def input_device_changed(self, index): success, index = self.audio_device.select_input_device(index) self.ui.DeviceList.setCurrentIndex(index) self.fft_plot.must_plot = True if not success: # Note: the error message is a child of the settings dialog, so that # that dialog remains on top when the error message is closed error_message = QErrorMessage(self.settings_dialog) error_message.setWindowTitle("Input device error") error_message.showMessage("Impossible to use the selected input" " device, reverting to the previous one")
def second_channel_changed(self, index): self.ui.actionStart.setChecked(False) success, index = self.audiobackend.select_second_channel(index) self.settings_dialog.comboBox_secondChannel.setCurrentIndex(index) if not success: # Note: the error message is a child of the settings dialog, so that # that dialog remains on top when the error message is closed error_message = QErrorMessage(self.settings_dialog) error_message.setWindowTitle("Input device error") error_message.showMessage("Impossible to use the selected channel as the second channel, reverting to the previous one") self.ui.actionStart.setChecked(True)
def loadParameterSet(self): s = QSettings() name = self.configCombo.currentText() s.beginGroup('ParameterSets') if not name in s.childGroups(): dlg = QErrorMessage(self) dlg.setWindowTitle('Error') dlg.showMessage('No saved parameters available for %s' % name) return s.beginGroup(name) for item in self.parameterItems: item.setValue(s.value(item.objectName(), item.value(), type=float)) self.adjustExcitationCb.setChecked(s.value('adjustExcitation', False, type=bool)) self.sensorNameLe.setText(s.value('sensorName', '', type=QString)) self.visaCombo.setCurrentIndex(self.visaCombo.findText(s.value('sr830Visa', 'GPIB0::12', type=QString))) self.autoRangingCb.setChecked(s.value('autoRanging', True, type=bool)) self.minSensitivityCombo.setCurrentCodeSilently(s.value('minSensitivity', 0, type=int)) s.endGroup() s.endGroup()
class ImagesWidget(QWidget, Ui_Images): images = None def __init__(self, parent, app): super(QWidget, self).__init__() self.app = app self.setupUi(self) self.error_msg = QErrorMessage() self.error_msg.setWindowTitle("Starter Kit: Blinkenlights Demo " + config.DEMO_VERSION) self.slider_frame_rate.valueChanged.connect(self.slider_frame_rate_changed) self.spinbox_frame_rate.valueChanged.connect(self.spinbox_frame_rate_changed) self.button_choose.pressed.connect(self.choose_pressed) self.button_show.pressed.connect(self.show_pressed) self.button_default.pressed.connect(self.default_pressed) self.update_frame_rate_timer = QTimer(self) self.update_frame_rate_timer.timeout.connect(self.update_frame_rate) self.default_pressed() def start(self): self.images = Images(self.app.ipcon) self.update_frame_rate() self.images.frame_rendered(0) def stop(self): if self.images: self.images.stop_rendering() self.images = None def spinbox_frame_rate_changed(self, frame_rate): self.slider_frame_rate.setValue(frame_rate) self.update_frame_rate_timer.start(100) def slider_frame_rate_changed(self, frame_rate): self.spinbox_frame_rate.setValue(frame_rate) def show_pressed(self): if self.images: files = unicode(self.text_edit_files.toPlainText()).strip() if len(files) > 0: new_images = files.split('\n') try: self.images.set_new_images(new_images) except Exception as e: self.error_msg.showMessage(str(e)) self.images.frame_prepare_next() self.images.frame_rendered(0) def choose_pressed(self): for filename in QFileDialog.getOpenFileNames(self, 'Choose Images', QDir.homePath()): self.text_edit_files.append(filename) def default_pressed(self): self.spinbox_frame_rate.setValue(1) def update_frame_rate(self): self.update_frame_rate_timer.stop() config.IMAGES_FRAME_RATE = self.spinbox_frame_rate.value() if self.images: self.images.update_frame_rate()
class Stepper(PluginBase, Ui_Stepper): qtcb_position_reached = pyqtSignal(int) qtcb_under_voltage = pyqtSignal(int) def __init__(self, *args): PluginBase.__init__(self, BrickStepper, *args) self.setupUi(self) self.stepper = self.device self.endis_all(False) self.update_timer = QTimer() self.update_timer.timeout.connect(self.update_data) self.new_value = 0 self.update_counter = 0 self.full_brake_time = 0 self.qem = QErrorMessage(self) self.qem.setWindowTitle("Under Voltage") self.decay_widget.hide() self.setting_sync_rect_checkbox = False self.velocity_syncer = SliderSpinSyncer(self.velocity_slider, self.velocity_spin, self.velocity_changed) self.acceleration_syncer = SliderSpinSyncer(self.acceleration_slider, self.acceleration_spin, self.acceleration_changed) self.deceleration_syncer = SliderSpinSyncer(self.deceleration_slider, self.deceleration_spin, self.deceleration_changed) self.decay_syncer = SliderSpinSyncer(self.decay_slider, self.decay_spin, self.decay_changed) self.enable_checkbox.toggled.connect(self.enable_toggled) self.forward_button.clicked.connect(self.forward_clicked) self.stop_button.clicked.connect(self.stop_clicked) self.full_brake_button.clicked.connect(self.full_brake_clicked) self.backward_button.clicked.connect(self.backward_clicked) self.to_button.clicked.connect(self.to_button_clicked) self.steps_button.clicked.connect(self.steps_button_clicked) self.motor_current_button.clicked.connect(self.motor_current_button_clicked) self.minimum_motor_voltage_button.clicked.connect(self.minimum_motor_voltage_button_clicked) self.sync_rect_checkbox.toggled.connect(self.sync_rect_toggled) self.mode_dropbox.currentIndexChanged.connect(self.mode_changed) self.qtcb_position_reached.connect(self.cb_position_reached) self.stepper.register_callback(self.stepper.CALLBACK_POSITION_REACHED, self.qtcb_position_reached.emit) self.qtcb_under_voltage.connect(self.cb_under_voltage) self.stepper.register_callback(self.stepper.CALLBACK_UNDER_VOLTAGE, self.qtcb_under_voltage.emit) self.ste = 0 self.pos = 0 self.current_velocity = 0 self.cur = 0 self.sv = 0 self.ev = 0 self.mv = 0 self.mod = 0 if self.firmware_version >= (1, 1, 4): reset = QAction('Reset', self) reset.triggered.connect(lambda: self.stepper.reset()) self.set_actions(reset) def start(self): self.update_timer.start(100) self.update_start() def stop(self): self.update_timer.stop() def destroy(self): pass def get_url_part(self): return 'stepper' @staticmethod def has_device_identifier(device_identifier): return device_identifier == BrickStepper.DEVICE_IDENTIFIER def cb_position_reached(self, position): self.position_update(position) self.endis_all(True) def disable_list(self, button_list): for button in button_list: button.setEnabled(False) def endis_all(self, value): self.forward_button.setEnabled(value) self.stop_button.setEnabled(value) self.backward_button.setEnabled(value) self.to_button.setEnabled(value) self.steps_button.setEnabled(value) self.full_brake_button.setEnabled(value) def mode_changed(self, index): try: self.stepper.set_step_mode(1 << index) self.mod = 1 << index except ip_connection.Error: return def forward_clicked(self): try: self.stepper.drive_forward() except ip_connection.Error: return self.disable_list([self.to_button, self.steps_button]) def backward_clicked(self): try: self.stepper.drive_backward() except ip_connection.Error: return self.disable_list([self.to_button, self.steps_button]) def stop_clicked(self): try: self.stepper.stop() except ip_connection.Error: return self.endis_all(True) def full_brake_clicked(self): try: self.stepper.full_brake() except ip_connection.Error: return self.endis_all(True) def to_button_clicked(self): drive_to = self.to_spin.value() try: self.stepper.set_target_position(drive_to) except ip_connection.Error: return self.disable_list([self.to_button, self.steps_button, self.forward_button, self.backward_button]) def steps_button_clicked(self): drive_steps = self.steps_spin.value() try: self.stepper.set_steps(drive_steps) except ip_connection.Error: return self.disable_list([self.to_button, self.steps_button, self.forward_button, self.backward_button]) def motor_current_button_clicked(self): qid = QInputDialog(self) qid.setInputMode(QInputDialog.IntInput) qid.setIntMinimum(0) qid.setIntMaximum(2500) qid.setIntStep(100) async_call(self.stepper.get_motor_current, None, qid.setIntValue, self.increase_error_count) qid.intValueSelected.connect(self.motor_current_selected) qid.setLabelText("Choose motor current in mA.") # "<font color=red>Setting this too high can destroy your Motor.</font>") qid.open() def minimum_motor_voltage_button_clicked(self): qid = QInputDialog(self) qid.setInputMode(QInputDialog.IntInput) qid.setIntMinimum(0) qid.setIntMaximum(40000) qid.setIntStep(100) async_call(self.stepper.get_minimum_voltage, None, qid.setIntValue, self.increase_error_count) qid.intValueSelected.connect(self.minimum_motor_voltage_selected) qid.setLabelText("Choose minimum motor voltage in mV.") qid.open() def motor_current_selected(self, value): try: self.stepper.set_motor_current(value) except ip_connection.Error: return def minimum_motor_voltage_selected(self, value): try: self.stepper.set_minimum_voltage(value) except ip_connection.Error: return def cb_under_voltage(self, ov): mv_str = self.minimum_voltage_label.text() ov_str = "%gV" % round(ov/1000.0, 1) if not self.qem.isVisible(): self.qem.showMessage("Under Voltage: Output Voltage of " + ov_str + " is below minimum voltage of " + mv_str, "Stepper_UnderVoltage") def enable_toggled(self, checked): try: if checked: if not self.stepper.is_enabled(): self.endis_all(True) self.stepper.enable() else: if self.stepper.is_enabled(): self.endis_all(False) self.stepper.disable() except ip_connection.Error: return def sync_rect_toggled(self, checked): if not self.setting_sync_rect_checkbox and checked: rc = QMessageBox.warning(get_main_window(), 'Synchronous Rectification', 'If you want to use high speeds (> 10000 steps/s) for a large stepper motor with a ' + 'large inductivity we strongly suggest that you do not enable synchronous rectification. ' + 'Otherwise the Brick may not be able to cope with the load and overheat.', QMessageBox.Ok | QMessageBox.Cancel) if rc != QMessageBox.Ok: self.sync_rect_checkbox.setChecked(False) return try: self.stepper.set_sync_rect(checked) except ip_connection.Error: return self.decay_widget.setVisible(checked) def stack_input_voltage_update(self, sv): sv_str = "%gV" % round(sv/1000.0, 1) self.stack_voltage_label.setText(sv_str) def external_input_voltage_update(self, ev): ev_str = "%gV" % round(ev/1000.0, 1) self.external_voltage_label.setText(ev_str) def minimum_voltage_update(self, mv): mv_str = "%gV" % round(mv/1000.0, 1) self.minimum_voltage_label.setText(mv_str) def maximum_current_update(self, cur): cur_str = "%gA" % round(cur/1000.0, 1) self.maximum_current_label.setText(cur_str) def position_update(self, pos): pos_str = "%d" % pos self.position_label.setText(pos_str) def remaining_steps_update(self, ste): ste_str = "%d" % ste self.remaining_steps_label.setText(ste_str) def current_velocity_update(self, velocity): velocity_str = "%d" % velocity self.current_velocity_label.setText(velocity_str) self.speedometer.set_velocity(velocity) def mode_update(self, mod): if mod == 8: index = 3 elif mod == 4: index = 2 elif mod == 2: index = 1 else: index = 0 self.mode_dropbox.setCurrentIndex(index) def get_max_velocity_async(self, velocity): if not self.velocity_slider.isSliderDown(): if velocity != self.velocity_slider.sliderPosition(): self.velocity_slider.setSliderPosition(velocity) self.velocity_spin.setValue(velocity) def get_speed_ramping_async(self, ramp): acc, dec = ramp if not self.acceleration_slider.isSliderDown() and \ not self.deceleration_slider.isSliderDown(): if acc != self.acceleration_slider.sliderPosition(): self.acceleration_slider.setSliderPosition(acc) self.acceleration_spin.setValue(acc) if dec != self.deceleration_slider.sliderPosition(): self.deceleration_slider.setSliderPosition(dec) self.deceleration_spin.setValue(dec) def get_decay_async(self, decay): if not self.decay_slider.isSliderDown(): if decay != self.decay_slider.sliderPosition(): self.decay_slider.setSliderPosition(decay) self.decay_spin.setValue(decay) def is_enabled_async(self, enabled): if enabled: if not self.enable_checkbox.isChecked(): self.endis_all(True) self.enable_checkbox.setChecked(True) else: if self.enable_checkbox.isChecked(): self.endis_all(False) self.enable_checkbox.setChecked(False) def is_sync_rect_async(self, sync_rect): self.setting_sync_rect_checkbox = True self.sync_rect_checkbox.setChecked(sync_rect) self.setting_sync_rect_checkbox = False def update_start(self): async_call(self.stepper.get_max_velocity, None, self.get_max_velocity_async, self.increase_error_count) async_call(self.stepper.get_speed_ramping, None, self.get_speed_ramping_async, self.increase_error_count) async_call(self.stepper.get_decay, None, self.get_decay_async, self.increase_error_count) async_call(self.stepper.is_enabled, None, self.is_enabled_async, self.increase_error_count) async_call(self.stepper.is_sync_rect, None, self.is_sync_rect_async, self.increase_error_count) def update_data(self): async_call(self.stepper.get_remaining_steps, None, self.remaining_steps_update, self.increase_error_count) async_call(self.stepper.get_current_position, None, self.position_update, self.increase_error_count) async_call(self.stepper.get_current_velocity, None, self.current_velocity_update, self.increase_error_count) self.update_counter += 1 if self.update_counter % 10 == 0: async_call(self.stepper.get_motor_current, None, self.maximum_current_update, self.increase_error_count) async_call(self.stepper.get_stack_input_voltage, None, self.stack_input_voltage_update, self.increase_error_count) async_call(self.stepper.get_external_input_voltage, None, self.external_input_voltage_update, self.increase_error_count) async_call(self.stepper.get_minimum_voltage, None, self.minimum_voltage_update, self.increase_error_count) async_call(self.stepper.get_step_mode, None, self.mode_update, self.increase_error_count) def velocity_changed(self, value): try: self.stepper.set_max_velocity(value) except ip_connection.Error: return def acceleration_changed(self, value): dec = self.deceleration_spin.value() try: self.stepper.set_speed_ramping(value, dec) except ip_connection.Error: return def deceleration_changed(self, value): acc = self.acceleration_slider.value() try: self.stepper.set_speed_ramping(acc, value) except ip_connection.Error: return def decay_changed(self, value): try: self.stepper.set_decay(value) except ip_connection.Error: return
