def __init__(self):
use_gui = True
sdr_type = 'NooElec' # sdr_type can be: 'AirSpy', 'NooElec'
self.__gt = gantry_control.GantryControl([0, 3100, 0, 1600, 0, 600],
use_gui, sdr_type)
self.__oBelt = self.__gt.get_serial_x_handle()
self.__oSpindle = self.__gt.get_serial_y_handle()
self.__oRod = self.__gt.get_serial_z_handle()
def __init__(self, parent, controller):
Tk.Frame.__init__(self, parent)
use_gui = True
self.__gt = gantry_control.GantryControl([0, 3100, 0, 1600], use_gui)
oBelt = self.__gt.get_serial_x_handle()
oSpindle = self.__gt.get_serial_y_handle()
# Notebook
#notebook_label = ttk.Label(self, text="Control")
#notebook_label.grid(row=3, column=2, pady=3)
notebook_frame = ttk.Notebook(self)
notebook_frame.grid(row=4, column=2, padx=30, pady=4)
velcontrl_frame = ttk.Frame(notebook_frame)
absposcontrl_frame = ttk.Frame(notebook_frame)
relposcontrl_frame = ttk.Frame(notebook_frame)
man_contrl_frame = ttk.Frame(notebook_frame)
notebook_frame.add(velcontrl_frame, text="Velocity Control")
notebook_frame.add(absposcontrl_frame, text="Abs Position Control")
notebook_frame.add(relposcontrl_frame, text="Rel Position Control")
notebook_frame.add(man_contrl_frame, text="Manual Control")
label_pos_xy = ttk.Label(self, text='X = ?mm\nY = ?mm')
label_pos_xy.grid(row=1, column=1)
def get_position():
pos_x_mm, pos_y_mm = self.__gt.get_gantry_pos_xy_mm()
label_pos_xy.configure(text='X = ' + str(int(pos_x_mm)) +
'mm \nY = ' + str(int(pos_y_mm)) + 'mm')
return True
button_gantry_position = ttk.Button(self,
text='Update Position',
command=lambda: get_position())
button_gantry_position.grid(row=1, column=0)
"""
Belt-Drive
"""
firstrow_belt = 2
label_spindle_name = ttk.Label(velcontrl_frame,
text='Belt-drive',
font=LARGE_FONT)
label_spindle_name.grid(row=firstrow_belt + 0, column=1)
button3 = ttk.Button(velcontrl_frame,
text='v-- V [-]',
command=lambda: oBelt.set_drive_speed(-1 * int(
entry_v_belt.get())))
button3.grid(row=firstrow_belt + 1, column=0)
button4 = ttk.Button(velcontrl_frame,
text='STOP',
command=lambda: oBelt.set_drive_speed(0))
button4.grid(row=firstrow_belt + 1, column=1)
button5 = ttk.Button(
velcontrl_frame,
text='[+] V --^',
command=lambda: oBelt.set_drive_speed(1 * int(entry_v_belt.get())))
button5.grid(row=firstrow_belt + 1, column=2)
label_v_belt = ttk.Label(velcontrl_frame, text='Velocity:')
entry_v_belt = ttk.Entry(velcontrl_frame)
entry_v_belt.insert(0, '0')
label_v_belt.grid(row=firstrow_belt + 2, column=0)
entry_v_belt.grid(row=firstrow_belt + 2, column=1)
"""
Spindle-Drive
"""
firstrow_spindle = 5
label_spindle_name = ttk.Label(velcontrl_frame,
text='Spindle-drive',
font=LARGE_FONT)
label_spindle_name.grid(row=firstrow_spindle + 0, column=1)
button2 = ttk.Button(velcontrl_frame,
text='<-- V [-]',
command=lambda: oSpindle.set_drive_speed(-1 * int(
entry_v_spindle.get())))
button2.grid(row=firstrow_spindle + 1, column=0)
button3 = ttk.Button(velcontrl_frame,
text='STOP',
command=lambda: oSpindle.set_drive_speed(0))
