.Error:
return
def update_data(self):
try:
sv = self.dc.get_stack_input_voltage()
ev = self.dc.get_external_input_voltage()
mv = self.dc.get_minimum_voltage()
cc = self.dc.get_current_consumption()
except ip_connection.Error:
return
self.stack_input_voltage_update(sv)
self.external_input_voltage_update(ev)
self.minimum_voltage_update(mv)
self.current_consumption_update(cc)
def acceleration_slider_released(self):
value = self.acceleration_slider.value()
self.acceleration_spin.setValue(value)
try:
self.dc.set_acceleration(value)
except ip_connection.Error:
return
def acceleration_spin_finished(self):
value = self.acceleration_spin.value()
self.acceleration_slider.setValue(value)
try:
self.dc.set_acceleration(value)
except ip_connection.Error:
return
def velocity_slider_released(self):
value = self.velocity_slider.value()
self.velocity_spin.setValue(value)
try:
self.dc.set_velocity(value)
except ip_connection.Error:
return
def velocity_spin_finished(self):
value = self.velocity_spin.value()
self.velocity_slider.setValue(value)
try:
self.dc.set_velocity(value)
except ip_connection.Error:
return
def frequency_slider_released(self):
value = self.frequency_slider.value()
self.frequency_spin.setValue(value)
try:
self.dc.set_pwm_frequency(value)
except ip_connection.Error:
return
def frequency_spin_finished(self):
value = self.frequency_spin.value()
self.frequency_slider.setValue(value)
try:
self.dc.set_pwm_frequency(value)
except ip_connection.Error:
return
class Stepper(PluginBase, Ui_Stepper):
qtcb_position_reached = pyqtSignal(int)
qtcb_under_voltage = pyqtSignal(int)
def __init__(self, ipcon, uid):
PluginBase.__init__(self, ipcon, uid)
self.setupUi(self)
self.stepper = brick_stepper.Stepper(self.uid)
self.device = self.stepper
self.ipcon.add_device(self.stepper)
self.version = '.'.join(map(str, self.stepper.get_version()[1]))
self.endis_all(False)
self.update_timer = QTimer()
self.update_timer.timeout.connect(self.update_data)
self.speedometer = SpeedoMeter()
self.vertical_layout_right.insertWidget(5, self.speedometer)
self.new_value = 0
self.update_counter = 0
self.full_brake_time = 0
self.qem = QErrorMessage(self)
self.qem.setWindowTitle("Under Voltage")
self.velocity_slider.sliderReleased.connect(
self.velocity_slider_released)
self.velocity_slider.valueChanged.connect(self.velocity_spin.setValue)
self.velocity_spin.editingFinished.connect(self.velocity_spin_finished)
self.acceleration_slider.sliderReleased.connect(
self.acceleration_slider_released)
self.acceleration_slider.valueChanged.connect(
self.acceleration_spin.setValue)
self.acceleration_spin.editingFinished.connect(
self.acceleration_spin_finished)
self.deceleration_slider.sliderReleased.connect(
self.deceleration_slider_released)
self.deceleration_slider.valueChanged.connect(
self.deceleration_spin.setValue)
self.deceleration_spin.editingFinished.connect(
self.deceleration_spin_finished)
self.decay_slider.sliderReleased.connect(self.decay_slider_released)
self.decay_slider.valueChanged.connect(self.decay_spin.setValue)
self.decay_spin.editingFinished.connect(self.decay_spin_finished)
self.enable_checkbox.stateChanged.connect(self.enable_state_changed)
self.forward_button.pressed.connect(self.forward_pressed)
self.stop_button.pressed.connect(self.stop_pressed)
self.full_brake_button.pressed.connect(self.full_brake_pressed)
self.backward_button.pressed.connect(self.backward_pressed)
self.to_button.pressed.connect(self.to_button_pressed)
self.steps_button.pressed.connect(self.steps_button_pressed)
self.motor_current_button.pressed.connect(
self.motor_current_button_pressed)
self.minimum_motor_voltage_button.pressed.connect(
self.minimum_motor_voltage_button_pressed)
self.mode_dropbox.currentIndexChanged.connect(self.mode_changed)
self.qtcb_position_reached.connect(self.cb_position_reached)
self.stepper.register_callback(self.stepper.CALLBACK_POSITION_REACHED,
self.qtcb_position_reached.emit)
self.qtcb_under_voltage.connect(self.cb_under_voltage)
self.stepper.register_callback(self.stepper.CALLBACK_UNDER_VOLTAGE,
self.qtcb_under_voltage.emit)