class SilentStepper(PluginBase, Ui_SilentStepper): qtcb_position_reached = pyqtSignal(int) qtcb_under_voltage = pyqtSignal(int) def __init__(self, *args): PluginBase.__init__(self, BrickSilentStepper, *args) self.setupUi(self) self.silent_stepper = self.device self.endis_all(False) self.update_timer = QTimer() self.update_timer.timeout.connect(self.update_data) self.speedometer = SpeedoMeter() self.vertical_layout_right.insertWidget(5, self.speedometer) self.new_value = 0 self.update_counter = 0 self.full_brake_time = 0 self.qem = QErrorMessage(self) self.qem.setWindowTitle("Under Voltage") self.velocity_syncer = SliderSpinSyncer(self.velocity_slider, self.velocity_spin, self.velocity_changed) self.acceleration_syncer = SliderSpinSyncer(self.acceleration_slider, self.acceleration_spin, self.acceleration_changed) self.deceleration_syncer = SliderSpinSyncer(self.deceleration_slider, self.deceleration_spin, self.deceleration_changed) self.enable_checkbox.stateChanged.connect(self.enable_state_changed) self.forward_button.clicked.connect(self.forward_clicked) self.stop_button.clicked.connect(self.stop_clicked) self.full_brake_button.clicked.connect(self.full_brake_clicked) self.backward_button.clicked.connect(self.backward_clicked) self.to_button.clicked.connect(self.to_button_clicked) self.steps_button.clicked.connect(self.steps_button_clicked) self.motor_current_button.clicked.connect(self.motor_current_button_clicked) self.minimum_motor_voltage_button.clicked.connect(self.minimum_motor_voltage_button_clicked) self.qtcb_position_reached.connect(self.cb_position_reached) self.silent_stepper.register_callback(self.silent_stepper.CALLBACK_POSITION_REACHED, self.qtcb_position_reached.emit) self.qtcb_under_voltage.connect(self.cb_under_voltage) self.silent_stepper.register_callback(self.silent_stepper.CALLBACK_UNDER_VOLTAGE, self.qtcb_under_voltage.emit) # Step Configuration self.step_resolution_dropbox.currentIndexChanged.connect(self.step_configuration_changed) self.interpolate_checkbox.stateChanged.connect(self.step_configuration_changed) # Basic Configuration self.standstill_current_spin.valueChanged.connect(self.basic_configuration_changed) self.motor_run_current_spin.valueChanged.connect(self.basic_configuration_changed) self.standstill_delay_time_spin.valueChanged.connect(self.basic_configuration_changed) self.power_down_time_spin.valueChanged.connect(self.basic_configuration_changed) self.stealth_threshold_spin.valueChanged.connect(self.basic_configuration_changed) self.coolstep_threashold_spin.valueChanged.connect(self.basic_configuration_changed) self.classic_threshold_spin.valueChanged.connect(self.basic_configuration_changed) self.high_velocity_chopper_mode_checkbox.stateChanged.connect(self.basic_configuration_changed) # Spreadcycle Configuration self.slow_decay_duration_spin.valueChanged.connect(self.spreadcycle_configuration_changed) self.enable_random_slow_decay_checkbox.stateChanged.connect(self.spreadcycle_configuration_changed) self.fast_decay_duration_spin.valueChanged.connect(self.spreadcycle_configuration_changed) self.hysteresis_start_value_spin.valueChanged.connect(self.spreadcycle_configuration_changed) self.hysteresis_end_value_spin.valueChanged.connect(self.spreadcycle_configuration_changed) self.sinewave_offset_spin.valueChanged.connect(self.spreadcycle_configuration_changed) self.chopper_mode_combo.currentIndexChanged.connect(self.spreadcycle_configuration_changed) self.comperator_blank_time_combo.currentIndexChanged.connect(self.spreadcycle_configuration_changed) self.fast_decay_without_comperator_checkbox.stateChanged.connect(self.spreadcycle_configuration_changed) # Stealth Configuration self.enable_stealth_checkbox.stateChanged.connect(self.stealth_configuration_changed) self.amplitude_spin.valueChanged.connect(self.stealth_configuration_changed) self.gradient_spin.valueChanged.connect(self.stealth_configuration_changed) self.enable_autoscale_checkbox.stateChanged.connect(self.stealth_configuration_changed) self.force_symmetric_checkbox.stateChanged.connect(self.stealth_configuration_changed) self.freewheel_mode_combo.currentIndexChanged.connect(self.stealth_configuration_changed) # Coolstep Configuration self.minimum_stallguard_value_spin.valueChanged.connect(self.coolstep_configuration_changed) self.maximum_stallguard_value_spin.valueChanged.connect(self.coolstep_configuration_changed) self.current_up_step_width_combo.currentIndexChanged.connect(self.coolstep_configuration_changed) self.current_down_step_width_combo.currentIndexChanged.connect(self.coolstep_configuration_changed) self.minimum_current_combo.currentIndexChanged.connect(self.coolstep_configuration_changed) self.stallguard_threshold_value_spin.valueChanged.connect(self.coolstep_configuration_changed) self.stallguard_mode_combo.currentIndexChanged.connect(self.coolstep_configuration_changed) # Misc Configuration self.disable_short_to_ground_protection_checkbox.stateChanged.connect(self.misc_configuration_changed) self.synchronize_phase_frequency_spin.valueChanged.connect(self.misc_configuration_changed) self.ste = 0 self.pos = 0 self.current_velocity = 0 self.cur = 0 self.sv = 0 self.ev = 0 self.mv = 0 self.mod = 0 reset = QAction('Reset', self) reset.triggered.connect(lambda: self.silent_stepper.reset()) self.set_actions(reset) def start(self): self.update_timer.start(100) self.update_start() def stop(self): self.update_timer.stop() def destroy(self): pass def get_url_part(self): return 'silent_stepper' @staticmethod def has_device_identifier(device_identifier): return device_identifier == BrickSilentStepper.DEVICE_IDENTIFIER def cb_position_reached(self, position): self.position_update(position) self.endis_all(True) def disable_list(self, button_list): for button in button_list: button.setEnabled(False) def endis_all(self, value): self.forward_button.setEnabled(value) self.stop_button.setEnabled(value) self.backward_button.setEnabled(value) self.to_button.setEnabled(value) self.steps_button.setEnabled(value) self.full_brake_button.setEnabled(value) def step_configuration_changed(self, _): step_resolution = self.step_resolution_dropbox.currentIndex() interpolation = self.interpolate_checkbox.isChecked() try: self.silent_stepper.set_step_configuration(step_resolution, interpolation) except ip_connection.Error: return def basic_configuration_changed(self, _): standstill_current = self.standstill_current_spin.value() motor_run_current = self.motor_run_current_spin.value() standstill_delay_time = self.standstill_delay_time_spin.value() power_down_time = self.power_down_time_spin.value() stealth_threshold = self.stealth_threshold_spin.value() coolstep_threshold = self.coolstep_threashold_spin.value() classic_threshold = self.classic_threshold_spin.value() high_velocity_chopper_mode = self.high_velocity_chopper_mode_checkbox.isChecked() try: self.silent_stepper.set_basic_configuration(standstill_current, motor_run_current, standstill_delay_time, power_down_time, stealth_threshold, coolstep_threshold, classic_threshold, high_velocity_chopper_mode) except ip_connection.Error: return def spreadcycle_configuration_changed(self, _): slow_decay_duration = self.slow_decay_duration_spin.value() enable_random_slow_decay = self.enable_random_slow_decay_checkbox.isChecked() fast_decay_duration = self.fast_decay_duration_spin.value() hysteresis_start_value = self.hysteresis_start_value_spin.value() hysteresis_end_value = self.hysteresis_end_value_spin.value() sinewave_offset = self.sinewave_offset_spin.value() chopper_mode = self.chopper_mode_combo.currentIndex() comperator_blank_time = self.comperator_blank_time_combo.currentIndex() fast_decay_without_comperator = self.fast_decay_without_comperator_checkbox.isChecked() try: self.silent_stepper.set_spreadcycle_configuration(slow_decay_duration, enable_random_slow_decay, fast_decay_duration, hysteresis_start_value, hysteresis_end_value, sinewave_offset, chopper_mode, comperator_blank_time, fast_decay_without_comperator) except ip_connection.Error: return def stealth_configuration_changed(self, _): enable_stealth = self.enable_stealth_checkbox.isChecked() amplitude = self.amplitude_spin.value() gradient = self.gradient_spin.value() enable_autoscale = self.enable_autoscale_checkbox.isChecked() force_symmetric = self.force_symmetric_checkbox.isChecked() freewheel_mode = self.freewheel_mode_combo.currentIndex() try: self.silent_stepper.set_stealth_configuration(enable_stealth, amplitude, gradient, enable_autoscale, force_symmetric, freewheel_mode) except ip_connection.Error: return def coolstep_configuration_changed(self, _): minimum_stallguard_value = self.minimum_stallguard_value_spin.value() maximum_stallguard_value = self.maximum_stallguard_value_spin.value() current_up_step_width = self.current_up_step_width_combo.currentIndex() current_down_step_width = self.current_down_step_width_combo.currentIndex() minimum_current = self.minimum_current_combo.currentIndex() stallguard_threshold_value = self.stallguard_threshold_value_spin.value() stallguard_mode = self.stallguard_mode_combo.currentIndex() try: self.silent_stepper.set_coolstep_configuration(minimum_stallguard_value, maximum_stallguard_value, current_up_step_width, current_down_step_width, minimum_current, stallguard_threshold_value, stallguard_mode) except ip_connection.Error: return def misc_configuration_changed(self, _): disable_short_to_ground_protection = self.disable_short_to_ground_protection_checkbox.isChecked() synchronize_phase_frequency = self.synchronize_phase_frequency_spin.value() try: self.silent_stepper.set_misc_configuration(disable_short_to_ground_protection, synchronize_phase_frequency) except ip_connection.Error: return def forward_clicked(self): try: self.silent_stepper.drive_forward() except ip_connection.Error: return self.disable_list([self.to_button, self.steps_button]) def backward_clicked(self): try: self.silent_stepper.drive_backward() except ip_connection.Error: return self.disable_list([self.to_button, self.steps_button]) def stop_clicked(self): try: self.silent_stepper.stop() except ip_connection.Error: return self.endis_all(True) def full_brake_clicked(self): try: self.silent_stepper.full_brake() except ip_connection.Error: return self.endis_all(True) def to_button_clicked(self): drive_to = self.to_spin.value() try: self.silent_stepper.set_target_position(drive_to) except ip_connection.Error: return self.disable_list([self.to_button, self.steps_button, self.forward_button, self.backward_button]) def steps_button_clicked(self): drive_steps = self.steps_spin.value() try: self.silent_stepper.set_steps(drive_steps) except ip_connection.Error: return self.disable_list([self.to_button, self.steps_button, self.forward_button, self.backward_button]) def motor_current_button_clicked(self): qid = QInputDialog(self) qid.setInputMode(QInputDialog.IntInput) qid.setIntMinimum(0) qid.setIntMaximum(2500) qid.setIntStep(100) async_call(self.silent_stepper.get_motor_current, None, qid.setIntValue, self.increase_error_count) qid.intValueSelected.connect(self.motor_current_selected) qid.setLabelText("Choose motor current in mA.") qid.open() def minimum_motor_voltage_button_clicked(self): qid = QInputDialog(self) qid.setInputMode(QInputDialog.IntInput) qid.setIntMinimum(0) qid.setIntMaximum(40000) qid.setIntStep(100) async_call(self.silent_stepper.get_minimum_voltage, None, qid.setIntValue, self.increase_error_count) qid.intValueSelected.connect(self.minimum_motor_voltage_selected) qid.setLabelText("Choose minimum motor voltage in mV.") qid.open() def motor_current_selected(self, value): try: self.silent_stepper.set_motor_current(value) except ip_connection.Error: return def minimum_motor_voltage_selected(self, value): try: self.silent_stepper.set_minimum_voltage(value) except ip_connection.Error: return def cb_under_voltage(self, ov): mv_str = self.minimum_voltage_label.text() ov_str = "%gV" % round(ov/1000.0, 1) if not self.qem.isVisible(): self.qem.showMessage("Under Voltage: Output Voltage of " + ov_str + " is below minimum voltage of " + mv_str, "SilentStepper_UnderVoltage") def enable_state_changed(self, state): try: if state == Qt.Checked: self.endis_all(True) self.silent_stepper.enable() elif state == Qt.Unchecked: self.endis_all(False) self.silent_stepper.disable() except ip_connection.Error: return def stack_input_voltage_update(self, sv): sv_str = "%gV" % round(sv/1000.0, 1) self.stack_voltage_label.setText(sv_str) def external_input_voltage_update(self, ev): ev_str = "%gV" % round(ev/1000.0, 1) self.external_voltage_label.setText(ev_str) def minimum_voltage_update(self, mv): mv_str = "%gV" % round(mv/1000.0, 1) self.minimum_voltage_label.setText(mv_str) def maximum_current_update(self, cur): cur_str = "%gA" % round(cur/1000.0, 1) self.maximum_current_label.setText(cur_str) def position_update(self, pos): pos_str = "%d" % pos self.position_label.setText(pos_str) def remaining_steps_update(self, ste): ste_str = "%d" % ste self.remaining_steps_label.setText(ste_str) def driver_status_update(self, update): if update.open_load == 0: self.status_open_load.setText('No') elif update.open_load == 1: self.status_open_load.setText('Phase A') elif update.open_load == 2: self.status_open_load.setText('Phase B') elif update.open_load == 3: self.status_open_load.setText('Phase A and B') else: self.status_open_load.setText('Unkown') if update.short_to_ground == 0: self.status_short_to_ground.setText('No') elif update.short_to_ground == 1: self.status_short_to_ground.setText('Phase A') elif update.short_to_ground == 2: self.status_short_to_ground.setText('Phase B') elif update.short_to_ground == 3: self.status_short_to_ground.setText('Phase A and B') else: self.status_short_to_ground.setText('Unkown') if update.over_temperature == 0: self.status_over_temperature.setText('No') elif update.over_temperature == 1: self.status_over_temperature.setText('<font color=yellow>Warning</font>') elif update.over_temperature == 2: self.status_over_temperature.setText('<font color=red>Limit</font>') if update.motor_stalled: self.status_motor_stalled.setText('Yes') else: self.status_motor_stalled.setText('No') self.status_actual_motor_current.setText(str(update.actual_motor_current)) if