button3.grid(row=firstrow_spindle + 1, column=1)
button4 = ttk.Button(velcontrl_frame,
text='[+] V -->',
command=lambda: oSpindle.set_drive_speed(1 * int(
entry_v_spindle.get())))
button4.grid(row=firstrow_spindle + 1, column=2)
label_v_spindle = ttk.Label(velcontrl_frame, text='Velocity:')
entry_v_spindle = ttk.Entry(velcontrl_frame)
entry_v_spindle.insert(0, '0')
label_v_spindle.grid(row=firstrow_spindle + 2, column=0)
entry_v_spindle.grid(row=firstrow_spindle + 2, column=1)
"""
Abs Postion control
"""
entry_abs_pos_belt = ttk.Entry(absposcontrl_frame)
entry_abs_pos_belt.insert(0, '')
entry_abs_pos_belt.grid(row=2, column=1)
entry_abs_pos_spindle = ttk.Entry(absposcontrl_frame)
entry_abs_pos_spindle.insert(0, '')
entry_abs_pos_spindle.grid(row=3, column=1)
button_goto_abs_pos = ttk.Button(
absposcontrl_frame,
text='go to X/Y - pos [mm]',
command=lambda: self.__gt.go_to_abs_pos(
1 * abs(int(entry_abs_pos_belt.get())), 1 * abs(
int(entry_abs_pos_spindle.get()))))
button_goto_abs_pos.grid(row=4, column=1, sticky='W', pady=4)
"""
Rel Postion control
"""
entry_rel_pos_belt = ttk.Entry(relposcontrl_frame)
entry_rel_pos_belt.insert(0, '0')
entry_rel_pos_belt.grid(row=2, column=1)
entry_rel_pos_spindle = ttk.Entry(relposcontrl_frame)
entry_rel_pos_spindle.insert(0, '0')
entry_rel_pos_spindle.grid(row=3, column=1)
button_goto_rel_pos = ttk.Button(
relposcontrl_frame,
text='move by dx dy [mm]',
command=lambda: self.__gt.go_to_rel_pos(
1 * int(entry_rel_pos_belt.get()), 1 * int(
entry_rel_pos_spindle.get())))
button_goto_rel_pos.grid(row=4, column=1, sticky='W', pady=4)
"""
Manual Control
"""
button_manual_mode_belt = ttk.Button(
man_contrl_frame,
text=' Manual Mode Belt',
command=lambda: oBelt.start_manual_mode())
button_manual_mode_belt.grid(row=firstrow_belt + 2, column=3)
button_manual_mode_spindle = ttk.Button(
man_contrl_frame,
text=' Manual Mode Spindle',
command=lambda: oSpindle.start_manual_mode())
button_manual_mode_spindle.grid(row=firstrow_spindle + 2, column=3)
"""
EKF_Path Button
"""
button_ekf_path = ttk.Button(
self,
text='EKF-Path (old)',
command=lambda: self.__gt.follow_wp_and_take_measurements())
button_ekf_path.grid(row=1, column=2)
entry_num_plot_points = ttk.Entry(self)
entry_num_plot_points.insert(0, '1000')
entry_num_plot_points.grid(row=1, column=4)
entry_log_lin_ekf = ttk.Entry(self)
entry_log_lin_ekf.insert(0, 'log')
entry_log_lin_ekf.grid(row=2, column=4)
button_path = ttk.Button(
self,
text='WP-Path Following',
command=lambda: self.__gt.follow_wp_path_opt_take_measurements(
int(entry_num_plot_points.get()), entry_log_lin_ekf.get()))
button_path.grid(row=1, column=3)
"""
Settings
"""
entry_max_speed_belt = ttk.Entry(self)
entry_max_speed_belt.insert(0, '3000')
entry_max_speed_belt.grid(row=3, column=6)
button_max_speed_belt = ttk.Button(
self,
text='set max Speed Belt (<=3000!)',
command=lambda: self.__gt.set_new_max_speed_x(1 * abs(
int(entry_max_speed_belt.get()))))
