class MotorController(object):
'''
classdocs
'''
def __init__(self):
'''
Constructor
correct serial number:
old 83863559
83815746
'''
self.connectFailed = False
try:
self.Motor1 = APTMotor(83863559, HWTYPE=31)
print self.Motor1.getHardwareInformation()
print self.Motor1.getStageAxisInformation()
print self.Motor1.getVelocityParameters()
# self.degreeConv = 15.0156077
self.degreeConv = 1
self.Motor1.setVelocityParameters(0.0, 5.0, 5.99976)
print self.Motor1.getVelocityParameters()
except Exception as e:
import ThreadedGUI
self.connectFailed = True
title = "Motor Connection Error"
text = "Motor connection failed, make sure it is connected"
p = mp.Process(target = ThreadedGUI.displayError, args =(title, text) )
p.start()
p.join()
def moveMotor(self, ang):
self.Motor1.mcRel(ang/self.degreeConv,5.99976)
# ans = self.Motor1.getPos()*self.degreeConv
# return ans
return 1
def Home(self):
self.Motor1.go_home()
return True
def BlinkSomeLights(self):
self.Motor1.identify()
return True
def getPosition(self):
return self.Motor1.getPos()*self.degreeConv
def moveTo(self, ang):
return self.Motor1.mAbs(ang/self.degreeConv)*self.degreeConv
class widgetAPT(QWidget):
def __init__(self,
parent=None,
serial=00000000,
verbose=False): ##, verbose=False
super(widgetAPT, self).__init__(parent)
self.resize(1300, 650)
self.setWindowTitle('FROG')
self.setWindowIcon(QIcon('iiserb.png'))
layout = QGridLayout()
## self.setLayout(layout)
self.data = np.genfromtxt('N1648.txt',
skip_header=12,
skip_footer=7308)
# Layout objects
sStag = QLabel("Stage", self)
sStag.setStyleSheet("font: 22pt;")
layout.addWidget(sStag, 2, 2)
sAuthor = QLabel("Frequency Resolved Optical Gating", self)
sAuthor.setStyleSheet("font: 40pt; color:green")
layout.addWidget(sAuthor, 1, 3, 1, 15)
# Motor Serial Number
sSer = QLabel("Serial:", self)
sSer.setStyleSheet("font: 16pt;")
layout.addWidget(sSer, 3, 1)
self.txtSerial = QSpinBox(self)
self.txtSerial.setRange(0, 99999999)
self.txtSerial.setSingleStep(1)
self.txtSerial.setValue(27503288)
layout.addWidget(self.txtSerial, 3, 2)
self._Motor_ = APTMotor(verbose=verbose)
# Motor Connect button
self.btnConnect = QPushButton("Connect", self)
self.btnConnect.setStyleSheet("background-color: grey")
self.btnConnect.setText("Connect")
self.btnConnect.setCheckable(True)
self.btnConnect.setToolTip("Connect to Motor")
self.btnConnect.clicked[bool].connect(self.connectAPT)
layout.addWidget(self.btnConnect, 3, 3)
sPos = QLabel("Pos:", self)
sPos.setStyleSheet("font: 16pt;")
self.txtPos = QDoubleSpinBox(self)
self.txtPos.setRange(-5, 13)
self.txtPos.setSingleStep(.1)
self.txtPos.setDecimals(5)
self.txtPos.setValue(0.0000000)
self.txtPos.setToolTip("Current Motor Position")
self.txtPos.setEnabled(False)
layout.addWidget(sPos, 4, 1)
layout.addWidget(self.txtPos, 4, 2)
# Go to position
self.btnGOp = QPushButton("Go", self)
self.btnGOp.clicked.connect(
lambda: self.motAbs(float(self.txtPos.text())))
layout.addWidget(self.btnGOp, 4, 3)
#Home button
self.btnHome = QPushButton("Home", self)
self.btnHome.setToolTip("This will take the stage to 6.50")
layout.addWidget(self.btnHome, 5, 1, 1, 1.5)
self.btnHome.clicked.connect(lambda: self.motAbs(6.50000))
#go to zero