update.full_step_active: self.status_full_step_active.setText('Yes') else: self.status_full_step_active.setText('No') self.status_stallguard_result.setText(str(update.stallguard_result)) self.status_stealth_voltage_amplitude.setText(str(update.stealth_voltage_amplitude)) def get_max_velocity_async(self, velocity): if not self.velocity_slider.isSliderDown(): if velocity != self.velocity_slider.sliderPosition(): self.velocity_slider.setSliderPosition(velocity) self.velocity_spin.setValue(velocity) def get_speed_ramping_async(self, ramp): acc, dec = ramp if not self.acceleration_slider.isSliderDown() and \ not self.deceleration_slider.isSliderDown(): if acc != self.acceleration_slider.sliderPosition(): self.acceleration_slider.setSliderPosition(acc) self.acceleration_spin.setValue(acc) if dec != self.deceleration_slider.sliderPosition(): self.deceleration_slider.setSliderPosition(dec) self.deceleration_spin.setValue(dec) def is_enabled_async(self, enabled): if enabled: if not self.enable_checkbox.isChecked(): self.endis_all(True) self.enable_checkbox.blockSignals(True) self.enable_checkbox.setChecked(True) self.enable_checkbox.blockSignals(False) else: if self.enable_checkbox.isChecked(): self.endis_all(False) self.enable_checkbox.blockSignals(True) self.enable_checkbox.setChecked(False) self.enable_checkbox.blockSignals(False) def get_step_configuration_async(self, conf): self.step_resolution_dropbox.blockSignals(True) self.step_resolution_dropbox.setCurrentIndex(conf.step_resolution) self.step_resolution_dropbox.blockSignals(False) self.interpolate_checkbox.blockSignals(True) self.interpolate_checkbox.setChecked(conf.interpolation) self.interpolate_checkbox.blockSignals(False) def get_basic_configuration_async(self, conf): self.standstill_current_spin.blockSignals(True) self.standstill_current_spin.setValue(conf.standstill_current) self.standstill_current_spin.blockSignals(False) self.motor_run_current_spin.blockSignals(True) self.motor_run_current_spin.setValue(conf.motor_run_current) self.motor_run_current_spin.blockSignals(False) self.standstill_delay_time_spin.blockSignals(True) self.standstill_delay_time_spin.setValue(conf.standstill_delay_time) self.standstill_delay_time_spin.blockSignals(False) self.power_down_time_spin.blockSignals(True) self.power_down_time_spin.setValue(conf.power_down_time) self.power_down_time_spin.blockSignals(False) self.stealth_threshold_spin.blockSignals(True) self.stealth_threshold_spin.setValue(conf.stealth_threshold) self.stealth_threshold_spin.blockSignals(False) self.coolstep_threashold_spin.blockSignals(True) self.coolstep_threashold_spin.setValue(conf.coolstep_threshold) self.coolstep_threashold_spin.blockSignals(False) self.classic_threshold_spin.blockSignals(True) self.classic_threshold_spin.setValue(conf.classic_threshold) self.classic_threshold_spin.blockSignals(False) self.high_velocity_chopper_mode_checkbox.blockSignals(True) self.high_velocity_chopper_mode_checkbox.setChecked(conf.high_velocity_chopper_mode) self.high_velocity_chopper_mode_checkbox.blockSignals(False) def get_spreadcycle_configuration_async(self, conf): self.slow_decay_duration_spin.blockSignals(True) self.slow_decay_duration_spin.setValue(conf.slow_decay_duration) self.slow_decay_duration_spin.blockSignals(False) self.enable_random_slow_decay_checkbox.blockSignals(True) self.enable_random_slow_decay_checkbox.setChecked(conf.enable_random_slow_decay) self.enable_random_slow_decay_checkbox.blockSignals(False) self.fast_decay_duration_spin.blockSignals(True) self.fast_decay_duration_spin.setValue(conf.fast_decay_duration) self.fast_decay_duration_spin.blockSignals(False) self.hysteresis_start_value_spin.blockSignals(True) self.hysteresis_start_value_spin.setValue(conf.hysteresis_start_value) self.hysteresis_start_value_spin.blockSignals(False) self.hysteresis_end_value_spin.blockSignals(True) self.hysteresis_end_value_spin.setValue(conf.hysteresis_end_value) self.hysteresis_end_value_spin.blockSignals(False) self.sinewave_offset_spin.blockSignals(True) self.sinewave_offset_spin.setValue(conf.sinewave_offset) self.sinewave_offset_spin.blockSignals(False) self.chopper_mode_combo.blockSignals(True) self.chopper_mode_combo.setCurrentIndex(conf.chopper_mode) self.chopper_mode_combo.blockSignals(False) self.standstill_current_spin.blockSignals(True) self.comperator_blank_time_combo.setCurrentIndex(conf.comperator_blank_time) self.standstill_current_spin.blockSignals(False) self.fast_decay_without_comperator_checkbox.blockSignals(True) self.fast_decay_without_comperator_checkbox.setChecked(conf.fast_decay_without_comperator) self.fast_decay_without_comperator_checkbox.blockSignals(False) def get_stealth_configuration_async(self, conf): self.enable_stealth_checkbox.blockSignals(True) self.enable_stealth_checkbox.setChecked(conf.enable_stealth) self.enable_stealth_checkbox.blockSignals(False) self.amplitude_spin.blockSignals(True) self.amplitude_spin.setValue(conf.amplitude) self.amplitude_spin.blockSignals(False) self.gradient_spin.blockSignals(True) self.gradient_spin.setValue(conf.gradient) self.gradient_spin.blockSignals(False) self.enable_autoscale_checkbox.blockSignals(True) self.enable_autoscale_checkbox.setChecked(conf.enable_autoscale) self.enable_autoscale_checkbox.blockSignals(False) self.force_symmetric_checkbox.blockSignals(True) self.force_symmetric_checkbox.setChecked(conf.force_symmetric) self.force_symmetric_checkbox.blockSignals(False) self.freewheel_mode_combo.blockSignals(True) self.freewheel_mode_combo.setCurrentIndex(conf.freewheel_mode) self.freewheel_mode_combo.blockSignals(False) def get_coolstep_configuration_async(self, conf): self.minimum_stallguard_value_spin.blockSignals(True) self.minimum_stallguard_value_spin.setValue(conf.minimum_stallguard_value) self.minimum_stallguard_value_spin.blockSignals(False) self.maximum_stallguard_value_spin.blockSignals(True) self.maximum_stallguard_value_spin.setValue(conf.maximum_stallguard_value) self.maximum_stallguard_value_spin.blockSignals(False) self.current_up_step_width_combo.blockSignals(True) self.current_up_step_width_combo.setCurrentIndex(conf.current_up_step_width) self.current_up_step_width_combo.blockSignals(False) self.current_down_step_width_combo.blockSignals(True) self.current_down_step_width_combo.setCurrentIndex(conf.current_down_step_width) self.current_down_step_width_combo.blockSignals(False) self.minimum_current_combo.blockSignals(True) self.minimum_current_combo.setCurrentIndex(conf.minimum_current) self.minimum_current_combo.blockSignals(False) self.stallguard_threshold_value_spin.blockSignals(True) self.stallguard_threshold_value_spin.setValue(conf.stallguard_threshold_value) self.stallguard_threshold_value_spin.blockSignals(False) self.stallguard_mode_combo.blockSignals(True) self.stallguard_mode_combo.setCurrentIndex(conf.stallguard_mode) self.stallguard_mode_combo.blockSignals(False) def get_misc_configuration_async(self, conf): self.disable_short_to_ground_protection_checkbox.blockSignals(True) self.disable_short_to_ground_protection_checkbox.setChecked(conf.disable_short_to_ground_protection) self.disable_short_to_ground_protection_checkbox.blockSignals(False) self.synchronize_phase_frequency_spin.blockSignals(True) self.synchronize_phase_frequency_spin.setValue(conf.synchronize_phase_frequency) self.synchronize_phase_frequency_spin.blockSignals(False) def update_start(self): async_call(self.silent_stepper.get_max_velocity, None, self.get_max_velocity_async, self.increase_error_count) async_call(self.silent_stepper.get_speed_ramping, None, self.get_speed_ramping_async, self.increase_error_count) async_call(self.silent_stepper.is_enabled, None, self.is_enabled_async, self.increase_error_count) async_call(self.silent_stepper.get_step_configuration, None, self.get_step_configuration_async, self.increase_error_count) async_call(self.silent_stepper.get_basic_configuration, None, self.get_basic_configuration_async, self.increase_error_count) async_call(self.silent_stepper.get_spreadcycle_configuration, None, self.get_spreadcycle_configuration_async, self.increase_error_count) async_call(self.silent_stepper.get_stealth_configuration, None, self.get_stealth_configuration_async, self.increase_error_count) async_call(self.silent_stepper.get_coolstep_configuration, None, self.get_coolstep_configuration_async, self.increase_error_count) async_call(self.silent_stepper.get_misc_configuration, None, self.get_misc_configuration_async, self.increase_error_count) def update_data(self): async_call(self.silent_stepper.get_remaining_steps, None, self.remaining_steps_update, self.increase_error_count) async_call(self.silent_stepper.get_current_position, None, self.position_update, self.increase_error_count) async_call(self.silent_stepper.get_current_velocity, None, self.speedometer.set_velocity, self.increase_error_count) self.update_counter += 1 if self.update_counter % 10 == 0: async_call(self.silent_stepper.get_motor_current, None, self.maximum_current_update, self.increase_error_count) async_call(self.silent_stepper.get_stack_input_voltage, None, self.stack_input_voltage_update, self.increase_error_count) async_call(self.silent_stepper.get_external_input_voltage, None, self.external_input_voltage_update, self.increase_error_count) async_call(self.silent_stepper.get_minimum_voltage, None, self.minimum_voltage_update, self.increase_error_count) async_call(self.silent_stepper.get_driver_status, None, self.driver_status_update, self.increase_error_count) def velocity_changed(self, value): try: self.silent_stepper.set_max_velocity(value) except ip_connection.Error: return def acceleration_changed(self, value): dec = self.deceleration_spin.value() try: self.silent_stepper.set_speed_ramping(value, dec) except ip_connection.Error: return def deceleration_changed(self, value): acc = self.acceleration_slider.value() try: self.silent_stepper.set_speed_ramping(acc, value) except ip_connection.Error: return
class Stepper(PluginBase, Ui_Stepper): qtcb_position_reached = pyqtSignal(int) qtcb_under_voltage = pyqtSignal(int) def __init__(self, *args): PluginBase.__init__(self, BrickStepper, *args) self.setupUi(self) self.stepper = self.device self.endis_all(False) self.update_timer = QTimer() self.update_timer.timeout.connect(self.update_data) self.new_value = 0 self.update_counter = 0 self.full_brake_time = 0 self.qem = QErrorMessage(self) self.qem.setWindowTitle("Under Voltage") self.decay_widget.hide() self.setting_sync_rect_checkbox = False self.velocity_syncer = SliderSpinSyncer(self.velocity_slider, self.velocity_spin, self.velocity_changed) self.acceleration_syncer = SliderSpinSyncer(self.acceleration_slider, self.acceleration_spin, self.acceleration_changed) self.deceleration_syncer = SliderSpinSyncer(self.deceleration_slider, self.deceleration_spin, self.deceleration_changed) self.decay_syncer = SliderSpinSyncer(self.decay_slider, self.decay_spin, self.decay_changed) self.enable_checkbox.toggled.connect(self.enable_toggled) self.forward_button.clicked.connect(self.forward_clicked) self.stop_button.clicked.connect(self.stop_clicked) self.full_brake_button.clicked.connect(self.full_brake_clicked) self.backward_button.clicked.connect(self.backward_clicked) self.to_button.clicked.connect(self.to_button_clicked) self.steps_button.clicked.connect(self.steps_button_clicked) self.motor_current_button.clicked.connect( self.motor_current_button_clicked) self.minimum_motor_voltage_button.clicked.connect( self.minimum_motor_voltage_button_clicked) self.sync_rect_checkbox.toggled.connect(self.sync_rect_toggled) self.mode_dropbox.currentIndexChanged.connect(self.mode_changed) self.qtcb_position_reached.connect(self.cb_position_reached) self.stepper.register_callback(self.stepper.CALLBACK_POSITION_REACHED, self.qtcb_position_reached.emit) self.qtcb_under_voltage.connect(self.cb_under_voltage) self.stepper.register_callback(self.stepper.CALLBACK_UNDER_VOLTAGE, self.qtcb_under_voltage.emit) self.ste = 0 self.pos = 0 self.current_velocity = 0 self.cur = 0 self.sv = 0 self.ev = 0 self.mv = 0 self.mod = 0 if self.firmware_version >= (2, 3, 1): self.status_led_action = QAction('Status LED', self) self.status_led_action.setCheckable(True) self.status_led_action.toggled.connect( lambda checked: self.stepper.enable_status_led() if checked else self.stepper.disable_status_led()) self.set_configs([(0, None, [self.status_led_action])]) else: self.status_led_action = None if self.firmware_version >= (1, 1, 4): reset = QAction('Reset', self) reset.triggered.connect(lambda: self.stepper.reset()) self.set_actions([(0, None, [reset])]) def start(self): if self.firmware_version >= (2, 3, 1): async_call(self.stepper.is_status_led_enabled, None, self.status_led_action.setChecked, self.increase_error_count) self.update_timer.start(100) self.update_start() def stop(self): self.update_timer.stop() def destroy(self): pass @staticmethod def has_device_identifier(device_identifier): return device_identifier == BrickStepper.DEVICE_IDENTIFIER def cb_position_reached(self, position): self.position_update(position) self.endis_all(True) def disable_list(self, button_list): for button in button_list: button.setEnabled(False) def endis_all(self, value): self.forward_button.setEnabled(value) self.stop_button.setEnabled(value) self.backward_button.setEnabled(value) self.to_button.setEnabled(value) self.steps_button.setEnabled(value) self.full_brake_button.setEnabled(value) def mode_changed(self, index): try: self.stepper.set_step_mode(1 << index) self.mod = 1 << index except ip_connection.Error: return def forward_clicked(self): try: self.stepper.drive_forward() except ip_connection.Error: return self.disable_list([self.to_button, self.steps_button]) def backward_clicked(self): try: self.stepper.drive_backward() except ip_connection.Error: return self.disable_list([self.to_button, self.steps_button]) def stop_clicked(self): try: self.stepper.stop() except ip_connection.Error: return self.endis_all(True) def full_brake_clicked(self): try: self.stepper.full_brake() except ip_connection.Error: return self.endis_all(True) def to_button_clicked(self): drive_to = self.to_spin.value() try: self.stepper.set_target_position(drive_to) except ip_connection.Error: return self.disable_list([ self.to_button, self.steps_button, self.forward_button, self.backward_button ]) def steps_button_clicked(self): drive_steps = self.steps_spin.value() try: self.stepper.set_steps(drive_steps) except ip_connection.Error: return self.disable_list([ self.to_button, self.steps_button, self.forward_button, self.backward_button ]) def motor_current_button_clicked(self): qid = QInputDialog(self) qid.setInputMode(QInputDialog.IntInput) qid.setIntMinimum(0) qid.setIntMaximum(2500) qid.setIntStep(100) async_call(self.stepper.get_motor_current, None, qid.setIntValue, self.increase_error_count) qid.intValueSelected.connect(self.motor_current_selected) qid.setLabelText("Choose motor current in mA.") # "<font color=red>Setting this too high can destroy your Motor.