button_max_speed_belt.grid(row=3, column=5, sticky='W', pady=4)
entry_max_speed_spindle = ttk.Entry(self)
entry_max_speed_spindle.insert(0, '9000')
entry_max_speed_spindle.grid(row=4, column=6)
button_max_speed_spindle = ttk.Button(
self,
text='set max Speed Spindle (<=9000!)',
command=lambda: self.__gt.set_new_max_speed_y(1 * abs(
int(entry_max_speed_spindle.get()))))
button_max_speed_spindle.grid(row=4, column=5, sticky='W', pady=4)
button_home_seq = ttk.Button(
self,
text='Initialize Home Position',
command=lambda: self.__gt.start_go_home_seq_xy())
button_home_seq.grid(row=15, column=3, sticky='W', pady=4)
"""
Quit-Button
"""
button_quit = ttk.Button(self, text='Quit', command=self.quit)
button_quit.grid(row=15, column=4, sticky='W', pady=4)
label = ttk.Label(self, text='Start Page')
label.grid(row=15, column=0)
button1 = ttk.Button(self,
text='Drive Settings',
command=lambda: controller.show_frame(PageOne))
button1.grid(row=15, column=1)
button_start_field_meas = ttk.Button(
self,
text='Start EM-Field Measurement',
command=lambda: self.__gt.start_field_measurement_file_select())
button_start_field_meas.grid(row=8, column=5, sticky='W', pady=4)
entry_log_lin_analyze = ttk.Entry(self)
entry_log_lin_analyze.insert(0, 'log')
entry_log_lin_analyze.grid(row=8, column=7)
button_analyze_data = ttk.Button(
self,
text='Analyze Data',
command=lambda: rf_tools.analyze_measdata_from_file(
entry_log_lin_analyze.get()))
button_analyze_data.grid(row=8, column=6, sticky='W', pady=4)
def __init__(self, parent, controller):
Tk.Frame.__init__(self, parent)
use_gui = True
self.__gt = gantry_control.GantryControl([0, 3100, 0, 1600], use_gui)
oBelt = self.__gt.get_serial_x_handle()
oSpindle = self.__gt.get_serial_y_handle()
label_pos_xy = ttk.Label(self, text='X = ?mm\nY = ?mm')
label_pos_xy.grid(row=1, column=1)
def get_position():
pos_x_mm, pos_y_mm = self.__gt.get_gantry_pos_xy_mm()
label_pos_xy.configure(text='X = ' + str(int(pos_x_mm)) + 'mm \nY = ' + str(int(pos_y_mm)) + 'mm')
return True
button_gantry_position = ttk.Button(self, text='Update Position', command=lambda: get_position())
button_gantry_position.grid(row=1, column=0)
"""
Belt-Drive
"""
firstrow_belt = 2
label_spindle_name = ttk.Label(self, text='Belt-drive', font=LARGE_FONT)
label_spindle_name.grid(row=firstrow_belt + 0, column=1)
button3 = ttk.Button(self, text='v-- V [-]',
command=lambda: oBelt.set_drive_speed(-1 * int(entry_v_belt.get())))
button3.grid(row=firstrow_belt + 1, column=0)
button4 = ttk.Button(self, text='STOP', command=lambda: oBelt.set_drive_speed(0))
button4.grid(row=firstrow_belt + 1, column=1)
button5 = ttk.Button(self, text='[+] V --^', command=lambda: oBelt.set_drive_speed(1 * int(entry_v_belt.get())))
button5.grid(row=firstrow_belt + 1, column=2)
label_v_belt = ttk.Label(self, text='Velocity:')
entry_v_belt = ttk.Entry(self)
entry_v_belt.insert(0, '0')
label_v_belt.grid(row=firstrow_belt + 2, column=0)
entry_v_belt.grid(row=firstrow_belt + 2, column=1)
