def get_mean_velocity(self):
port = porter
pm1 = SocketCanPort.SocketCanPort("can1")
cia402 = Cia402device.CiA402Device(port, pm1)
mean_vel = cia402.GetMeanVelocity()
self.meanvelocity.delete('0', END)
self.meanvelocity.insert(0, str(mean_vel))
def get_filtered_amps(self):
port = porter
pm1 = SocketCanPort.SocketCanPort("can1")
cia402 = Cia402device.CiA402Device(port, pm1)
famp = cia402.GetFilterdAmps()
self.filtamps.delete('0', END)
self.filtamps.insert(0, str(famp))
def get_amps(self):
port = porter
pm1 = SocketCanPort.SocketCanPort("can1")
cia402 = Cia402device.CiA402Device(port, pm1)
amps = cia402.GetAmps()
self.amps.delete('0', END)
self.amps.insert(0, str(amps))
m_tor.append(amps)
def get_velocity(self):
port = porter
pm1 = SocketCanPort.SocketCanPort("can1")
cia402 = Cia402device.CiA402Device(port, pm1)
vel = cia402.GetVelocity()
self.velocity.delete('0', END)
self.velocity.insert(0, str(vel))
m_vel.append(vel)
def get_position(self):
port = porter
pm1 = SocketCanPort.SocketCanPort("can1")
cia402 = Cia402device.CiA402Device(port, pm1)
pos = cia402.GetPosition()
self.position.delete('0', END)
self.position.insert(0, str(pos))
m_pos.append(pos)
def SwitchOff(self):
port = int(self.port.get())
pm1 = SocketCanPort.SocketCanPort("can1")
cia402 = Cia402device.CiA402Device(port, pm1)
cia402.SwitchOff()
self.var1.set(False)
self.var2.set(True)
self.port.delete('0', END)
def SwitchOn(self):
global porter
porter = int(self.port.get())
pm1 = SocketCanPort.SocketCanPort("can1")
cia402 = Cia402device.CiA402Device(porter, pm1)
cia402.Reset()
cia402.SwitchOn()
self.var1.set(True)
self.var2.set(False)
def torquemode(self):
self.varv.set(False)
self.varp.set(False)
port = porter
pm1 = SocketCanPort.SocketCanPort("can1")
cia402 = Cia402device.CiA402Device(port, pm1)
cia402.Setup_Torque_Mode()
self.spos['state'] = 'disabled'
self.svel['state'] = 'disabled'
self.stor['state'] = 'active'
def bspos(self):
port = porter
pm1 = SocketCanPort.SocketCanPort("can1")
cia402 = Cia402device.CiA402Device(port, pm1)
posit = float(self.setpos.get())
cia402.SetPosition(posit)
def bstorque(self):
port = porter
pm1 = SocketCanPort.SocketCanPort("can1")
cia402 = Cia402device.CiA402Device(port, pm1)
torq = float(self.settorq.get())
cia402.SetTorque(torq)
def bsvel(self):
port = porter
pm1 = SocketCanPort.SocketCanPort("can1")
cia402 = Cia402device.CiA402Device(port, pm1)
veloc = float(self.setvel.get())
cia402.SetVelocity(veloc)
import Cia402device cia402 = Cia402device.CiA402Device() cia402.GetPosition()
import SocketCanPort
import Cia402device
pm1 = SocketCanPort.SocketCanPort("can1")
cia402_pos = Cia402device.CiA402Device(31, pm1);
cia402_pos.Reset();
cia402_pos.SwitchOn();