</font>") qid.open() def minimum_motor_voltage_button_clicked(self): qid = QInputDialog(self) qid.setInputMode(QInputDialog.IntInput) qid.setIntMinimum(0) qid.setIntMaximum(40000) qid.setIntStep(100) async_call(self.stepper.get_minimum_voltage, None, qid.setIntValue, self.increase_error_count) qid.intValueSelected.connect(self.minimum_motor_voltage_selected) qid.setLabelText("Choose minimum motor voltage in mV.") qid.open() def motor_current_selected(self, value): try: self.stepper.set_motor_current(value) except ip_connection.Error: return def minimum_motor_voltage_selected(self, value): try: self.stepper.set_minimum_voltage(value) except ip_connection.Error: return def cb_under_voltage(self, ov): mv_str = self.minimum_voltage_label.text() ov_str = "%gV" % round(ov / 1000.0, 1) if not self.qem.isVisible(): self.qem.showMessage( "Under Voltage: Output Voltage of " + ov_str + " is below minimum voltage of " + mv_str, "Stepper_UnderVoltage") def enable_toggled(self, checked): try: if checked: if not self.stepper.is_enabled(): self.endis_all(True) self.stepper.enable() else: if self.stepper.is_enabled(): self.endis_all(False) self.stepper.disable() except ip_connection.Error: return def sync_rect_toggled(self, checked): if not self.setting_sync_rect_checkbox and checked: rc = QMessageBox.warning( get_main_window(), 'Synchronous Rectification', 'If you want to use high speeds (> 10000 steps/s) for a large stepper motor with a ' + 'large inductivity we strongly suggest that you do not enable synchronous rectification. ' + 'Otherwise the Brick may not be able to cope with the load and overheat.', QMessageBox.Ok | QMessageBox.Cancel) if rc != QMessageBox.Ok: self.sync_rect_checkbox.setChecked(False) return try: self.stepper.set_sync_rect(checked) except ip_connection.Error: return self.decay_widget.setVisible(checked) def stack_input_voltage_update(self, sv): sv_str = "%gV" % round(sv / 1000.0, 1) self.stack_voltage_label.setText(sv_str) def external_input_voltage_update(self, ev): ev_str = "%gV" % round(ev / 1000.0, 1) self.external_voltage_label.setText(ev_str) def minimum_voltage_update(self, mv): mv_str = "%gV" % round(mv / 1000.0, 1) self.minimum_voltage_label.setText(mv_str) def maximum_current_update(self, cur): cur_str = "%gA" % round(cur / 1000.0, 1) self.maximum_current_label.setText(cur_str) def position_update(self, pos): pos_str = "%d" % pos self.position_label.setText(pos_str) def remaining_steps_update(self, ste): ste_str = "%d" % ste self.remaining_steps_label.setText(ste_str) def current_velocity_update(self, velocity): velocity_str = "%d" % velocity self.current_velocity_label.setText(velocity_str) self.speedometer.set_velocity(velocity) def mode_update(self, mod): if mod == 8: index = 3 elif mod == 4: index = 2 elif mod == 2: index = 1 else: index = 0 self.mode_dropbox.setCurrentIndex(index) def get_max_velocity_async(self, velocity): if not self.velocity_slider.isSliderDown(): if velocity != self.velocity_slider.sliderPosition(): self.velocity_slider.setSliderPosition(velocity) self.velocity_spin.setValue(velocity) def get_speed_ramping_async(self, ramp): acc, dec = ramp if not self.acceleration_slider.isSliderDown() and \ not self.deceleration_slider.isSliderDown(): if acc != self.acceleration_slider.sliderPosition(): self.acceleration_slider.setSliderPosition(acc) self.acceleration_spin.setValue(acc) if dec != self.deceleration_slider.sliderPosition(): self.deceleration_slider.setSliderPosition(dec) self.deceleration_spin.setValue(dec) def get_decay_async(self, decay): if not self.decay_slider.isSliderDown(): if decay != self.decay_slider.sliderPosition(): self.decay_slider.setSliderPosition(decay) self.decay_spin.setValue(decay) def is_enabled_async(self, enabled): if enabled: if not self.enable_checkbox.isChecked(): self.endis_all(True) self.enable_checkbox.setChecked(True) else: if self.enable_checkbox.isChecked(): self.endis_all(False) self.enable_checkbox.setChecked(False) def is_sync_rect_async(self, sync_rect): self.setting_sync_rect_checkbox = True self.sync_rect_checkbox.setChecked(sync_rect) self.setting_sync_rect_checkbox = False def update_start(self): async_call(self.stepper.get_max_velocity, None, self.get_max_velocity_async, self.increase_error_count) async_call(self.stepper.get_speed_ramping, None, self.get_speed_ramping_async, self.increase_error_count) async_call(self.stepper.get_decay, None, self.get_decay_async, self.increase_error_count) async_call(self.stepper.is_enabled, None, self.is_enabled_async, self.increase_error_count) async_call(self.stepper.is_sync_rect, None, self.is_sync_rect_async, self.increase_error_count) def update_data(self): async_call(self.stepper.get_remaining_steps, None, self.remaining_steps_update, self.increase_error_count) async_call(self.stepper.get_current_position, None, self.position_update, self.increase_error_count) async_call(self.stepper.get_current_velocity, None, self.current_velocity_update, self.increase_error_count) self.update_counter += 1 if self.update_counter % 10 == 0: async_call(self.stepper.get_motor_current, None, self.maximum_current_update, self.increase_error_count) async_call(self.stepper.get_stack_input_voltage, None, self.stack_input_voltage_update, self.increase_error_count) async_call(self.stepper.get_external_input_voltage, None, self.external_input_voltage_update, self.increase_error_count) async_call(self.stepper.get_minimum_voltage, None, self.minimum_voltage_update, self.increase_error_count) async_call(self.stepper.get_step_mode, None, self.mode_update, self.increase_error_count) def velocity_changed(self, value): try: self.stepper.set_max_velocity(value) except ip_connection.Error: return def acceleration_changed(self, value): dec = self.deceleration_spin.value() try: self.stepper.set_speed_ramping(value, dec) except ip_connection.Error: return def deceleration_changed(self, value): acc = self.acceleration_slider.value() try: self.stepper.set_speed_ramping(acc, value) except ip_connection.Error: return def decay_changed(self, value): try: self.stepper.set_decay(value) except ip_connection.Error: return
class DC(PluginBase, Ui_DC): qtcb_position_reached = pyqtSignal(int) qtcb_under_voltage = pyqtSignal(int) qtcb_emergency_shutdown = pyqtSignal() def __init__ (self, ipcon, uid): PluginBase.__init__(self, ipcon, uid) self.setupUi(self) self.dc = brick_dc.DC(self.uid) self.device = self.dc self.ipcon.add_device(self.dc) self.version = '.'.join(map(str, self.dc.get_version()[1])) self.update_timer = QTimer() self.update_timer.timeout.connect(self.update_data) self.speedometer = SpeedoMeter() self.vertical_layout_right.insertWidget(4, self.speedometer) self.new_value = 0 self.update_counter = 0 self.full_brake_time = 0 self.velocity_slider.sliderReleased.connect(self.velocity_slider_released) self.velocity_slider.valueChanged.connect(self.velocity_spin.setValue) self.velocity_spin.editingFinished.connect(self.velocity_spin_finished) self.acceleration_slider.sliderReleased.connect(self.acceleration_slider_released) self.acceleration_slider.valueChanged.connect(self.acceleration_spin.setValue) self.acceleration_spin.editingFinished.connect(self.acceleration_spin_finished) self.frequency_slider.sliderReleased.connect(self.frequency_slider_released) self.frequency_slider.valueChanged.connect(self.frequency_spin.setValue) self.frequency_spin.editingFinished.connect(self.frequency_spin_finished) self.radio_mode_brake.toggled.connect(self.brake_value_changed) self.radio_mode_coast.toggled.connect(self.coast_value_changed) self.minimum_voltage_button.pressed.connect(self.minimum_voltage_button_pressed) self.full_brake_button.pressed.connect(self.full_brake_pressed) self.enable_checkbox.stateChanged.connect(self.enable_state_changed) self.emergency_signal = None self.under_signal = None self.current_velocity_signal = None self.velocity_reached_signal = None self.qem = QErrorMessage(self) self.qtcb_under_voltage.connect(self.cb_under_voltage) self.dc.register_callback(self.dc.CALLBACK_UNDER_VOLTAGE, self.qtcb_under_voltage.emit) self.qtcb_emergency_shutdown.connect(self.cb_emergency_shutdown) self.dc.register_callback(self.dc.CALLBACK_EMERGENCY_SHUTDOWN, self.qtcb_emergency_shutdown.emit) self.qtcb_position_reached.connect(self.update_velocity) self.dc.register_callback(self.dc.CALLBACK_VELOCITY_REACHED, self.qtcb_position_reached.emit) self.dc.register_callback(self.dc.CALLBACK_CURRENT_VELOCITY, self.qtcb_position_reached.emit) def start(self): self.update_timer.start(1000) try: self.dc.set_current_velocity_period(100) self.update_start() self.update_data() except ip_connection.Error: return def stop(self): self.update_timer.stop() try: self.dc.set_current_velocity_period(0) except ip_connection.Error: return @staticmethod def has_name(name): return 'DC Brick' in name def cb_emergency_shutdown(self): if not self.qem.isVisible(): self.qem.setWindowTitle("Emergency Shutdown") self.qem.showMessage("Emergency Shutdown: Short-Circuit or Over-Temperature") def cb_under_voltage(self, ov): mv_str = self.minimum_voltage_label.text() ov_str = "%gV" % round(ov/1000.0, 1) if not self.qem.isVisible(): self.qem.setWindowTitle("Under Voltage") self.qem.showMessage("Under Voltage: Output Voltage of " + ov_str + " is below minimum voltage of " + mv_str) def enable_state_changed(self, state): try: if state == Qt.Checked: self.dc.enable() elif state == Qt.Unchecked: self.dc.disable() except ip_connection.Error: return def brake_value_changed(self, checked): if checked: try: self.dc.set_drive_mode(0) except ip_connection.Error: return def coast_value_changed(self, checked): if checked: try: self.dc.set_drive_mode(1) except ip_connection.Error: return def full_brake_pressed(self): try: self.dc.full_brake() except ip_connection.Error: return def minimum_voltage_selected(self, value): try: self.dc.set_minimum_voltage(value) except ip_connection.Error: return def minimum_voltage_button_pressed(self): qid = QInputDialog(self) qid.setInputMode(QInputDialog.IntInput) qid.setIntMinimum(5000) qid.setIntMaximum(0xFFFF) qid.setIntStep(100) try: qid.setIntValue(self.dc.get_minimum_voltage()) except ip_connection.Error: return qid.intValueSelected.connect(self.minimum_voltage_selected) qid.setLabelText("Choose minimum motor voltage in mV.") qid.open() def stack_input_voltage_update(self, sv): sv_str = "%gV" % round(sv/1000.0, 1) self.stack_voltage_label.setText(sv_str) def external_input_voltage_update(self, ev): ev_str = "%gV" % round(ev/1000.0, 1) self.external_voltage_label.setText(ev_str) def minimum_voltage_update(self, mv): mv_str = "%gV" % round(mv/1000.0, 1) self.minimum_voltage_label.setText(mv_str) def drive_mode_update(self, dm): if dm == 0: self.radio_mode_brake.setChecked(True) self.radio_mode_coast.setChecked(False) else: self.radio_mode_brake.setChecked(False) self.radio_mode_coast.setChecked(True) def current_consumption_update(self, cc): if cc >= 1000: cc_str = "%gA" % round(cc/1000.0, 1) else: cc_str = "%gmA" % cc self.current_label.setText(cc_str) def update_velocity(self, value): if value != self.speedometer.value(): self.speedometer.set_velocity(value) def update_start(self): try: dm = self.dc.get_drive_mode() self.drive_mode_update(dm) if not self.velocity_slider.isSliderDown(): velocity = self.dc.get_velocity() if velocity != self.velocity_slider.sliderPosition(): self.velocity_slider.setSliderPosition(velocity) self.velocity_spin.setValue(velocity) if not self.acceleration_slider.isSliderDown(): acceleration = self.dc.get_acceleration() if acceleration != self.acceleration_slider.sliderPosition(): self.acceleration_slider.setSliderPosition(acceleration) self.acceleration_spin.setValue(acceleration) if not self.frequency_slider.isSliderDown(): frequency = self.dc.get_pwm_frequency() if frequency != self.frequency_slider.sliderPosition(): self.frequency_slider.setSliderPosition(frequency) self.frequency_spin.setValue(frequency) enabled = self.dc.is_enabled() if enabled: self.enable_checkbox.setCheckState(Qt.Checked) else: self.enable_checkbox.setCheckState(Qt.Unchecked) except ip_connection.Error: return def update_data(self): try: sv = self.dc.get_stack_input_voltage() ev = self.dc.get_external_input_voltage() mv = self.dc.get_minimum_voltage() cc = self.dc.get_current_consumption() except ip_connection.Error: return self.stack_input_voltage_update(sv) self.external_input_voltage_update(ev) self.minimum_voltage_update(mv) self.current_consumption_update(cc) def acceleration_slider_released(self): value = self.acceleration_slider.value() self.acceleration_spin.setValue(value) try: self.dc.set_acceleration(value) except ip_connection.Error: return def acceleration_spin_finished(self): value = self.acceleration_spin.value() self.acceleration_slider.setValue(value) try: self.dc.set_acceleration(value) except ip_connection.Error: return def velocity_slider_released(self): value = self.velocity_slider.value() self.velocity_spin.setValue(value) try: self.dc.set_velocity(value) except ip_connection.Error: return def velocity_spin_finished(self): value = self.velocity_spin.value() self.velocity_slider.setValue(value) try: self.dc.set_velocity(value) except ip_connection.Error: return def frequency_slider_released(self): value = self.frequency_slider.value() self.frequency_spin.setValue(value) try: self.dc.set_pwm_frequency(value) except ip_connection.Error: return def frequency_spin_finished(self): value = self.frequency_spin.value() self.frequency_slider.setValue(value) try: self.dc.set_pwm_frequency(value) except ip_connection.Error: return