button_manual_mode_belt = ttk.Button(self, text=' Manual Mode Belt', command=lambda: oBelt.start_manual_mode())
button_manual_mode_belt.grid(row=firstrow_belt + 2, column=3)
"""
Spindle-Drive
"""
firstrow_spindle = 5
label_spindle_name = ttk.Label(self, text='Spindle-drive', font=LARGE_FONT)
label_spindle_name.grid(row=firstrow_spindle+0, column=1)
button2 = ttk.Button(self, text='<-- V [-]', command=lambda: oSpindle.set_drive_speed(-1*int(entry_v_spindle.get())))
button2.grid(row=firstrow_spindle+1, column=0)
button3 = ttk.Button(self, text='STOP', command=lambda: oSpindle.set_drive_speed(0))
button3.grid(row=firstrow_spindle+1, column=1)
button4 = ttk.Button(self, text='[+] V -->', command=lambda: oSpindle.set_drive_speed(1*int(entry_v_spindle.get())))
button4.grid(row=firstrow_spindle+1, column=2)
label_v_spindle = ttk.Label(self, text='Velocity:')
entry_v_spindle = ttk.Entry(self)
entry_v_spindle.insert(0, '0')
label_v_spindle.grid(row=firstrow_spindle+2, column=0)
entry_v_spindle.grid(row=firstrow_spindle+2, column=1)
button_manual_mode_spindle = ttk.Button(self, text=' Manual Mode Spindle', command=lambda: oSpindle.start_manual_mode())
button_manual_mode_spindle.grid(row=firstrow_spindle+2, column=3)
"""
Quit-Button
"""
button_home_seq = ttk.Button(self, text='Initialize Home Position', command=lambda: self.__gt.start_go_home_seq_xy())
button_home_seq.grid(row=8, column=3, sticky='W', pady=4)
button_quit = ttk.Button(self, text='Quit', command=self.quit)
button_quit.grid(row=8, column=4, sticky='W', pady=4)
label = ttk.Label(self, text='Start Page')
label.grid(row=8, column=0)
button1 = ttk.Button(self, text='Drive Settings', command=lambda: controller.show_frame(PageOne))
button1.grid(row=8, column=1)
button_start_field_meas = ttk.Button(self, text='Start EM-Field Measurement',
command=lambda: self.__gt.start_field_measurement_file_select())
button_start_field_meas.grid(row=8, column=5, sticky='W', pady=4)
button_analyze_data = ttk.Button(self, text='Analyze Data',
command=lambda: rf_tools.analyze_measdata_from_file())
button_analyze_data.grid(row=8, column=6, sticky='W', pady=4)
import gantry_control
import rf_tools
import numpy as np
dx = 100 # [mm]
dy = 100 # [mm]
"""
meas_time_set = [5]
for meas_time in meas_time_set:
wp_filename = 'wp_list_inner_space_' + str(dx) +'mm_'+ str(meas_time)+'s.txt'
rf_tools.wp_generator(wp_filename, [1150, 550], [2250, 1200], [dx, dy], meas_time, False) # x-axis along belt-drive
"""
gt = gantry_control.GantryControl([0, 3100, 0, 1600], True)
freqtx = [434.1e6, 434.15e6, 434.4e6, 434.45e6]
#gt.start_CalEar(freqtx)
numtx = len(freqtx)
tx_abs_pos = [
[1060, 470], # 433.9MHz
[1060, 1260], # 434.1MHz
[2340, 470], # 434.3MHz
[2340, 1260]
] # 434.5MHz
"""
date = '2017_02_17'
meas_filename = 'measdata_' + date + '_inner_space_'+str(dx)+'mm_' + str(meas_time) + 's_a.txt'
gt.process_measurement_sequence(wp_filename, meas_filename, numtx, tx_abs_pos, freqtx)
"""