self.btnZero = QPushButton("Go to Zero", self)
self.btnZero.setToolTip("This will take the stage to absolute 0")
layout.addWidget(self.btnZero, 5, 2, 1, 1.5)
self.btnZero.clicked[bool].connect(lambda: self._Motor_.go_home())
#Velocity buttons
sVel = QLabel("Velocity:", self)
sVel.setStyleSheet("font: 14pt;")
self.txtVel = QDoubleSpinBox(self)
self.txtVel.setRange(0, 2.2)
self.txtVel.setSingleStep(.1)
self.txtVel.setValue(1.5)
self.txtVel.setToolTip("set the velocity here")
self.txtVel.setEnabled(False)
layout.addWidget(sVel, 6, 1)
layout.addWidget(self.txtVel, 6, 2)
self.btnGOv = QPushButton("Set", self)
self.btnGOv.clicked.connect(
lambda: self._Motor_.setVel(float(self.txtVel.text())))
layout.addWidget(self.btnGOv, 6, 3)
sBack = QLabel("Backlash:", self)
sBack.setStyleSheet("font: 14pt;")
self.cbBacklash = QCheckBox(self)
layout.addWidget(sBack, 7, 1)
layout.addWidget(self.cbBacklash, 7, 2)
sSpect = QLabel("Spectrometer", self)
sSpect.setStyleSheet("font: 22pt;")
sSpect.setFont(QFont('Arial', 20))
layout.addWidget(sSpect, 8, 2)
texp = QLabel("Time of Exp.:", self)
texp.setStyleSheet("font: 14pt;")
layout.addWidget(texp, 9, 1)
self.timexp = QDoubleSpinBox(self)
self.timexp.setRange(0, 100000)
self.timexp.setSingleStep(1)
self.timexp.setDecimals(0)
self.timexp.setValue(10)
layout.addWidget(self.timexp, 9, 2)
self.btnCh = QPushButton("Set", self)
layout.addWidget(self.btnCh, 9, 3)
nscan = QLabel("Num. of scan:", self)
nscan.setStyleSheet("font: 14pt;")
layout.addWidget(nscan, 10, 1)
self.nscantxt = QDoubleSpinBox(self)
self.nscantxt.setRange(0, 137)
self.nscantxt.setSingleStep(1)
self.nscantxt.setDecimals(0)
self.nscantxt.setValue(10)
layout.addWidget(self.nscantxt, 10, 2)
self.nscan = QPushButton("Set", self)
layout.addWidget(self.nscan, 10, 3)
#self.timexp.setEnabled(False)
## self.timeofexposure = c_uint32(1000)
self.btnCh.clicked[bool].connect(self.assignexp)
self.nscan.clicked[bool].connect(self.assignnscan)
sSpos = QLabel("Signal pos.(mm):")
sSpos.setStyleSheet("font: 14pt;")
self.txtSpos = QDoubleSpinBox(self)
self.txtSpos.setRange(0, 12.0000)
self.txtSpos.setDecimals(5)
self.txtSpos.setSingleStep(0.00001)
self.txtSpos.setValue(6.50000)
layout.addWidget(sSpos, 12, 1)
layout.addWidget(self.txtSpos, 12, 2)
self.btnSpos = QPushButton("Set", self)
layout.addWidget(self.btnSpos, 12, 3)
self.btnSpos.clicked[bool].connect(
lambda: self.txtSpos.setValue(float(self.txtSpos.text())))
sSpectra = QLabel("Spectrum", self)
sSpectra.setStyleSheet("font: 14pt;")
sSpectra.setFont(QFont('Arial', 20))
layout.addWidget(sSpectra, 13, 1)
#----------------------------Spectromter Plot----------------------------------------------------------------------------------------------------
#time of exposure box
self.spectra = create_string_buffer(7500)
pg.setConfigOption('background', 'w')
self.plot1 = pg.PlotWidget()
layout.addWidget(self.plot1, 3, 7, 8, 8)
self.timer = pg.QtCore.QTimer()
self.liveb = QPushButton('Live', self)
layout.addWidget(self.liveb, 13, 2)
self.liveb.setCheckable(True)
self.liveb.clicked[bool].connect(self.live)
self.lbox = QCheckBox(self)
## self.timer.timeout.connect(self.updater)
## self.static = QCheckBox(self)
layout.addWidget(self.lbox, 13, 3)
