def moveAntenna(self, dirStr, isFine):
global srvoConnected, srvoPort, centerBearing, panOffset, tiltOffset
moveSteps = int(self.spn_moveSensitivity.text())
if not isFine:
moveSteps *= 5
bearing = self.lcd_sttnBearing.value()
elevation = self.lcd_sttnElevation.value()
self.log(
'Moving antenna from %.2f, %.2f by %.2f deg.' %
(bearing, elevation, moveSteps), 'INF')
if dirStr == 'Center':
moveServosToPosition(srvoPort, 127, 127)
elif dirStr == 'Up':
nudgeServos(srvoPort, 0, 0 - moveSteps)
elif dirStr == 'Left':
nudgeServos(srvoPort, 0 - moveSteps, 0)
elif dirStr == 'Right':
nudgeServos(srvoPort, moveSteps, 0)
elif dirStr == 'Down':
nudgeServos(srvoPort, 0, moveSteps)
else:
print 'errorrrr'
self.log(
'After: antenna positions: centerBear: %.2f, panOffset: %.2f, tiltOffset: %.2f'
% (centerBearing, panOffset, tiltOffset), 'INF')
def servoConnect(self):
global srvoConnected, srvoPort
if (not srvoConnected):
srvoPort = serialConnect(self.cbo_srvoComPort.currentText(),
int(self.cbo_srvoBaudRate.currentText()))
if (srvoPort != []):
srvoConnected = True
setServoAccel(srvoPort)
setServoSpeed(srvoPort)
moveServosToPosition(srvoPort, 127, 127)
self.btn_srvoConnect.setText("Disconnect")
else:
srvoPort.close()
srvoConnected = False
self.btn_srvoConnect.setText("Connect")
def calibrateStation(self):
global calibrateGroundStation, calibrateIndex, skipCount, startCount, \
calibrateAzi, calibrateElev, calibrateSteps
self.prg_sttnCalibrate.setValue(0)
if calibrateGroundStation:
# if currently calibrating the ground station, then stop calibration
calibrateGroundStation = False
calibrateAzi = False # Azimuth and Elevation calibrated separately
calibrateElev = False
self.btn_sttnCalibrate.setText('Calibrate Station')
moveServosToPosition(srvoPort, 127, 127)
else:
moveServosToPosition(srvoPort, 0, 127)
calibrateIndex = 0
skipCount = 0
startCount = 0
calibrateSteps = 0
self.btn_sttnCalibrate.setText('Stop Calibration')
calibrateGroundStation = True
calibrateAzi = True
self.txt_sttnElevCalibrationTable.clear()
self.txt_sttnAziCalibrationTable.clear()
def trackTarget(trackList, imuL):
global aziDegreeLookup, elevDegreeLookup
aziPosition = -1
elevPosition = -1
reachedMax = False
reachedMin = False
moveDown = False
moveDeg = 0
direction = 1
aziDegree = int(round(trackList[1]))
elevDegree = int(round(trackList[2]))
if aziDegree < 0 or aziDegree > 360:
print 'Error pointing to Azi degree %d out of range' % (aziDegree)
return
if elevDegree < 0:
elevDegree = 0
if elevDegree > 90:
elevDegree = 90
print 'Pointing to Azi degree %d and Elev degree %d' % (aziDegree,
elevDegree)
while aziPosition == -1:
aziPosition = aziDegreeLookup[aziDegree + moveDeg * direction]
moveDeg += 1
direction = 1
if moveDown:
direction = -1
moveDown = False
else:
moveDown = True
if aziDegree + moveDeg * direction > 360:
direction = -1
reachedMax = True
if aziDegree + moveDeg * direction < 0:
direction = 1
reachedMin = True
if reachedMax and reachedMin:
print 'Have check all values, everything is -1'
return
print 'Point to Azi position %d - degree %d' % (
aziPosition, aziDegree + moveDeg * direction)
reachedMax = False
reachedMin = False
moveDown = False
moveDeg = 0
while elevPosition == -1:
elevPosition = elevDegreeLookup[elevDegree + moveDeg * direction]
moveDeg += 1
direction = 1
if moveDown:
direction = -1
moveDown = False
else:
moveDown = True
if elevDegree + moveDeg * direction > 90:
direction = -1
reachedMax = True
if elevDegree + moveDeg * direction < 0:
direction = 1
reachedMin = True
if reachedMax and reachedMin:
print 'Have check all values, everything is -1'
return
print 'Point to Elev position %d - degree %d' % (
elevPosition, elevDegree + moveDeg * direction)
moveServosToPosition(srvoPort, int(aziPosition), int(elevPosition))
def processCalibrationV2(self):
global srvoConnected, srvoPort, calibrateGroundStation, calibrateIndex, \
skipCount, imuList, startCount, calibrateAzi, calibrateElev, \
aziDegreeLookup, elevDegreeLookup, isCalibrated, calibrateSteps
if startCount < 100:
startCount += 1
return
if skipCount < 3:
skipCount += 1
return
skipCount = 0
if calibrateGroundStation:
if not imuList:
self.log('attempt to calibrate station when imuList is NULL',
'ERR')
self.calibrateStation()
return
if calibrateAzi:
deg = int(round(imuList[7]))
if deg < 0 or deg > 360:
self.log(
'error azi calibrating, index %d out of bounds' %
(deg), 'ERR')
return
# aziPositionLookup[calibrateIndex] = deg
tStr = '%03d - %03d' % (calibrateIndex,
aziPositionLookup[calibrateIndex])
calibrateIndex += 1
calibrateSteps += 1
self.prg_sttnCalibrate.setValue(calibrateSteps * 100 / 330)
if calibrateIndex >= 253:
calibrateAzi = False
calibrateElev = True
skipCount = 0
startCount = 0
calibrateIndex = getServoMinAltitude()
moveServosToPosition(srvoPort, 127, calibrateIndex)
return
moveServosToPosition(srvoPort, calibrateIndex, 127)
self.txt_sttnAziCalibrationTable.append(tStr)
elif calibrateElev:
print 'calibrate elevation %d' % (calibrateIndex)
idx = int(round(imuList[9]))
if idx < 0:
self.log(
'error elev calibrating, index %d out of bounds' %
(idx), 'ERR')
calibrateIndex -= 1
moveServosToPosition(srvoPort, 127, calibrateIndex)
return
if idx > 360:
self.log(
'error elev calibrating, index %d out of bounds' %
(idx), 'ERR')
return
elevDegreeLookup[idx] = calibrateIndex
tStr = '%03d - %03d' % (idx, elevDegreeLookup[idx])
calibrateIndex -= 1
calibrateSteps += 1
self.prg_sttnCalibrate.setValue(calibrateSteps * 100 / 330)
if calibrateIndex <= getServoMaxAltitude():
calibrateElev = False
return
moveServosToPosition(srvoPort, 127, calibrateIndex)
self.txt_sttnElevCalibrationTable.append(tStr)
else:
isCalibrated = True
printCalibration()
self.calibrateStation()