class Stepper(PluginBase, Ui_Stepper): qtcb_position_reached = pyqtSignal(int) qtcb_under_voltage = pyqtSignal(int) def __init__(self, ipcon, uid): PluginBase.__init__(self, ipcon, uid) self.setupUi(self) self.stepper = brick_stepper.Stepper(self.uid) self.device = self.stepper self.ipcon.add_device(self.stepper) self.version = '.'.join(map(str, self.stepper.get_version()[1])) self.endis_all(False) self.update_timer = QTimer() self.update_timer.timeout.connect(self.update_data) self.speedometer = SpeedoMeter() self.vertical_layout_right.insertWidget(5, self.speedometer) self.new_value = 0 self.update_counter = 0 self.full_brake_time = 0 self.qem = QErrorMessage(self) self.qem.setWindowTitle("Under Voltage") self.velocity_slider.sliderReleased.connect( self.velocity_slider_released) self.velocity_slider.valueChanged.connect(self.velocity_spin.setValue) self.velocity_spin.editingFinished.connect(self.velocity_spin_finished) self.acceleration_slider.sliderReleased.connect( self.acceleration_slider_released) self.acceleration_slider.valueChanged.connect( self.acceleration_spin.setValue) self.acceleration_spin.editingFinished.connect( self.acceleration_spin_finished) self.deceleration_slider.sliderReleased.connect( self.deceleration_slider_released) self.deceleration_slider.valueChanged.connect( self.deceleration_spin.setValue) self.deceleration_spin.editingFinished.connect( self.deceleration_spin_finished) self.decay_slider.sliderReleased.connect(self.decay_slider_released) self.decay_slider.valueChanged.connect(self.decay_spin.setValue) self.decay_spin.editingFinished.connect(self.decay_spin_finished) self.enable_checkbox.stateChanged.connect(self.enable_state_changed) self.forward_button.pressed.connect(self.forward_pressed) self.stop_button.pressed.connect(self.stop_pressed) self.full_brake_button.pressed.connect(self.full_brake_pressed) self.backward_button.pressed.connect(self.backward_pressed) self.to_button.pressed.connect(self.to_button_pressed) self.steps_button.pressed.connect(self.steps_button_pressed) self.motor_current_button.pressed.connect( self.motor_current_button_pressed) self.minimum_motor_voltage_button.pressed.connect( self.minimum_motor_voltage_button_pressed) self.mode_dropbox.currentIndexChanged.connect(self.mode_changed) self.qtcb_position_reached.connect(self.cb_position_reached) self.stepper.register_callback(self.stepper.CALLBACK_POSITION_REACHED, self.qtcb_position_reached.emit) self.qtcb_under_voltage.connect(self.cb_under_voltage) self.stepper.register_callback(self.stepper.CALLBACK_UNDER_VOLTAGE, self.qtcb_under_voltage.emit) def start(self): self.update_timer.start(100) self.update_start() def stop(self): self.update_timer.stop() @staticmethod def has_name(name): return 'Stepper Brick' in name def cb_position_reached(self, position): self.position_update(position) self.endis_all(True) def disable_list(self, button_list): for button in button_list: button.setEnabled(False) def endis_all(self, value): self.forward_button.setEnabled(value) self.stop_button.setEnabled(value) self.backward_button.setEnabled(value) self.to_button.setEnabled(value) self.steps_button.setEnabled(value) self.full_brake_button.setEnabled(value) def mode_changed(self, index): try: self.stepper.set_step_mode(1 << index) except ip_connection.Error: return def forward_pressed(self): try: self.stepper.drive_forward() except ip_connection.Error: return self.disable_list([self.to_button, self.steps_button]) def backward_pressed(self): try: self.stepper.drive_backward() except ip_connection.Error: return self.disable_list([self.to_button, self.steps_button]) def stop_pressed(self): try: self.stepper.stop() except ip_connection.Error: return self.endis_all(True) def full_brake_pressed(self): try: self.stepper.full_brake() except ip_connection.Error: return self.endis_all(True) def to_button_pressed(self): drive_to = self.to_spin.value() try: self.stepper.set_target_position(drive_to) except ip_connection.Error: return self.disable_list([ self.to_button, self.steps_button, self.forward_button, self.backward_button ]) def steps_button_pressed(self): drive_steps = self.steps_spin.value() try: self.stepper.set_steps(drive_steps) except ip_connection.Error: return self.disable_list([ self.to_button, self.steps_button, self.forward_button, self.backward_button ]) def motor_current_button_pressed(self): qid = QInputDialog(self) qid.setInputMode(QInputDialog.IntInput) qid.setIntMinimum(0) qid.setIntMaximum(2500) qid.setIntStep(100) try: qid.setIntValue(self.stepper.get_motor_current()) except ip_connection.Error: return qid.intValueSelected.connect(self.motor_current_selected) qid.setLabelText("Choose motor current in mA.") # "<font color=red>Setting this too high can destroy your Motor.</font>") qid.open() def minimum_motor_voltage_button_pressed(self): qid = QInputDialog(self) qid.setInputMode(QInputDialog.IntInput) qid.setIntMinimum(0) qid.setIntMaximum(40000) qid.setIntStep(100) try: qid.setIntValue(self.stepper.get_minimum_voltage()) except ip_connection.Error: return qid.intValueSelected.connect(self.minimum_motor_voltage_selected) qid.setLabelText("Choose minimum motor voltage in mV.") qid.open() def motor_current_selected(self, value): try: self.stepper.set_motor_current(value) except ip_connection.Error: return def minimum_motor_voltage_selected(self, value): try: self.stepper.set_minimum_voltage(value) except ip_connection.Error: return def cb_under_voltage(self, ov): mv_str = self.minimum_voltage_label.text() ov_str = "%gV" % round(ov / 1000.0, 1) if not self.qem.isVisible(): self.qem.showMessage("Under Voltage: Output Voltage of " + ov_str + " is below minimum voltage of " + mv_str) def enable_state_changed(self, state): try: if state == Qt.Checked: self.endis_all(True) self.stepper.enable() elif state == Qt.Unchecked: self.endis_all(False) self.stepper.disable() except ip_connection.Error: return def stack_input_voltage_update(self, sv): sv_str = "%gV" % round(sv / 1000.0, 1) self.stack_voltage_label.setText(sv_str) def external_input_voltage_update(self, ev): ev_str = "%gV" % round(ev / 1000.0, 1) self.external_voltage_label.setText(ev_str) def minimum_voltage_update(self, mv): mv_str = "%gV" % round(mv / 1000.0, 1) self.minimum_voltage_label.setText(mv_str) def maximum_current_update(self, cur): cur_str = "%gA" % round(cur / 1000.0, 1) self.maximum_current_label.setText(cur_str) def position_update(self, pos): pos_str = "%g" % pos self.position_label.setText(pos_str) def remaining_steps_update(self, ste): ste_str = "%g" % ste self.remaining_steps_label.setText(ste_str) def mode_update(self, mod): if mod == 8: index = 3 elif mod == 4: index = 2 elif mod == 2: index = 1 else: index = 0 self.mode_dropbox.setCurrentIndex(index) def update_start(self): try: if not self.velocity_slider.isSliderDown(): velocity = self.stepper.get_max_velocity() if velocity != self.velocity_slider.sliderPosition(): self.velocity_slider.setSliderPosition(velocity) self.velocity_spin.setValue(velocity) if not self.acceleration_slider.isSliderDown() and \ not self.deceleration_slider.isSliderDown(): acc, dec = self.stepper.get_speed_ramping() if acc != self.acceleration_slider.sliderPosition(): self.acceleration_slider.setSliderPosition(acc) self.acceleration_spin.setValue(acc) if dec != self.deceleration_slider.sliderPosition(): self.deceleration_slider.setSliderPosition(dec) self.deceleration_spin.setValue(dec) if not self.decay_slider.isSliderDown(): dec = self.stepper.get_decay() if dec != self.decay_slider.sliderPosition(): self.decay_slider.setSliderPosition(dec) self.decay_spin.setValue(dec) enabled = self.stepper.is_enabled() if enabled: if self.enable_checkbox.checkState() != Qt.Checked: self.endis_all(True) self.enable_checkbox.setCheckState(Qt.Checked) else: if self.enable_checkbox.checkState() != Qt.Unchecked: self.endis_all(False) self.enable_checkbox.setCheckState(Qt.Unchecked) except ip_connection.Error: return def update_infos(self): try: cur = self.stepper.get_motor_current() sv = self.stepper.get_stack_input_voltage() ev = self.stepper.get_external_input_voltage() mv = self.stepper.get_minimum_voltage() mod = self.stepper.get_step_mode() except ip_connection.Error: return self.maximum_current_update(cur) self.stack_input_voltage_update(sv) self.external_input_voltage_update(ev) self.minimum_voltage_update(mv) self.mode_update(mod) def update_values(self): try: ste = self.stepper.get_remaining_steps() pos = self.stepper.get_current_position() self.remaining_steps_update(ste) self.position_update(pos) current_velocity = self.stepper.get_current_velocity() if current_velocity != self.speedometer.value(): self.speedometer.set_velocity(current_velocity) except ip_connection.Error: return def update_data(self): try: ste = self.stepper.get_remaining_steps() pos = self.stepper.get_current_position() self.remaining_steps_update(ste) self.position_update(pos) current_velocity = self.stepper.get_current_velocity() if current_velocity != self.speedometer.value(): self.speedometer.set_velocity(current_velocity) except ip_connection.Error: return self.update_counter += 1 if self.update_counter % 10 == 0: self.update_infos() self.update_values() def velocity_slider_released(self): value = self.velocity_slider.value() self.velocity_spin.setValue(value) try: self.stepper.set_max_velocity(value) except ip_connection.Error: return def velocity_spin_finished(self): value = self.velocity_spin.value() self.velocity_slider.setValue(value) try: self.stepper.set_max_velocity(value) except ip_connection.Error: return def acceleration_slider_released(self): acc = self.acceleration_slider.value() dec = self.deceleration_slider.value() self.acceleration_spin.setValue(acc) try: self.stepper.set_speed_ramping(acc, dec) except ip_connection.Error: return def acceleration_spin_finished(self): acc = self.acceleration_spin.value() dec = self.deceleration_spin.value() self.acceleration_slider.setValue(acc) try: self.stepper.set_speed_ramping(acc, dec) except ip_connection.Error: return def deceleration_slider_released(self): acc = self.acceleration_slider.value() dec = self.deceleration_slider.value() self.deceleration_spin.setValue(dec) try: self.stepper.set_speed_ramping(acc, dec) except ip_connection.Error: return def deceleration_spin_finished(self): acc = self.acceleration_spin.value() dec = self.deceleration_spin.value() self.deceleration_slider.setValue(dec) try: self.stepper.set_speed_ramping(acc, dec) except ip_connection.Error: return def decay_slider_released(self): value = self.decay_slider.value() self.decay_spin.setValue(value) try: self.stepper.set_decay(value) except ip_connection.Error: return def decay_spin_finished(self): value = self.decay_spin.value() self.decay_slider.setValue(value) try: self.stepper.set_decay(value) except ip_connection.Error: return
class ImagesWidget(QWidget, Ui_Images): images = None def __init__(self, parent, app): super(QWidget, self).__init__() self.app = app self.setupUi(self) self.error_msg = QErrorMessage() self.error_msg.setWindowTitle("Starter Kit: Blinkenlights Demo " + config.DEMO_VERSION) self.slider_frame_rate.valueChanged.connect( self.slider_frame_rate_changed) self.spinbox_frame_rate.valueChanged.connect( self.spinbox_frame_rate_changed) self.button_choose.pressed.connect(self.choose_pressed) self.button_show.pressed.connect(self.show_pressed) self.button_default.pressed.connect(self.default_pressed) self.update_frame_rate_timer = QTimer(self) self.update_frame_rate_timer.timeout.connect(self.update_frame_rate) self.default_pressed() def start(self): self.images = Images(self.app.ipcon) self.update_frame_rate() self.images.frame_rendered(0) def stop(self): if self.images: self.images.stop_rendering() self.images = None def spinbox_frame_rate_changed(self, frame_rate): self.slider_frame_rate.setValue(frame_rate) self.update_frame_rate_timer.start(100) def slider_frame_rate_changed(self, frame_rate): self.spinbox_frame_rate.setValue(frame_rate) def show_pressed(self): if self.images: files = unicode(self.text_edit_files.toPlainText()).strip() if len(files) > 0: new_images = files.split('\n') try: self.images.set_new_images(new_images) except Exception as e: self.error_msg.showMessage(str(e)) self.images.frame_prepare_next() self.images.frame_rendered(0) def choose_pressed(self): dialog = QFileDialog() dialog.setDirectory(QDir.homePath()) dialog.setFileMode(QFileDialog.ExistingFiles) if dialog.exec_(): filenames = dialog.selectedFiles() for filename in filenames: self.text_edit_files.append(filename) def default_pressed(self): self.spinbox_frame_rate.setValue(1) def update_frame_rate(self): self.update_frame_rate_timer.stop() config.IMAGES_FRAME_RATE = self.spinbox_frame_rate.value() if self.images: self.images.update_frame_rate()