self.fname = QLineEdit(self)
self.fname.setToolTip("ENTER FILENAME.TXT")
layout.addWidget(self.fname, 14, 1, 1, 2)
self.sScan = QPushButton("Start Scan", self)
layout.addWidget(self.sScan, 14, 3, 1, 1)
self.sScan.clicked[bool].connect(self.scan)
self.pbar = QProgressBar(self)
layout.addWidget(self.pbar, 15, 1, 1, 2)
## self.spectra = create_string_buffer(7500)
## cam.sptdll.getFrame(byref(self.spectra),0xFFFF)
## self.b = np.frombuffer(self.spectra, dtype=np.uint16)
## self.plot1.plot(self.data,self.b[0:3653],pen='b', clear=True)
## pg.QtGui.QApplication.processEvents()
##-----------------------------------------------------------------------------------------
self.figure = Figure()
self.canvas = FigureCanvas(self.figure)
# this is the Navigation widget
# it takes the Canvas widget and a parent
self.toolbar = NavigationToolbar(self.canvas, self)
# Just some button connected to `plot` method
self.button = QPushButton('Plot')
self.button.clicked.connect(self.graph)
# set the layout
layout.addWidget(self.toolbar, 11, 7, 1, 8)
layout.addWidget(self.canvas, 12, 7, 5, 8)
layout.addWidget(self.button, 15, 3, 1, 1)
self.setLayout(layout)
self.ex = QPushButton('EXIT', self)
layout.addWidget(self.ex, 16, 2, 2, 1)
self.ex.clicked.connect(lambda: self._Motor_.cleanUpAPT())
#--------------------------------------------------------------------------------------------------------------------------------
##
def live(self):
if self.lbox.isChecked():
self.timer.timeout.connect(self.updater)
self.timer.start(5)
else:
self.timer.stop()
def updater(self):
cam.sptdll.getFrame(byref(self.spectra), 0xFFFF)
self.b = np.frombuffer(self.spectra, dtype=np.uint16)
self.plot1.plot(self.data, self.b[0:3653], pen='b', clear=True)
def scan(self, pressed):
self.completed = 0
self.pbar.setValue(self.completed)
#writing in file
starting = float(self.txtSpos.text()) - 0.045
self.motAbs(starting)
if (self.fname.text() == ""):
now = datetime.datetime.now()
self.name = now.strftime("%Y %m %d %H %M")
else:
self.name = self.fname.text()
speed = 3e8
for i in range(60): #replaced 60 by 100
self.completed += 1.66667
self.pbar.setValue(self.completed)
self.motRel(0.00150)
fo = open(
r"C:\Users\creates\Desktop\Frog\FROG_soft\DATA_ACQUISITION\\" +
self.name + ".txt", "a+")
cam.sptdll.getFrame(byref(self.spectra), 0xFFFF)
self.b = np.frombuffer(self.spectra, dtype=np.uint16)
fo.write("\t")
for j in range(3653):
fo.write(str((i + 1 - 30) * (0.000015) * (1 / speed)))
fo.write("\t")
fo.write(str(self.data[j]))
fo.write("\t")
fo.write(str(self.b[j]))
fo.write("\n")
fo.write("\t")
fo.close()
self.completed = 100
self.pbar.setValue(self.completed)
return True
def assignexp(self, pressed):
e = c_uint32(int(self.timexp.text()))
cam.sptdll.setExposure(cam.timeofexposure)
cam.sptdll.setAcquisitionParameters(cam.numScans, cam.numblankscans,
cam.scanmode, e)
pg.QtGui.QApplication.processEvents()
return True
def assignnscan(self, pressed):
n = c_uint16(int(self.nscantxt.text()))
cam.sptdll.setAcquisitionParameters(n, cam.numblankscans, cam.scanmode,
cam.timeofexposure)
pg.QtGui.QApplication.processEvents()
return True
def connectAPT(self, pressed):
if pressed:
#APT Motor connect