def start(self):
self.update_timer.start(100)
self.update_start()
def stop(self):
self.update_timer.stop()
@staticmethod
def has_name(name):
return 'Stepper Brick' in name
def cb_position_reached(self, position):
self.position_update(position)
self.endis_all(True)
def disable_list(self, button_list):
for button in button_list:
button.setEnabled(False)
def endis_all(self, value):
self.forward_button.setEnabled(value)
self.stop_button.setEnabled(value)
self.backward_button.setEnabled(value)
self.to_button.setEnabled(value)
self.steps_button.setEnabled(value)
self.full_brake_button.setEnabled(value)
def mode_changed(self, index):
try:
self.stepper.set_step_mode(1 << index)
except ip_connection.Error:
return
def forward_pressed(self):
try:
self.stepper.drive_forward()
except ip_connection.Error:
return
self.disable_list([self.to_button, self.steps_button])
def backward_pressed(self):
try:
self.stepper.drive_backward()
except ip_connection.Error:
return
self.disable_list([self.to_button, self.steps_button])
def stop_pressed(self):
try:
self.stepper.stop()
except ip_connection.Error:
return
self.endis_all(True)
def full_brake_pressed(self):
try:
self.stepper.full_brake()
except ip_connection.Error:
return
self.endis_all(True)
def to_button_pressed(self):
drive_to = self.to_spin.value()
try:
self.stepper.set_target_position(drive_to)
except ip_connection.Error:
return
self.disable_list([
self.to_button, self.steps_button, self.forward_button,
self.backward_button
])
def steps_button_pressed(self):
drive_steps = self.steps_spin.value()
try:
self.stepper.set_steps(drive_steps)
except ip_connection.Error:
return
self.disable_list([
self.to_button, self.steps_button, self.forward_button,
self.backward_button
])
def motor_current_button_pressed(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(0)
qid.setIntMaximum(2500)
qid.setIntStep(100)
try:
qid.setIntValue(self.stepper.get_motor_current())
except ip_connection.Error:
return
qid.intValueSelected.connect(self.motor_current_selected)
qid.setLabelText("Choose motor current in mA.")
# "<font color=red>Setting this too high can destroy your Motor.</font>")
qid.open()
def minimum_motor_voltage_button_pressed(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(0)
qid.setIntMaximum(40000)
qid.setIntStep(100)
try:
qid.setIntValue(self.stepper.get_minimum_voltage())
except ip_connection.Error:
return
qid.intValueSelected.connect(self.minimum_motor_voltage_selected)
qid.setLabelText("Choose minimum motor voltage in mV.")
qid.open()
def motor_current_selected(self, value):
try:
self.stepper.set_motor_current(value)
except ip_connection.Error:
return
def minimum_motor_voltage_selected(self, value):
try:
self.stepper.set_minimum_voltage(value)
except ip_connection.Error:
return
def cb_under_voltage(self, ov):
mv_str = self.minimum_voltage_label.text()
ov_str = "%gV" % round(ov / 1000.0, 1)
if not self.qem.isVisible():
self.qem.showMessage("Under Voltage: Output Voltage of " + ov_str +
" is below minimum voltage of " + mv_str)
def enable_state_changed(self, state):
try:
if state == Qt.Checked:
self.endis_all(True)
self.stepper.enable()
elif state == Qt.Unchecked:
self.endis_all(False)
self.stepper.disable()
except ip_connection.Error:
return
def stack_input_voltage_update(self, sv):
sv_str = "%gV" % round(sv / 1000.0, 1)
self.stack_voltage_label.setText(sv_str)
def external_input_voltage_update(self, ev):
ev_str = "%gV" % round(ev / 1000.0, 1)
self.external_voltage_label.setText(ev_str)
def minimum_voltage_update(self, mv):
mv_str = "%gV" % round(mv / 1000.0, 1)
self.minimum_voltage_label.setText(mv_str)
def maximum_current_update(self, cur):
cur_str = "%gA" % round(cur / 1000.0, 1)
self.maximum_current_label.setText(cur_str)
def position_update(self, pos):
pos_str = "%g" % pos
self.position_label.setText(pos_str)
def remaining_steps_update(self, ste):
ste_str = "%g" % ste
self.remaining_steps_label.setText(ste_str)
def mode_update(self, mod):
if mod == 8:
index = 3
elif mod == 4:
index = 2
elif mod == 2:
index = 1
else:
index = 0
self.mode_dropbox.setCurrentIndex(index)