class DC(PluginBase, Ui_DC): qtcb_position_reached = pyqtSignal(int) qtcb_under_voltage = pyqtSignal(int) qtcb_emergency_shutdown = pyqtSignal() def __init__(self, ipcon, uid, version): PluginBase.__init__(self, ipcon, uid, 'DC Brick', version) self.setupUi(self) self.encoder_hide_all() self.dc = BrickDC(uid, ipcon) self.device = self.dc self.update_timer = QTimer() self.update_timer.timeout.connect(self.update_data) self.speedometer = SpeedoMeter() self.vertical_layout_right.insertWidget(4, self.speedometer) self.new_value = 0 self.update_counter = 0 self.full_brake_time = 0 self.velocity_slider.sliderReleased.connect(self.velocity_slider_released) self.velocity_slider.valueChanged.connect(self.velocity_spin.setValue) self.velocity_spin.editingFinished.connect(self.velocity_spin_finished) self.acceleration_slider.sliderReleased.connect(self.acceleration_slider_released) self.acceleration_slider.valueChanged.connect(self.acceleration_spin.setValue) self.acceleration_spin.editingFinished.connect(self.acceleration_spin_finished) self.frequency_slider.sliderReleased.connect(self.frequency_slider_released) self.frequency_slider.valueChanged.connect(self.frequency_spin.setValue) self.frequency_spin.editingFinished.connect(self.frequency_spin_finished) self.radio_mode_brake.toggled.connect(self.brake_value_changed) self.radio_mode_coast.toggled.connect(self.coast_value_changed) self.minimum_voltage_button.pressed.connect(self.minimum_voltage_button_pressed) self.full_brake_button.pressed.connect(self.full_brake_pressed) self.enable_checkbox.stateChanged.connect(self.enable_state_changed) self.emergency_signal = None self.under_signal = None self.current_velocity_signal = None self.velocity_reached_signal = None self.qem = QErrorMessage(self) self.qtcb_under_voltage.connect(self.cb_under_voltage) self.dc.register_callback(self.dc.CALLBACK_UNDER_VOLTAGE, self.qtcb_under_voltage.emit) self.qtcb_emergency_shutdown.connect(self.cb_emergency_shutdown) self.dc.register_callback(self.dc.CALLBACK_EMERGENCY_SHUTDOWN, self.qtcb_emergency_shutdown.emit) self.qtcb_position_reached.connect(self.update_velocity) self.dc.register_callback(self.dc.CALLBACK_VELOCITY_REACHED, self.qtcb_position_reached.emit) self.dc.register_callback(self.dc.CALLBACK_CURRENT_VELOCITY, self.qtcb_position_reached.emit) # if self.version >= (2, 0, 1): # self.enable_encoder_checkbox.stateChanged.connect(self.enable_encoder_state_changed) # self.encoder_show() # else: # self.enable_encoder_checkbox.setText('Enable Encoder (Firmware >= 2.01 required)') # self.enable_encoder_checkbox.setEnabled(False) def start(self): self.update_timer.start(1000) async_call(self.dc.set_current_velocity_period, 100, None, self.increase_error_count) self.update_start() self.update_data() def stop(self): self.update_timer.stop() async_call(self.dc.set_current_velocity_period, 0, None, self.increase_error_count) def has_reset_device(self): return self.version >= (1, 1, 3) def reset_device(self): if self.has_reset_device(): self.dc.reset() def is_brick(self): return True def get_url_part(self): return 'dc' @staticmethod def has_device_identifier(device_identifier): return device_identifier == BrickDC.DEVICE_IDENTIFIER def cb_emergency_shutdown(self): if not self.qem.isVisible(): self.qem.setWindowTitle("Emergency Shutdown") self.qem.showMessage("Emergency Shutdown: Short-Circuit or Over-Temperature") def cb_under_voltage(self, ov): mv_str = self.minimum_voltage_label.text() ov_str = "%gV" % round(ov/1000.0, 1) if not self.qem.isVisible(): self.qem.setWindowTitle("Under Voltage") self.qem.showMessage("Under Voltage: Output Voltage of " + ov_str + " is below minimum voltage of " + mv_str, "DC_UnderVoltage") def encoder_hide_all(self): self.enable_encoder_checkbox.hide() self.encoder_hide() def encoder_hide(self): self.p_label.hide() self.p_spinbox.hide() self.i_label.hide() self.i_spinbox.hide() self.d_label.hide() self.d_spinbox.hide() self.st_label.hide() self.st_spinbox.hide() self.cpr_label.hide() self.cpr_spinbox.hide() self.encoder_spacer.hide() def encoder_show(self): self.p_label.show() self.p_spinbox.show() self.i_label.show() self.i_spinbox.show() self.d_label.show() self.d_spinbox.show() self.st_label.show() self.st_spinbox.show() self.cpr_label.show() self.cpr_spinbox.show() self.encoder_spacer.show() def enable_encoder_state_changed(self, state): try: if state == Qt.Checked: self.dc.enable_encoder() self.update_encoder() elif state == Qt.Unchecked: self.dc.disable_encoder() except ip_connection.Error: return def enable_state_changed(self, state): try: if state == Qt.Checked: self.dc.enable() elif state == Qt.Unchecked: self.dc.disable() except ip_connection.Error: return def brake_value_changed(self, checked): if checked: try: self.dc.set_drive_mode(0) except ip_connection.Error: return def coast_value_changed(self, checked): if checked: try: self.dc.set_drive_mode(1) except ip_connection.Error: return def full_brake_pressed(self): try: self.dc.full_brake() except ip_connection.Error: return def minimum_voltage_selected(self, value): try: self.dc.set_minimum_voltage(value) except ip_connection.Error: return def minimum_voltage_button_pressed(self): qid = QInputDialog(self) qid.setInputMode(QInputDialog.IntInput) qid.setIntMinimum(5000) qid.setIntMaximum(0xFFFF) qid.setIntStep(100) async_call(self.dc.get_minimum_voltage, None, qid.setIntValue, self.increase_error_count) qid.intValueSelected.connect(self.minimum_voltage_selected) qid.setLabelText("Choose minimum motor voltage in mV.") qid.open() def stack_input_voltage_update(self, sv): sv_str = "%gV" % round(sv/1000.0, 1) self.stack_voltage_label.setText(sv_str) def external_input_voltage_update(self, ev): ev_str = "%gV" % round(ev/1000.0, 1) self.external_voltage_label.setText(ev_str) def minimum_voltage_update(self, mv): mv_str = "%gV" % round(mv/1000.0, 1) self.minimum_voltage_label.setText(mv_str) def drive_mode_update(self, dm): if dm == 0: self.radio_mode_brake.setChecked(True) self.radio_mode_coast.setChecked(False) else: self.radio_mode_brake.setChecked(False) self.radio_mode_coast.setChecked(True) def current_consumption_update(self, cc): if cc >= 1000: cc_str = "%gA" % round(cc/1000.0, 1) else: cc_str = "%gmA" % cc self.current_label.setText(cc_str) def update_velocity(self, value): if value != self.speedometer.value(): self.speedometer.set_velocity(value) def get_velocity_async(self, velocity): if not self.velocity_slider.isSliderDown(): if velocity != self.velocity_slider.sliderPosition(): self.velocity_slider.setSliderPosition(velocity) self.velocity_spin.setValue(velocity) def get_acceleration_async(self, acceleration): if not self.acceleration_slider.isSliderDown(): if acceleration != self.acceleration_slider.sliderPosition(): self.acceleration_slider.setSliderPosition(acceleration) self.acceleration_spin.setValue(acceleration) def get_pwm_frequency_async(self, frequency): if not self.frequency_slider.isSliderDown(): if frequency != self.frequency_slider.sliderPosition(): self.frequency_slider.setSliderPosition(frequency) self.frequency_spin.setValue(frequency) def is_enabled_async(self, enabled): if enabled: self.enable_checkbox.setCheckState(Qt.Checked) else: self.enable_checkbox.setCheckState(Qt.Unchecked) def is_encoder_enabled_async(self, enabled): if enabled: self.enable_encoder_checkbox.setCheckState(Qt.Checked) else: self.enable_encoder_checkbox.setCheckState(Qt.Unchecked) def get_encoder_config_async(self, cpr): self.cpr_spinbox.setValue(cpr) def get_encoder_pid_config_async(self, pid_config): self.p_spinbox.setValue(pid_config.p) self.i_spinbox.setValue(pid_config.i) self.d_spinbox.setValue(pid_config.d) self.st_spinbox.setValue(pid_config.sample_time) def update_encoder(self): async_call(self.dc.get_encoder_config, None, self.get_encoder_config_async, self.increase_error_count) async_call(self.dc.get_encoder_pid_config, None, self.get_encoder_pid_config_async, self.increase_error_count) async_call(self.dc.is_encoder_enabled, None, self.is_encoder_enabled_async, self.increase_error_count) def update_start(self): async_call(self.dc.get_drive_mode, None, self.drive_mode_update, self.increase_error_count) async_call(self.dc.get_velocity, None, self.get_velocity_async, self.increase_error_count) async_call(self.dc.get_acceleration, None, self.get_acceleration_async, self.increase_error_count) async_call(self.dc.get_pwm_frequency, None, self.get_pwm_frequency_async, self.increase_error_count) async_call(self.dc.is_enabled, None, self.is_enabled_async, self.increase_error_count) # if self.version >= (2, 0, 1): # self.update_encoder() def update_data(self): async_call(self.dc.get_stack_input_voltage, None, self.stack_input_voltage_update, self.increase_error_count) async_call(self.dc.get_external_input_voltage, None, self.external_input_voltage_update, self.increase_error_count) async_call(self.dc.get_minimum_voltage, None, self.minimum_voltage_update, self.increase_error_count) async_call(self.dc.get_current_consumption, None, self.current_consumption_update, self.increase_error_count) def acceleration_slider_released(self): value = self.acceleration_slider.value() self.acceleration_spin.setValue(value) try: self.dc.set_acceleration(value) except ip_connection.Error: return def acceleration_spin_finished(self): value = self.acceleration_spin.value() self.acceleration_slider.setValue(value) try: self.dc.set_acceleration(value) except ip_connection.Error: return def velocity_slider_released(self): value = self.velocity_slider.value() self.velocity_spin.setValue(value) try: self.dc.set_velocity(value) except ip_connection.Error: return def velocity_spin_finished(self): value = self.velocity_spin.value() self.velocity_slider.setValue(value) try: self.dc.set_velocity(value) except ip_connection.Error: return def frequency_slider_released(self): value = self.frequency_slider.value() self.frequency_spin.setValue(value) try: self.dc.set_pwm_frequency(value) except ip_connection.Error: return def frequency_spin_finished(self): value = self.frequency_spin.value() self.frequency_slider.setValue(value) try: self.dc.set_pwm_frequency(value) except ip_connection.Error: return
class Stepper(PluginBase, Ui_Stepper): qtcb_position_reached = pyqtSignal(int) qtcb_under_voltage = pyqtSignal(int) def __init__(self, ipcon, uid, version): PluginBase.__init__(self, ipcon, uid, 'Stepper Brick', version) self.setupUi(self) self.stepper = BrickStepper(uid, ipcon) self.device = self.stepper self.endis_all(False) self.update_timer = QTimer() self.update_timer.timeout.connect(self.update_data) self.speedometer = SpeedoMeter() self.vertical_layout_right.insertWidget(5, self.speedometer) self.new_value = 0 self.update_counter = 0 self.full_brake_time = 0 self.qem = QErrorMessage(self) self.qem.setWindowTitle("Under Voltage") self.velocity_slider.sliderReleased.connect(self.velocity_slider_released) self.velocity_slider.valueChanged.connect(self.velocity_spin.setValue) self.velocity_spin.editingFinished.connect(self.velocity_spin_finished) self.acceleration_slider.sliderReleased.connect(self.acceleration_slider_released) self.acceleration_slider.valueChanged.connect(self.acceleration_spin.setValue) self.acceleration_spin.editingFinished.connect(self.acceleration_spin_finished) self.deceleration_slider.sliderReleased.connect(self.deceleration_slider_released) self.deceleration_slider.valueChanged.connect(self.deceleration_spin.setValue) self.deceleration_spin.editingFinished.connect(self.deceleration_spin_finished) # self.decay_slider.sliderReleased.connect(self.decay_slider_released) # self.decay_slider.valueChanged.connect(self.decay_spin.setValue) # self.decay_spin.editingFinished.connect(self.decay_spin_finished) self.enable_checkbox.stateChanged.connect(self.enable_state_changed) self.forward_button.pressed.connect(self.forward_pressed) self.stop_button.pressed.connect(self.stop_pressed) self.full_brake_button.pressed.connect(self.full_brake_pressed) self.backward_button.pressed.connect(self.backward_pressed) self.to_button.pressed.connect(self.to_button_pressed) self.steps_button.pressed.connect(self.steps_button_pressed) self.motor_current_button.pressed.connect(self.motor_current_button_pressed) self.minimum_motor_voltage_button.pressed.connect(self.minimum_motor_voltage_button_pressed) self.mode_dropbox.currentIndexChanged.connect(self.mode_changed) self.qtcb_position_reached.connect(self.cb_position_reached) self.stepper.register_callback(self.stepper.CALLBACK_POSITION_REACHED, self.qtcb_position_reached.emit) self.qtcb_under_voltage.connect(self.cb_under_voltage) self.stepper.register_callback(self.stepper.CALLBACK_UNDER_VOLTAGE, self.qtcb_under_voltage.emit) self.update_data_async_thread = None self.ste = 0 self.pos = 0 self.current_velocity = 0 self.cur = 0 self.sv = 0 self.ev = 0 self.mv = 0 self.mod = 0 def start(self): self.update_timer.start(100) self.update_start() def stop(self): self.update_timer.stop() def has_reset_device(self): return self.version >= (1, 1, 4) def reset_device(self): if self.has_reset_device(): self.stepper.reset() def is_brick(self): return True def get_url_part(self): return 'stepper' @staticmethod def has_device_identifier(device_identifier): return device_identifier == BrickStepper.DEVICE_IDENTIFIER def cb_position_reached(self, position): self.position_update(position) self.endis_all(True) def disable_list(self, button_list): for button in button_list: button.setEnabled(False) def endis_all(self, value): self.forward_button.setEnabled(value) self.stop_button.setEnabled(value) self.backward_button.setEnabled(value) self.to_button.setEnabled(value) self.steps_button.setEnabled(value) self.full_brake_button.setEnabled(value) def mode_changed(self, index): try: self.stepper.set_step_mode(1 << index) self.mod = 1 << index except ip_connection.Error: return def forward_pressed(self): try: self.stepper.drive_forward() except ip_connection.Error: return self.disable_list([self.to_button, self.steps_button]) def backward_pressed(self): try: self.stepper.drive_backward() except ip_connection.Error: return self.disable_list([self.to_button, self.steps_button]) def stop_pressed(self): try: self.stepper.stop() except ip_connection.Error: return self.endis_all(True) def full_brake_pressed(self): try: self.stepper.full_brake() except ip_connection.Error: return self.endis_all(True) def to_button_pressed(self): drive_to = self.to_spin.value() try: self.stepper.set_target_position(drive_to) except ip_connection.Error: return self.disable_list([self.to_button, self.steps_button, self.forward_button, self.backward_button]) def steps_button_pressed(self): drive_steps = self.steps_spin.value() try: self.stepper.set_steps(drive_steps) except ip_connection.Error: return self.disable_list([self.to_button, self.steps_button, self.forward_button, self.backward_button]) def motor_current_button_pressed(self): qid = QInputDialog(self) qid.setInputMode(QInputDialog.IntInput) qid.setIntMinimum(0) qid.setIntMaximum(2500) qid.setIntStep(100) async_call(self.stepper.get_motor_current, None, qid.setIntValue, self.increase_error_count) qid.intValueSelected.connect(self.motor_current_selected) qid.setLabelText("Choose motor current in mA.") # "<font color=red>Setting this too high can destroy your Motor.