Serial = int(self.txtSerial.text())
self._Motor_.setSerialNumber(Serial)
self._Motor_.initializeHardwareDevice()
# Success
self.btnConnect.setStyleSheet("background-color: green")
self.btnConnect.setText("Connected")
self.txtSerial.setEnabled(False)
self.txtPos.setEnabled(True)
# Update text to show position
self.txtPos.setValue(self._Motor_.getPos())
self.txtVel.setEnabled(True)
_, _, maxVel = self._Motor_.getVelocityParameters()
self.txtVel.setValue(maxVel)
self._Motor_.go_home()
return True
else:
self.btnConnect.setStyleSheet("background-color: grey")
self.btnConnect.setText("Connect")
self.txtSerial.setEnabled(True)
self.txtPos.setEnabled(False)
self.txtVel.setEnabled(False)
self.txtPos.setValue(0.0000)
self.txtPos.setToolTip("Current Motor Position")
return True
def motRel(self, relDistance):
self._Motor_.setVel(float(self.txtVel.text()))
if self.cbBacklash.isChecked():
self._Motor_.mbRel(relDistance)
else:
self._Motor_.mcRel(relDistance)
self.txtPos.setValue(self._Motor_.getPos())
def motAbs(self, absDistance):
self._Motor_.setVel(float(self.txtVel.text()))
if self.cbBacklash.isChecked():
self._Motor_.mbAbs(absDistance)
else:
self._Motor_.mAbs(absDistance)
# Update text to show position
self.txtPos.setValue(self._Motor_.getPos())
def graph(self):
''' plot some random stuff '''
filename = str("max2_F.txt")
data = np.loadtxt(filename)
x = data[:, 0] #Scan number
y = data[:, 1]
z = data[:, 2] #Intensity
zmat = z.reshape(60, 3653)
## print("here")
# create an axis
ax = self.figure.add_subplot(111)
ax2 = self.figure.add_subplot(112)
# discards the old graph
ax.clear()
ax.imshow(np.transpose(zmat),
cmap=cm.jet,
aspect=10,
extent=(-150, 150, 370, 430),
interpolation='nearest') ##,aspect=10,extent=(0,300,370,430)
self.canvas.draw()
[email protected] """ # Import APTMotor class from PyAPT from PyAPT import APTMotor import time # Create object corresponding to the motor.83840805 Motor1 = APTMotor(83840805, HWTYPE=31) # The number should correspond to the serial number. # Use help APTMotor to obtain full list of hardware (HW) supported. # Note: You can control multiple motors by creating more APTMotor Objects # Obtain current position of motor print(Motor1.getPos()) # You can control multiple motors by creating more APTMotor Objects # Serial numbers can be added later by using setSerialNumber and initializeHardwareDevice # This functionality is particularly useful in the GUI setup. Motor2 = APTMotor() Motor2.setSerialNumber(83829690) Motor2.initializeHardwareDevice() print(Motor2.getPos()) # Move motor forward by 1mm, wait half a second, and return to original position. # mRel is move relative. mAbs is move absolute (go to position xxx) Motor1.mRel(1) # advance 1mm time.sleep(.5) Motor1.mRel(-1) # retract 1mm
