def EmumDevice(self):
pymotor.enum_device()
print('\nemum complete!\n')
self.device_name, self.dev_count, self.friend_name = pymotor.enum_device(
)
self.device = numpy.empty(5, dtype=object)
if self.dev_count == 0:
print("\nNo finding of device.")
print("\nUse the vitual device:\n")
self.device_name = ["testxmotor", "testymotor", "testzmotor"]
self.i = 0
for self.str_device in self.device_name:
print('str_device:' + self.str_device)
self.device[self.i] = vitual_dev.VitualDevice(
self.device_name[self.i])
print('device[]' + str(self.device[self.i]))
#self.testmotor = pymotor.Motor(vitual_dev.VitualDevice(self.str_device).open_name)
#self.testmotor.move(10)
self.i = self.i + 1
else:
for self.dev_ind in range(0, self.dev_count):
if 'Axis 1' in repr(self.friend_name[self.dev_ind]):
self.device[0] = pymotor.Motor(
self.device_name[self.dev_ind])
if 'Axis 2' in repr(self.friend_name[self.dev_ind]):
self.device[1] = pymotor.Motor(
self.device_name[self.dev_ind])
if 'Axis 3' in repr(self.friend_name[self.dev_ind]):
self.device[2] = pymotor.Motor(
self.device_name[self.dev_ind])
def __init__(self, parent, Title, Device, uiFile):
super(Axis, self).__init__(parent)
self.ui = uic.loadUi(uiFile)
#Declaring Device
if tctEnable:
self.axis = pymotor.Motor(Device)
#Jogging Plus
self.ui.JogPlus.pressed.connect(self.JogPlus)
self.ui.JogPlus.released.connect(self.Stop)
#Jogging Minus
self.ui.JogMinus.pressed.connect(self.JogMinus)
self.ui.JogMinus.released.connect(self.Stop)
#Home
self.ui.Home.clicked.connect(self.Home)
#Move
self.ui.MoveAB.clicked.connect(self.MoveAB)
self.ui.MoveRE.clicked.connect(self.MoveRE)
##Stop
self.ui.Stop.clicked.connect(self.Stop)
##Limits
self.ui.Limits.clicked.connect(self.Limits)
#Scroll
self.ui.Scroll.valueChanged[int].connect(self.UpdateDesiredPosScroll)
#Updating State - Position
self.timer = QtCore.QTimer()
self.timer.start(100)
self.timer.timeout.connect(self.UpdateState)
self.timer.timeout.connect(self.CurrentPosition)
#####################
# Initializing Widget
self.UpdateDesiredPos()
self.ui.setWindowTitle(Title)
# Var
self.currentPos = 0
self.Title = Title
self.lenght = self.ui.DesirePos.maximum()
def InitEmum(self):
pymotor.enum_device()
print('\nemum complete!\n')
self.devenum, self.dev_count = pymotor.enum_device()
self.device = numpy.empty(5, dtype=object)
if self.dev_count == 0:
print("\nNo finding of device.")
print("\nUse the vitual device:\n")
self.device_name = ["testxmotor", "testymotor", "testzmotor"]
self.i = 0
for self.str_device in self.device_name:
print('str_device:' + self.str_device)
self.device[self.i] = vitual_dev.VitualDevice(
self.device_name[self.i])
print('device[]' + str(self.device[self.i]))
#self.testmotor = pymotor.Motor(vitual_dev.VitualDevice(self.str_device).open_name)
# self.testmotor.move(10)
self.i = self.i + 1
else:
for self.dev_ind in range(0, self.dev_count):
self.device[self.dev_count] = pymotor.Motor(
pymotor.Motor.get_name(self, self.devenum, self.dev_ind))
pm.rpm(600),
pm.rpm(900),
pm.rpm(1200),
pm.rpm(1500),
pm.rpm(1800),
]
curve_tau = [
2.5,
2.2,
1.3,
0.9,
0.7,
0.6,
0.5,
]
motor = pm.Motor(curve_hz=curve_hz, curve_tau=curve_tau, j=pm.gcm2(460))
motor.plot()
coupler = pm.Coupler(j=pm.gcm2(5))
gear = pm.Gear(ratio=2, j_in=pm.gcm2(10), j_out=pm.gcm2(15))
screw = pm.Screw(lead=pm.inch(.05), j=pm.gcm2(20))
at = pm.AngularTorque(lf,
motor=motor,
coupler=coupler,
gear=gear,
drivetrain=screw)
at.plot()