def update_start(self):
try:
if not self.velocity_slider.isSliderDown():
velocity = self.stepper.get_max_velocity()
if velocity != self.velocity_slider.sliderPosition():
self.velocity_slider.setSliderPosition(velocity)
self.velocity_spin.setValue(velocity)
if not self.acceleration_slider.isSliderDown() and \
not self.deceleration_slider.isSliderDown():
acc, dec = self.stepper.get_speed_ramping()
if acc != self.acceleration_slider.sliderPosition():
self.acceleration_slider.setSliderPosition(acc)
self.acceleration_spin.setValue(acc)
if dec != self.deceleration_slider.sliderPosition():
self.deceleration_slider.setSliderPosition(dec)
self.deceleration_spin.setValue(dec)
if not self.decay_slider.isSliderDown():
dec = self.stepper.get_decay()
if dec != self.decay_slider.sliderPosition():
self.decay_slider.setSliderPosition(dec)
self.decay_spin.setValue(dec)
enabled = self.stepper.is_enabled()
if enabled:
if self.enable_checkbox.checkState() != Qt.Checked:
self.endis_all(True)
self.enable_checkbox.setCheckState(Qt.Checked)
else:
if self.enable_checkbox.checkState() != Qt.Unchecked:
self.endis_all(False)
self.enable_checkbox.setCheckState(Qt.Unchecked)
except ip_connection.Error:
return
def update_infos(self):
try:
cur = self.stepper.get_motor_current()
sv = self.stepper.get_stack_input_voltage()
ev = self.stepper.get_external_input_voltage()
mv = self.stepper.get_minimum_voltage()
mod = self.stepper.get_step_mode()
except ip_connection.Error:
return
self.maximum_current_update(cur)
self.stack_input_voltage_update(sv)
self.external_input_voltage_update(ev)
self.minimum_voltage_update(mv)
self.mode_update(mod)
def update_values(self):
try:
ste = self.stepper.get_remaining_steps()
pos = self.stepper.get_current_position()
self.remaining_steps_update(ste)
self.position_update(pos)
current_velocity = self.stepper.get_current_velocity()
if current_velocity != self.speedometer.value():
self.speedometer.set_velocity(current_velocity)
except ip_connection.Error:
return
def update_data(self):
try:
ste = self.stepper.get_remaining_steps()
pos = self.stepper.get_current_position()
self.remaining_steps_update(ste)
self.position_update(pos)
current_velocity = self.stepper.get_current_velocity()
if current_velocity != self.speedometer.value():
self.speedometer.set_velocity(current_velocity)
except ip_connection.Error:
return
self.update_counter += 1
if self.update_counter % 10 == 0:
self.update_infos()
self.update_values()
def velocity_slider_released(self):
value = self.velocity_slider.value()
self.velocity_spin.setValue(value)
try:
self.stepper.set_max_velocity(value)
except ip_connection.Error:
return
def velocity_spin_finished(self):
value = self.velocity_spin.value()
self.velocity_slider.setValue(value)
try:
self.stepper.set_max_velocity(value)
except ip_connection.Error:
return
def acceleration_slider_released(self):
acc = self.acceleration_slider.value()
dec = self.deceleration_slider.value()
self.acceleration_spin.setValue(acc)
try:
self.stepper.set_speed_ramping(acc, dec)
except ip_connection.Error:
return
def acceleration_spin_finished(self):
acc = self.acceleration_spin.value()
dec = self.deceleration_spin.value()
self.acceleration_slider.setValue(acc)
try:
self.stepper.set_speed_ramping(acc, dec)
except ip_connection.Error:
return
def deceleration_slider_released(self):
acc = self.acceleration_slider.value()
dec = self.deceleration_slider.value()
self.deceleration_spin.setValue(dec)
try:
self.stepper.set_speed_ramping(acc, dec)
except ip_connection.Error:
return
def deceleration_spin_finished(self):
acc = self.acceleration_spin.value()
dec = self.deceleration_spin.value()
self.deceleration_slider.setValue(dec)
try:
self.stepper.set_speed_ramping(acc, dec)
except ip_connection.Error:
return
def decay_slider_released(self):
value = self.decay_slider.value()
self.decay_spin.setValue(value)
try:
self.stepper.set_decay(value)
except ip_connection.Error:
return
def decay_spin_finished(self):
value = self.decay_spin.value()
self.decay_slider.setValue(value)
try:
self.stepper.set_decay(value)
except ip_connection.Error:
return