[email protected] """ # Import APTMotor class from PyAPT from PyAPT import APTMotor import time # Create object corresponding to the motor. Motor1 = APTMotor( 83828393, HWTYPE=31) # The number should correspond to the serial number. # Use help APTMotor to obtain full list of hardware (HW) supported. # Note: You can control multiple motors by creating more APTMotor Objects # Obtain current position of motor print(Motor1.getPos()) # You can control multiple motors by creating more APTMotor Objects # Serial numbers can be added later by using setSerialNumber and initializeHardwareDevice # This functionality is particularly useful in the GUI setup. Motor2 = APTMotor() Motor2.setSerialNumber(83828393) Motor2.initializeHardwareDevice() print(Motor2.getPos()) # Move motor forward by 1mm, wait half a second, and return to original position. # mRel is move relative. mAbs is move absolute (go to position xxx) Motor1.mRel(1) # advance 1mm time.sleep(.5) Motor1.mRel(-1) # retract 1mm
class widgetAPT(QWidget):
def __init__(self, parent=None, serial=00000000, verbose=False):
super(widgetAPT, self).__init__(parent)
self.resize(200, 100)
#self.move(100, 100)
#setGeometry sets both location and size
#self.setGeometry(50, 50, 1180, 900)
self.setWindowTitle('APT Motor')
#self.m = APTMotor(0)
# QT GridLayout
# TODO: Implement GridLayout
#grid = QGridLayout()
# Layout objects
sAuthor = QLabel("QT-APT", self)
sAuthor.resize(100, 20)
sAuthor.move(100, 0)
sAuthor.setAlignment(Qt.AlignRight)
sVersion = QLabel("v1.0.0", self)
sVersion.resize(100, 20)
sVersion.move(100, 15)
sVersion.setAlignment(Qt.AlignRight)
sEmail = QLabel("Michael Leung", self)
sEmail.resize(100, 40)
sEmail.move(100, 30)
sEmail.setAlignment(Qt.AlignRight)
# Motor Serial Number
sSer = QLabel("Serial:", self)
sSer.resize(60, 20)
sSer.move(0, 0)
self.txtSerial = QSpinBox(self)
self.txtSerial.resize(70, 20)
self.txtSerial.move(30, 0)
self.txtSerial.setRange(0, 99999999)
self.txtSerial.setSingleStep(1)
self.txtSerial.setValue(83840946)
# qle.textChanged[str].connect(self.onChanged) #do onChanged when changed
self._Motor_ = APTMotor(verbose=verbose)
# Motor Connect
self.btnConnect = QPushButton("Connect", self)
self.btnConnect.setStyleSheet("background-color: grey")
self.btnConnect.setText("Connect")
self.btnConnect.setCheckable(True)
self.btnConnect.setToolTip("Connect to Motor")
self.btnConnect.resize(50, 20)
self.btnConnect.move(105, 0)
self.btnConnect.clicked[bool].connect(self.connectAPT)
sPos = QLabel("Pos:", self)
sPos.resize(70, 20)
sPos.move(0, 25)
self.txtPos = QDoubleSpinBox(self)
self.txtPos.resize(60, 20)
self.txtPos.move(30, 25)
#self.txtPos.setMaxLength(7)
self.txtPos.setRange(0, 20)
self.txtPos.setSingleStep(.1)
self.txtPos.setDecimals(5)
self.txtPos.setValue(0.0000000)
self.txtPos.setToolTip("Current Motor Position")
#self.txtPos.setValidator( QDoubleValidator(0, 100, 2) )
self.txtPos.setEnabled(False)
# Go to position
btnGOp = QPushButton("Go", self)
btnGOp.resize(25, 20)
btnGOp.move(100, 25)
btnGOp.clicked.connect(lambda: self.motAbs(float(self.txtPos.text())))
# Movement buttons
btnN3 = QPushButton("-100", self)
btnN3.resize(32, 20)
btnN3.move(0, 50)
btnN3.clicked.connect(lambda: self.motRel(-.1))
btnN2 = QPushButton("-10", self)
btnN2.resize(32, 20)
btnN2.move(33, 50)
btnN2.clicked.connect(lambda: self.motRel(-.01))
btnN1 = QPushButton("-1", self)
btnN1.resize(32, 20)
btnN1.move(66, 50)
btnN1.clicked.connect(lambda: self.motRel(-.001))
btnP1 = QPushButton("+1", self)
btnP1.resize(32, 20)
btnP1.move(100, 50)
btnP1.clicked.connect(lambda: self.motRel(.001))
btnP2 = QPushButton("+10", self)
btnP2.resize(32, 20)
btnP2.move(133, 50)
btnP2.clicked.connect(lambda: self.motRel(.01))
btnP3 = QPushButton("+100", self)
btnP3.resize(32, 20)
btnP3.move(166, 50)
btnP3.clicked.connect(lambda: self.motRel(.1))
sVel = QLabel("Vel:", self)
sVel.resize(60, 20)
sVel.move(0, 75)
self.txtVel = QDoubleSpinBox(self)
self.txtVel.resize(60, 20)
self.txtVel.move(30, 75)
#self.txtVel.setMaxLength(7)
self.txtVel.setRange(0, 2.2)
self.txtVel.setSingleStep(.1)
self.txtVel.setValue(0.000)
self.txtVel.setToolTip("Current Motor Position")
self.txtVel.setEnabled(False)
# Go to velocity
btnGOv = QPushButton("Go", self)
btnGOv.resize(25, 20)
btnGOv.move(100, 75)
btnGOv.clicked.connect(
lambda: self._Motor_.setVel(float(self.txtVel.text())))
sBack = QLabel("Backlash:", self)
sBack.resize(60, 20)
sBack.move(130, 75)
self.cbBacklash = QCheckBox(self)
self.cbBacklash.resize(60, 20)
self.cbBacklash.move(180, 75)
self.show()
def connectAPT(self, pressed):
if pressed:
#APT Motor connect
Serial = int(self.txtSerial.text())
self._Motor_.setSerialNumber(Serial)
self._Motor_.initializeHardwareDevice()
# Success
self.btnConnect.setStyleSheet("background-color: green")
self.btnConnect.setText("Connected")
self.txtSerial.setEnabled(False)
self.txtPos.setEnabled(True)
# Update text to show position
self.txtPos.setValue(self._Motor_.getPos())
self.txtVel.setEnabled(True)
_, _, maxVel = self._Motor_.getVelocityParameters()
self.txtVel.setValue(maxVel)
return True
else:
#APT Motor disconnect
self._Motor_.cleanUpAPT()
# Success
self.btnConnect.setStyleSheet("background-color: grey")
self.btnConnect.setText("Connect")
self.txtSerial.setEnabled(True)
self.txtPos.setEnabled(False)
self.txtVel.setEnabled(False)
self.txtPos.setValue(0.0000)
self.txtPos.setToolTip("Current Motor Position")
return True
def motRel(self, relDistance):
if self.cbBacklash.isChecked():
self._Motor_.mbRel(relDistance)
else:
self._Motor_.mRel(relDistance)
# Update text to show position
self.txtPos.setValue(self._Motor_.getPos())
def motAbs(self, absDistance):
if self.cbBacklash.isChecked():
self._Motor_.mbAbs(absDistance)
else:
self._Motor_.mAbs(absDistance)
# Update text to show position
self.txtPos.setValue(self._Motor_.getPos())
class widgetAPT(QWidget):
def __init__(self, parent = None, serial=00000000, verbose=False):
super(widgetAPT, self).__init__(parent)
self.resize(200, 100)
#self.move(100, 100)
#setGeometry sets both location and size
#self.setGeometry(50, 50, 1180, 900)
self.setWindowTitle('APT Motor')
#self.m = APTMotor(0)
# QT GridLayout
# TODO: Implement GridLayout
#grid = QGridLayout()
# Layout objects
sAuthor = QLabel("QT-APT", self)
sAuthor.resize(100, 20)
sAuthor.move(100, 0)
sAuthor.setAlignment(Qt.AlignRight)
sVersion = QLabel("v1.0.0", self)
sVersion.resize(100, 20)
sVersion.move(100, 15)
sVersion.setAlignment(Qt.AlignRight)
sEmail = QLabel("Michael Leung", self)
sEmail.resize(100, 40)
sEmail.move(100, 30)
sEmail.setAlignment(Qt.AlignRight)
# Motor Serial Number
sSer = QLabel("Serial:", self)
sSer.resize(60, 20)
sSer.move(0, 0)
self.txtSerial = QSpinBox(self)
self.txtSerial.resize(70,20)
self.txtSerial.move(30,0)
self.txtSerial.setRange(0, 99999999)
self.txtSerial.setSingleStep(1)
self.txtSerial.setValue(83840946)
# qle.textChanged[str].connect(self.onChanged) #do onChanged when changed
self._Motor_ = APTMotor(verbose=verbose)
# Motor Connect
self.btnConnect = QPushButton("Connect", self)
self.btnConnect.setStyleSheet("background-color: grey")
self.btnConnect.setText("Connect")
self.btnConnect.setCheckable(True)
self.btnConnect.setToolTip("Connect to Motor")
self.btnConnect.resize(50, 20)
self.btnConnect.move(105, 0)
self.btnConnect.clicked[bool].connect(self.connectAPT)
sPos = QLabel("Pos:", self)
sPos.resize(70, 20)
sPos.move(0, 25)
self.txtPos = QDoubleSpinBox(self)
self.txtPos.resize(60, 20)
self.txtPos.move(30, 25)
#self.txtPos.setMaxLength(7)
self.txtPos.setRange(0, 20)
self.txtPos.setSingleStep(.1)
self.txtPos.setDecimals(5)
self.txtPos.setValue(0.0000000)
self.txtPos.setToolTip("Current Motor Position")
#self.txtPos.setValidator( QDoubleValidator(0, 100, 2) )
self.txtPos.setEnabled(False)
# Go to position
btnGOp = QPushButton("Go", self)
btnGOp.resize(25, 20)
btnGOp.move(100, 25)
btnGOp.clicked.connect(lambda: self.motAbs(float(self.txtPos.text())))
# Movement buttons
btnN3 = QPushButton("-100", self)
btnN3.resize(32, 20)
btnN3.move(0, 50)
btnN3.clicked.connect(lambda: self.motRel(-.1))
btnN2 = QPushButton("-10", self)
btnN2.resize(32, 20)
btnN2.move(33, 50)
btnN2.clicked.connect(lambda: self.motRel(-.01))
btnN1 = QPushButton("-1", self)
btnN1.resize(32, 20)
btnN1.move(66, 50)
btnN1.clicked.connect(lambda: self.motRel(-.001))
btnP1 = QPushButton("+1", self)
btnP1.resize(32, 20)
btnP1.move(100, 50)
btnP1.clicked.connect(lambda: self.motRel(.001))
btnP2 = QPushButton("+10", self)
btnP2.resize(32, 20)
btnP2.move(133, 50)
btnP2.clicked.connect(lambda: self.motRel(.01))
btnP3 = QPushButton("+100", self)
btnP3.resize(32, 20)
btnP3.move(166, 50)
btnP3.clicked.connect(lambda: self.motRel(.1))
sVel = QLabel("Vel:", self)
sVel.resize(60, 20)
sVel.move(0, 75)
self.txtVel = QDoubleSpinBox(self)
self.txtVel.resize(60, 20)
self.txtVel.move(30, 75)
#self.txtVel.setMaxLength(7)
self.txtVel.setRange(0, 2.2)
self.txtVel.setSingleStep(.1)
self.txtVel.setValue(0.000)
self.txtVel.setToolTip("Current Motor Position")
self.txtVel.setEnabled(False)
# Go to velocity
btnGOv = QPushButton("Go", self)
btnGOv.resize(25, 20)
btnGOv.move(100, 75)
btnGOv.clicked.connect(lambda: self._Motor_.setVel(float(self.txtVel.text())))
sBack = QLabel("Backlash:", self)
sBack.resize(60, 20)
sBack.move(130, 75)
self.cbBacklash = QCheckBox(self)
self.cbBacklash.resize(60, 20)
self.cbBacklash.move(180, 75)
self.show()
def connectAPT(self, pressed):
if pressed:
#APT Motor connect
Serial = int(self.txtSerial.text())
self._Motor_.setSerialNumber(Serial)
self._Motor_.initializeHardwareDevice()
# Success
self.btnConnect.setStyleSheet("background-color: green")
self.btnConnect.setText("Connected")
self.txtSerial.setEnabled(False)
self.txtPos.setEnabled(True)
# Update text to show position
self.txtPos.setValue( self._Motor_.getPos() )
self.txtVel.setEnabled(True)
_, _, maxVel = self._Motor_.getVelocityParameters()
self.txtVel.setValue( maxVel )
return True
else:
#APT Motor disconnect
self._Motor_.cleanUpAPT()
# Success
self.btnConnect.setStyleSheet("background-color: grey")
self.btnConnect.setText("Connect")
self.txtSerial.setEnabled(True)
self.txtPos.setEnabled(False)
self.txtVel.setEnabled(False)
self.txtPos.setValue(0.0000)
self.txtPos.setToolTip("Current Motor Position")
return True
def motRel(self, relDistance):
if self.cbBacklash.isChecked() :
self._Motor_.mbRel(relDistance)
else:
self._Motor_.mRel(relDistance)
# Update text to show position
self.txtPos.setValue( self._Motor_.getPos() )
def motAbs(self, absDistance):
if self.cbBacklash.isChecked() :
self._Motor_.mbAbs(absDistance)
else:
self._Motor_.mAbs(absDistance)
# Update text to show position
self.txtPos.setValue( self._Motor_.getPos() )
import ipdb #S Focus stage #SN = 80851661 #HWTYPE = 31 ipdb.set_trace() #S Iodine stage SN = 40864672 HWTYPE = 12 motor = APTMotor(SN,HWTYPE) start = datetime.datetime.now() motor.initializeHardwareDevice() end = datetime.datetime.now() print 'connected :' + str((end-start).total_seconds()) currentPos = motor.getPos() print currentPos motor.mAbs(0.0) #time.sleep(5) currentPos = motor.getPos() print currentPos start = datetime.datetime.now() motor.cleanUpAPT() end = datetime.datetime.now()
class BBD103():
"""
Thorlabs USB interface to BBD103 controller for a MLS203 stage
"""
def __init__(self, sn_motor1=94832870, sn_motor2=94832869, **kwds):
"""
Connect to the thorlabs stage at the specified port.
"""
self.live = True
self.unit_to_um = 1000.0 # units are mm
self.um_to_unit = 1.0 / self.unit_to_um
self.x = 0.0
self.y = 0.0
# sn_motor1 = 94832870
# sn_motor2 = 94832869
self.Motor1 = APTMotor(sn_motor1, HWTYPE=44) # initialize motor 1 "x"
self.Motor2 = APTMotor(sn_motor2, HWTYPE=44) # initizalize motor 2 "y"
## getStatus
#
# @return True/False if we are actually connected to the stage.
#
def getStatus(self):
return self.live
def goAbsolute(self, x, y):
x = x * self.um_to_unit
y = y * self.um_to_unit
self.Motor1.mAbs(x) #
self.Motor2.mAbs(y) #
def goRelative(self, x, y):
x = x * self.um_to_unit
y = y * self.um_to_unit
self.Motor1.mRel(x) #
self.Motor2.mRel(y) #
def jog(self, x_speed,
y_speed): # shouldn't this also specify a relative position
vx = x_speed * self.um_to_unit
vy = y_speed * self.um_to_unit
self.Motor1.setVel(x_speed)
self.Motor2.setVel(y_speed)
def joystickOnOff(self, on):
if on:
self.writeline("!joy 2")
else:
self.writeline("!joy 0")
## lockout
#
# Calls joystickOnOff.
#
# @param flag True/False.
#
def lockout(self, flag):
self.joystickOnOff(not flag)
## position
#
# @return [stage x (um), stage y (um), stage z (um)]
#
def position(self):
if self.live:
x0 = self.Motor1.getPos() # query single axis
y0 = self.Motor2.getPos() # query single axis
return {"x": x0, "y": y0}
def serialNumber(self):
"""
Return the stages serial number.
"""
return self.Motor1.getHardwareInformation()
def setVelocity(self, x_vel, y_vel):
"""
x_vel - The maximum stage velocity allowed in x.
y_vel - The maximum stage velocity allowed in y.
I'm not sure this should be allowed to change the max velocity here.
"""
pass
## shutDown
#
# Disconnect from the stage.
#
def shutDown(self):
# Disconnect from the stage (not sure this is correct)
if self.live:
self.Motor1.cleanUpAPT()
self.Motor2.cleanUpAPT()
def zero(self):
pass