</font>") qid.open() def minimum_motor_voltage_button_pressed(self): qid = QInputDialog(self) qid.setInputMode(QInputDialog.IntInput) qid.setIntMinimum(0) qid.setIntMaximum(40000) qid.setIntStep(100) async_call(self.stepper.get_minimum_voltage, None, qid.setIntValue, self.increase_error_count) qid.intValueSelected.connect(self.minimum_motor_voltage_selected) qid.setLabelText("Choose minimum motor voltage in mV.") qid.open() def motor_current_selected(self, value): try: self.stepper.set_motor_current(value) except ip_connection.Error: return def minimum_motor_voltage_selected(self, value): try: self.stepper.set_minimum_voltage(value) except ip_connection.Error: return def cb_under_voltage(self, ov): mv_str = self.minimum_voltage_label.text() ov_str = "%gV" % round(ov/1000.0, 1) if not self.qem.isVisible(): self.qem.showMessage("Under Voltage: Output Voltage of " + ov_str + " is below minimum voltage of " + mv_str, "Stepper_UnderVoltage") def enable_state_changed(self, state): try: if state == Qt.Checked: self.endis_all(True) self.stepper.enable() elif state == Qt.Unchecked: self.endis_all(False) self.stepper.disable() except ip_connection.Error: return def stack_input_voltage_update(self, sv): sv_str = "%gV" % round(sv/1000.0, 1) self.stack_voltage_label.setText(sv_str) def external_input_voltage_update(self, ev): ev_str = "%gV" % round(ev/1000.0, 1) self.external_voltage_label.setText(ev_str) def minimum_voltage_update(self, mv): mv_str = "%gV" % round(mv/1000.0, 1) self.minimum_voltage_label.setText(mv_str) def maximum_current_update(self, cur): cur_str = "%gA" % round(cur/1000.0, 1) self.maximum_current_label.setText(cur_str) def position_update(self, pos): pos_str = "%d" % pos self.position_label.setText(pos_str) def remaining_steps_update(self, ste): ste_str = "%d" % ste self.remaining_steps_label.setText(ste_str) def mode_update(self, mod): if mod == 8: index = 3 elif mod == 4: index = 2 elif mod == 2: index = 1 else: index = 0 self.mode_dropbox.setCurrentIndex(index) def get_max_velocity_async(self, velocity): if not self.velocity_slider.isSliderDown(): if velocity != self.velocity_slider.sliderPosition(): self.velocity_slider.setSliderPosition(velocity) self.velocity_spin.setValue(velocity) def get_speed_ramping_async(self, ramp): acc, dec = ramp if not self.acceleration_slider.isSliderDown() and \ not self.deceleration_slider.isSliderDown(): if acc != self.acceleration_slider.sliderPosition(): self.acceleration_slider.setSliderPosition(acc) self.acceleration_spin.setValue(acc) if dec != self.deceleration_slider.sliderPosition(): self.deceleration_slider.setSliderPosition(dec) self.deceleration_spin.setValue(dec) def is_enabled_async(self, enabled): if enabled: if self.enable_checkbox.checkState() != Qt.Checked: self.endis_all(True) self.enable_checkbox.setCheckState(Qt.Checked) else: if self.enable_checkbox.checkState() != Qt.Unchecked: self.endis_all(False) self.enable_checkbox.setCheckState(Qt.Unchecked) def update_start(self): async_call(self.stepper.get_max_velocity, None, self.get_max_velocity_async, self.increase_error_count) async_call(self.stepper.get_speed_ramping, None, self.get_speed_ramping_async, self.increase_error_count) async_call(self.stepper.is_enabled, None, self.is_enabled_async, self.increase_error_count) def update_data(self): async_call(self.stepper.get_remaining_steps, None, self.remaining_steps_update, self.increase_error_count) async_call(self.stepper.get_current_position, None, self.position_update, self.increase_error_count) async_call(self.stepper.get_current_velocity, None, self.speedometer.set_velocity, self.increase_error_count) self.update_counter += 1 if self.update_counter % 10 == 0: async_call(self.stepper.get_motor_current, None, self.maximum_current_update, self.increase_error_count) async_call(self.stepper.get_stack_input_voltage, None, self.stack_input_voltage_update, self.increase_error_count) async_call(self.stepper.get_external_input_voltage, None, self.external_input_voltage_update, self.increase_error_count) async_call(self.stepper.get_minimum_voltage, None, self.minimum_voltage_update, self.increase_error_count) async_call(self.stepper.get_step_mode, None, self.mode_update, self.increase_error_count) def velocity_slider_released(self): value = self.velocity_slider.value() self.velocity_spin.setValue(value) try: self.stepper.set_max_velocity(value) except ip_connection.Error: return def velocity_spin_finished(self): value = self.velocity_spin.value() self.velocity_slider.setValue(value) try: self.stepper.set_max_velocity(value) except ip_connection.Error: return def acceleration_slider_released(self): acc = self.acceleration_slider.value() dec = self.deceleration_slider.value() self.acceleration_spin.setValue(acc) try: self.stepper.set_speed_ramping(acc, dec) except ip_connection.Error: return def acceleration_spin_finished(self): acc = self.acceleration_spin.value() dec = self.deceleration_spin.value() self.acceleration_slider.setValue(acc) try: self.stepper.set_speed_ramping(acc, dec) except ip_connection.Error: return def deceleration_slider_released(self): acc = self.acceleration_slider.value() dec = self.deceleration_slider.value() self.deceleration_spin.setValue(dec) try: self.stepper.set_speed_ramping(acc, dec) except ip_connection.Error: return def deceleration_spin_finished(self): acc = self.acceleration_spin.value() dec = self.deceleration_spin.value() self.deceleration_slider.setValue(dec) try: self.stepper.set_speed_ramping(acc, dec) except ip_connection.Error: return
class SilentStepper(PluginBase, Ui_SilentStepper): qtcb_position_reached = pyqtSignal(int) qtcb_under_voltage = pyqtSignal(int) def __init__(self, *args): PluginBase.__init__(self, BrickSilentStepper, *args) self.setupUi(self) self.silent_stepper = self.device self.endis_all(False) self.update_timer = QTimer() self.update_timer.timeout.connect(self.update_data) self.speedometer = SpeedoMeter() self.vertical_layout_right.insertWidget(5, self.speedometer) self.new_value = 0 self.update_counter = 0 self.full_brake_time = 0 self.qem = QErrorMessage(self) self.qem.setWindowTitle("Under Voltage") self.velocity_syncer = SliderSpinSyncer(self.velocity_slider, self.velocity_spin, self.velocity_changed) self.acceleration_syncer = SliderSpinSyncer(self.acceleration_slider, self.acceleration_spin, self.acceleration_changed) self.deceleration_syncer = SliderSpinSyncer(self.deceleration_slider, self.deceleration_spin, self.deceleration_changed) self.enable_checkbox.stateChanged.connect(self.enable_state_changed) self.forward_button.clicked.connect(self.forward_clicked) self.stop_button.clicked.connect(self.stop_clicked) self.full_brake_button.clicked.connect(self.full_brake_clicked) self.backward_button.clicked.connect(self.backward_clicked) self.to_button.clicked.connect(self.to_button_clicked) self.steps_button.clicked.connect(self.steps_button_clicked) self.motor_current_button.clicked.connect(self.motor_current_button_clicked) self.minimum_motor_voltage_button.clicked.connect(self.minimum_motor_voltage_button_clicked) self.qtcb_position_reached.connect(self.cb_position_reached) self.silent_stepper.register_callback(self.silent_stepper.CALLBACK_POSITION_REACHED, self.qtcb_position_reached.emit) self.qtcb_under_voltage.connect(self.cb_under_voltage) self.silent_stepper.register_callback(self.silent_stepper.CALLBACK_UNDER_VOLTAGE, self.qtcb_under_voltage.emit) # Step Configuration self.step_resolution_dropbox.currentIndexChanged.connect(self.step_configuration_changed) self.interpolate_checkbox.stateChanged.connect(self.step_configuration_changed) # Basic Configuration self.standstill_current_spin.valueChanged.connect(self.basic_configuration_changed) self.motor_run_current_spin.valueChanged.connect(self.basic_configuration_changed) self.standstill_delay_time_spin.valueChanged.connect(self.basic_configuration_changed) self.power_down_time_spin.valueChanged.connect(self.basic_configuration_changed) self.stealth_threshold_spin.valueChanged.connect(self.basic_configuration_changed) self.coolstep_threashold_spin.valueChanged.connect(self.basic_configuration_changed) self.classic_threshold_spin.valueChanged.connect(self.basic_configuration_changed) self.high_velocity_chopper_mode_checkbox.stateChanged.connect(self.basic_configuration_changed) # Spreadcycle Configuration self.slow_decay_duration_spin.valueChanged.connect(self.spreadcycle_configuration_changed) self.enable_random_slow_decay_checkbox.stateChanged.connect(self.spreadcycle_configuration_changed) self.fast_decay_duration_spin.valueChanged.connect(self.spreadcycle_configuration_changed) self.hysteresis_start_value_spin.valueChanged.connect(self.spreadcycle_configuration_changed) self.hysteresis_end_value_spin.valueChanged.connect(self.spreadcycle_configuration_changed) self.sine_wave_offset_spin.valueChanged.connect(self.spreadcycle_configuration_changed) self.chopper_mode_combo.currentIndexChanged.connect(self.spreadcycle_configuration_changed) self.comparator_blank_time_combo.currentIndexChanged.connect(self.spreadcycle_configuration_changed) self.fast_decay_without_comparator_checkbox.stateChanged.connect(self.spreadcycle_configuration_changed) # Stealth Configuration self.enable_stealth_checkbox.stateChanged.connect(self.stealth_configuration_changed) self.amplitude_spin.valueChanged.connect(self.stealth_configuration_changed) self.gradient_spin.valueChanged.connect(self.stealth_configuration_changed) self.enable_autoscale_checkbox.stateChanged.connect(self.stealth_configuration_changed) self.force_symmetric_checkbox.stateChanged.connect(self.stealth_configuration_changed) self.freewheel_mode_combo.currentIndexChanged.connect(self.stealth_configuration_changed) # Coolstep Configuration self.minimum_stallguard_value_spin.valueChanged.connect(self.coolstep_configuration_changed) self.maximum_stallguard_value_spin.valueChanged.connect(self.coolstep_configuration_changed) self.current_up_step_width_combo.currentIndexChanged.connect(self.coolstep_configuration_changed) self.current_down_step_width_combo.currentIndexChanged.connect(self.coolstep_configuration_changed) self.minimum_current_combo.currentIndexChanged.connect(self.coolstep_configuration_changed) self.stallguard_threshold_value_spin.valueChanged.connect(self.coolstep_configuration_changed) self.stallguard_mode_combo.currentIndexChanged.connect(self.coolstep_configuration_changed) # Misc Configuration self.disable_short_to_ground_protection_checkbox.stateChanged.connect(self.misc_configuration_changed) self.synchronize_phase_frequency_spin.valueChanged.connect(self.misc_configuration_changed) self.ste = 0 self.pos = 0 self.current_velocity = 0 self.cur = 0 self.sv = 0 self.ev = 0 self.mv = 0 self.mod = 0 self.status_led_action = QAction('Status LED', self) self.status_led_action.setCheckable(True) self.status_led_action.toggled.connect(lambda checked: self.silent_stepper.enable_status_led() if checked else self.silent_stepper.disable_status_led()) self.set_configs([(0, None, [self.status_led_action])]) reset = QAction('Reset', self) reset.triggered.connect(lambda: self.silent_stepper.reset()) self.set_actions([(0, None, [reset])]) def start(self): async_call(self.silent_stepper.is_status_led_enabled, None, self.status_led_action.setChecked, self.increase_error_count) self.update_timer.start(100) self.update_start() def stop(self): self.update_timer.stop() def destroy(self): pass @staticmethod def has_device_identifier(device_identifier): return device_identifier == BrickSilentStepper.DEVICE_IDENTIFIER def cb_position_reached(self, position): self.position_update(position) self.endis_all(True) def disable_list(self, button_list): for button in button_list: button.setEnabled(False) def endis_all(self, value): self.forward_button.setEnabled(value) self.stop_button.setEnabled(value) self.backward_button.setEnabled(value) self.to_button.setEnabled(value) self.steps_button.setEnabled(value) self.full_brake_button.setEnabled(value) def step_configuration_changed(self, _): step_resolution = self.step_resolution_dropbox.currentIndex() interpolation = self.interpolate_checkbox.isChecked() try: self.silent_stepper.set_step_configuration(step_resolution, interpolation) except ip_connection.Error: return def basic_configuration_changed(self, _): standstill_current = self.standstill_current_spin.value() motor_run_current = self.motor_run_current_spin.value() standstill_delay_time = self.standstill_delay_time_spin.value() power_down_time = self.power_down_time_spin.value() stealth_threshold = self.stealth_threshold_spin.value() coolstep_threshold = self.coolstep_threashold_spin.value() classic_threshold = self.classic_threshold_spin.value() high_velocity_chopper_mode = self.high_velocity_chopper_mode_checkbox.isChecked() try: self.silent_stepper.set_basic_configuration(standstill_current, motor_run_current, standstill_delay_time, power_down_time, stealth_threshold, coolstep_threshold, classic_threshold, high_velocity_chopper_mode) except ip_connection.Error: return def spreadcycle_configuration_changed(self, _): slow_decay_duration = self.slow_decay_duration_spin.value() enable_random_slow_decay = self.enable_random_slow_decay_checkbox.isChecked() fast_decay_duration = self.fast_decay_duration_spin.value() hysteresis_start_value = self.hysteresis_start_value_spin.value() hysteresis_end_value = self.hysteresis_end_value_spin.value() sine_wave_offset = self.sine_wave_offset_spin.value() chopper_mode = self.chopper_mode_combo.currentIndex() comparator_blank_time = self.comparator_blank_time_combo.currentIndex() fast_decay_without_comparator = self.fast_decay_without_comparator_checkbox.isChecked() try: self.silent_stepper.set_spreadcycle_configuration(slow_decay_duration, enable_random_slow_decay, fast_decay_duration, hysteresis_start_value, hysteresis_end_value, sine_wave_offset, chopper_mode, comparator_blank_time, fast_decay_without_comparator) except ip_connection.Error: return def stealth_configuration_changed(self, _): enable_stealth = self.enable_stealth_checkbox.isChecked() amplitude = self.amplitude_spin.value() gradient = self.gradient_spin.value() enable_autoscale = self.enable_autoscale_checkbox.isChecked() force_symmetric = self.force_symmetric_checkbox.isChecked() freewheel_mode = self.freewheel_mode_combo.currentIndex() try: self.silent_stepper.set_stealth_configuration(enable_stealth, amplitude, gradient, enable_autoscale, force_symmetric, freewheel_mode) except ip_connection.Error: return def coolstep_configuration_changed(self, _): minimum_stallguard_value = self.minimum_stallguard_value_spin.value() maximum_stallguard_value = self.maximum_stallguard_value_spin.value() current_up_step_width = self.current_up_step_width_combo.currentIndex() current_down_step_width = self.current_down_step_width_combo.currentIndex() minimum_current = self.minimum_current_combo.currentIndex() stallguard_threshold_value = self.stallguard_threshold_value_spin.value() stallguard_mode = self.stallguard_mode_combo.currentIndex() try: self.silent_stepper.set_coolstep_configuration(minimum_stallguard_value, maximum_stallguard_value, current_up_step_width, current_down_step_width, minimum_current, stallguard_threshold_value, stallguard_mode) except ip_connection.Error: return def misc_configuration_changed(self, _): disable_short_to_ground_protection = self.disable_short_to_ground_protection_checkbox.isChecked() synchronize_phase_frequency = self.synchronize_phase_frequency_spin.value() try: self.silent_stepper.set_misc_configuration(disable_short_to_ground_protection, synchronize_phase_frequency) except ip_connection.Error: return def forward_clicked(self): try: self.silent_stepper.drive_forward() except ip_connection.Error: return self.disable_list([self.to_button, self.steps_button]) def backward_clicked(self): try: self.silent_stepper.drive_backward() except ip_connection.Error: return self.disable_list([self.to_button, self.steps_button]) def stop_clicked(self): try: self.silent_stepper.stop() except ip_connection.Error: return self.endis_all(True) def full_brake_clicked(self): try: self.silent_stepper.full_brake() except ip_connection.Error: return self.endis_all(True) def to_button_clicked(self): drive_to = self.to_spin.value() try: self.silent_stepper.set_target_position(drive_to) except ip_connection.Error: return self.disable_list([self.to_button, self.steps_button, self.forward_button, self.backward_button]) def steps_button_clicked(self): drive_steps = self.steps_spin.value() try: self.silent_stepper.set_steps(drive_steps) except ip_connection.Error: return self.disable_list([self.to_button, self.steps_button, self.forward_button, self.backward_button]) def motor_current_button_clicked(self): qid = QInputDialog(self) qid.setInputMode(QInputDialog.IntInput) qid.setIntMinimum(360) qid.setIntMaximum(1640) qid.setIntStep(100) async_call(self.silent_stepper.get_motor_current, None, qid.setIntValue, self.increase_error_count) qid.intValueSelected.connect(self.motor_current_selected) qid.setLabelText("Choose motor current in mA.") qid.open() def minimum_motor_voltage_button_clicked(self): qid = QInputDialog(self) qid.setInputMode(QInputDialog.IntInput) qid.setIntMinimum(0) qid.setIntMaximum(40000) qid.setIntStep(100) async_call(self.silent_stepper.get_minimum_voltage, None, qid.setIntValue, self.increase_error_count) qid.intValueSelected.connect(self.minimum_motor_voltage_selected) qid.setLabelText("Choose minimum motor voltage in mV.") qid.open() def motor_current_selected(self, value): try: self.silent_stepper.set_motor_current(value) except ip_connection.Error: return def minimum_motor_voltage_selected(self, value): try: self.silent_stepper.set_minimum_voltage(value) except ip_connection.Error: return def cb_under_voltage(self, ov): mv_str = self.minimum_voltage_label.text() ov_str = "%gV" % round(ov/1000.0, 1) if not self.qem.isVisible(): self.qem.showMessage("Under Voltage: Output Voltage of " + ov_str + " is below minimum voltage of " + mv_str, "SilentStepper_UnderVoltage") def enable_state_changed(self, state): try: if state == Qt.Checked: self.endis_all(True) self.silent_stepper.enable() elif state == Qt.Unchecked: self.endis_all(False) self.silent_stepper.disable() except ip_connection.Error: return def stack_input_voltage_update(self, sv): sv_str = "%gV" % round(sv/1000.0, 1) self.stack_voltage_label.setText(sv_str) def external_input_voltage_update(self, ev): ev_str = "%gV" % round(ev/1000.0, 1) self.external_voltage_label.setText(ev_str) def minimum_voltage_update(self, mv): mv_str = "%gV" % round(mv/1000.0, 1) self.minimum_voltage_label.setText(mv_str) def maximum_current_update(self, cur): cur_str = "%gA" % round(cur/1000.0, 1) self.maximum_current_label.setText(cur_str) def position_update(self, pos): pos_str = "%d" % pos self.position_label.setText(pos_str) def remaining_steps_update(self, ste): ste_str = "%d" % ste self.remaining_steps_label.setText(ste_str) def driver_status_update(self, update): if update.open_load == 0: self.status_open_load.setText('No') elif update.open_load == 1: self.status_open_load.setText('Phase A') elif update.open_load == 2: self.status_open_load.setText('Phase B') elif update.open_load == 3: self.status_open_load.setText('Phase A and B') else: self.status_open_load.setText('Unknown') if update.short_to_ground == 0: self.status_short_to_ground.setText('No') elif update.short_to_ground == 1: self.status_short_to_ground.setText('Phase A') elif update.short_to_ground == 2: self.status_short_to_ground.setText('Phase B') elif update.short_to_ground == 3: self.status_short_to_ground.setText('Phase A and B') else: self.status_short_to_ground.setText('Unknown') if update.over_temperature == 0: self.status_over_temperature.setText('No') elif update.over_temperature == 1: self.status_over_temperature.setText('<font color=yellow>Warning</font>') elif update.over_temperature == 2: self.status_over_temperature.setText('<font color=red>Limit</font>') if update.motor_stalled: self.status_motor_stalled.setText('Yes') else: self.status_motor_stalled.setText('No') self.status_actual_motor_current.setText(str(update.actual_motor_current)) if update.full_step_active: self.status_full_step_active.setText('Yes') else: self.status_full_step_active.setText('No') self.status_stallguard_result.setText(str(update.stallguard_result)) self.status_stealth_voltage_amplitude.setText(str(update.stealth_voltage_amplitude)) def get_max_velocity_async(self, velocity): if not self.velocity_slider.isSliderDown(): if velocity != self.velocity_slider.sliderPosition(): self.velocity_slider.setSliderPosition(velocity) self.velocity_spin.setValue(velocity) def get_speed_ramping_async(self, ramp): acc, dec = ramp if not self.acceleration_slider.isSliderDown() and \ not self.deceleration_slider.isSliderDown(): if acc != self.acceleration_slider.sliderPosition(): self.acceleration_slider.setSliderPosition(acc) self.acceleration_spin.setValue(acc) if dec != self.deceleration_slider.sliderPosition(): self.deceleration_slider.setSliderPosition(dec) self.deceleration_spin.setValue(dec) def is_enabled_async(self, enabled): if enabled: if not self.enable_checkbox.isChecked(): self.endis_all(True) self.enable_checkbox.blockSignals(True) self.enable_checkbox.setChecked(True) self.enable_checkbox.blockSignals(False) else: if self.enable_checkbox.isChecked(): self.endis_all(False) self.enable_checkbox.blockSignals(True) self.enable_checkbox.setChecked(False) self.enable_checkbox.blockSignals(False) def get_step_configuration_async(self, conf): self.step_resolution_dropbox.blockSignals(True) self.step_resolution_dropbox.setCurrentIndex(conf.step_resolution) self.step_resolution_dropbox.blockSignals(False) self.interpolate_checkbox.blockSignals(True) self.interpolate_checkbox.setChecked(conf.interpolation) self.interpolate_checkbox.blockSignals(False) def get_basic_configuration_async(self, conf): self.standstill_current_spin.blockSignals(True) self.standstill_current_spin.setValue(conf.standstill_current) self.standstill_current_spin.blockSignals(False) self.motor_run_current_spin.blockSignals(True) self.motor_run_current_spin.setValue(conf.motor_run_current) self.motor_run_current_spin.blockSignals(False) self.standstill_delay_time_spin.blockSignals(True) self.standstill_delay_time_spin.setValue(conf.standstill_delay_time) self.standstill_delay_time_spin.blockSignals(False) self.power_down_time_spin.blockSignals(True) self.power_down_time_spin.setValue(conf.power_down_time) self.power_down_time_spin.blockSignals(False) self.stealth_threshold_spin.blockSignals(True) self.stealth_threshold_spin.setValue(conf.stealth_threshold) self.stealth_threshold_spin.blockSignals(False) self.coolstep_threashold_spin.blockSignals(True) self.coolstep_threashold_spin.setValue(conf.coolstep_threshold) self.coolstep_threashold_spin.blockSignals(False) self.classic_threshold_spin.blockSignals(True) self.classic_threshold_spin.setValue(conf.classic_threshold) self.classic_threshold_spin.blockSignals(False) self.high_velocity_chopper_mode_checkbox.blockSignals(True) self.high_velocity_chopper_mode_checkbox.setChecked(conf.high_velocity_chopper_mode) self.high_velocity_chopper_mode_checkbox.blockSignals(False) def get_spreadcycle_configuration_async(self, conf): self.slow_decay_duration_spin.blockSignals(True) self.slow_decay_duration_spin.setValue(conf.slow_decay_duration) self.slow_decay_duration_spin.blockSignals(False) self.enable_random_slow_decay_checkbox.blockSignals(True) self.enable_random_slow_decay_checkbox.setChecked(conf.enable_random_slow_decay) self.enable_random_slow_decay_checkbox.blockSignals(False) self.fast_decay_duration_spin.blockSignals(True) self.fast_decay_duration_spin.setValue(conf.fast_decay_duration) self.fast_decay_duration_spin.blockSignals(False) self.hysteresis_start_value_spin.blockSignals(True) self.hysteresis_start_value_spin.setValue(conf.hysteresis_start_value) self.hysteresis_start_value_spin.blockSignals(False) self.hysteresis_end_value_spin.blockSignals(True) self.hysteresis_end_value_spin.setValue(conf.hysteresis_end_value) self.hysteresis_end_value_spin.blockSignals(False) self.sine_wave_offset_spin.blockSignals(True) self.sine_wave_offset_spin.setValue(conf.sine_wave_offset) self.sine_wave_offset_spin.blockSignals(False) self.chopper_mode_combo.blockSignals(True) self.chopper_mode_combo.setCurrentIndex(conf.chopper_mode) self.chopper_mode_combo.blockSignals(False) self.standstill_current_spin.blockSignals(True) self.comparator_blank_time_combo.setCurrentIndex(conf.comparator_blank_time) self.standstill_current_spin.blockSignals(False) self.fast_decay_without_comparator_checkbox.blockSignals(True) self.fast_decay_without_comparator_checkbox.setChecked(conf.fast_decay_without_comparator) self.fast_decay_without_comparator_checkbox.blockSignals(False) def get_stealth_configuration_async(self, conf): self.enable_stealth_checkbox.blockSignals(True) self.enable_stealth_checkbox.setChecked(conf.enable_stealth) self.enable_stealth_checkbox.blockSignals(False) self.amplitude_spin.blockSignals(True) self.amplitude_spin.setValue(conf.amplitude) self.amplitude_spin.blockSignals(False) self.gradient_spin.blockSignals(True) self.gradient_spin.setValue(conf.gradient) self.gradient_spin.blockSignals(False) self.enable_autoscale_checkbox.blockSignals(True) self.enable_autoscale_checkbox.setChecked(conf.enable_autoscale) self.enable_autoscale_checkbox.blockSignals(False) self.force_symmetric_checkbox.blockSignals(True) self.force_symmetric_checkbox.setChecked(conf.force_symmetric) self.force_symmetric_checkbox.blockSignals(False) self.freewheel_mode_combo.blockSignals(True) self.freewheel_mode_combo.setCurrentIndex(conf.freewheel_mode) self.freewheel_mode_combo.blockSignals(False) def get_coolstep_configuration_async(self, conf): self.minimum_stallguard_value_spin.blockSignals(True) self.minimum_stallguard_value_spin.setValue(conf.minimum_stallguard_value) self.minimum_stallguard_value_spin.blockSignals(False) self.maximum_stallguard_value_spin.blockSignals(True) self.maximum_stallguard_value_spin.setValue(conf.maximum_stallguard_value) self.maximum_stallguard_value_spin.blockSignals(False) self.current_up_step_width_combo.blockSignals(True) self.current_up_step_width_combo.setCurrentIndex(conf.current_up_step_width) self.current_up_step_width_combo.blockSignals(False) self.current_down_step_width_combo.blockSignals(True) self.current_down_step_width_combo.setCurrentIndex(conf.current_down_step_width) self.current_down_step_width_combo.blockSignals(False) self.minimum_current_combo.blockSignals(True) self.minimum_current_combo.setCurrentIndex(conf.minimum_current) self.minimum_current_combo.blockSignals(False) self.stallguard_threshold_value_spin.blockSignals(True) self.stallguard_threshold_value_spin.setValue(conf.stallguard_threshold_value) self.stallguard_threshold_value_spin.blockSignals(False) self.stallguard_mode_combo.blockSignals(True) self.stallguard_mode_combo.setCurrentIndex(conf.stallguard_mode) self.stallguard_mode_combo.blockSignals(False) def get_misc_configuration_async(self, conf): self.disable_short_to_ground_protection_checkbox.blockSignals(True) self.disable_short_to_ground_protection_checkbox.setChecked(conf.disable_short_to_ground_protection) self.disable_short_to_ground_protection_checkbox.blockSignals(False) self.synchronize_phase_frequency_spin.blockSignals(True) self.synchronize_phase_frequency_spin.setValue(conf.synchronize_phase_frequency) self.synchronize_phase_frequency_spin.blockSignals(False) def update_start(self): async_call(self.silent_stepper.get_max_velocity, None, self.get_max_velocity_async, self.increase_error_count) async_call(self.silent_stepper.get_speed_ramping, None, self.get_speed_ramping_async, self.increase_error_count) async_call(self.silent_stepper.is_enabled, None, self.is_enabled_async, self.increase_error_count) async_call(self.silent_stepper.get_step_configuration, None, self.get_step_configuration_async, self.increase_error_count) async_call(self.silent_stepper.get_basic_configuration, None, self.get_basic_configuration_async, self.increase_error_count) async_call(self.silent_stepper.get_spreadcycle_configuration, None, self.get_spreadcycle_configuration_async, self.increase_error_count) async_call(self.silent_stepper.get_stealth_configuration, None, self.get_stealth_configuration_async, self.increase_error_count) async_call(self.silent_stepper.get_coolstep_configuration, None, self.get_coolstep_configuration_async, self.increase_error_count) async_call(self.silent_stepper.get_misc_configuration, None, self.get_misc_configuration_async, self.increase_error_count) def update_data(self): async_call(self.silent_stepper.get_remaining_steps, None, self.remaining_steps_update, self.increase_error_count) async_call(self.silent_stepper.get_current_position, None, self.position_update, self.increase_error_count) async_call(self.silent_stepper.get_current_velocity, None, self.speedometer.set_velocity, self.increase_error_count) self.update_counter += 1 if self.update_counter % 10 == 0: async_call(self.silent_stepper.get_motor_current, None, self.maximum_current_update, self.increase_error_count) async_call(self.silent_stepper.get_stack_input_voltage, None, self.stack_input_voltage_update, self.increase_error_count) async_call(self.silent_stepper.get_external_input_voltage, None, self.external_input_voltage_update, self.increase_error_count) async_call(self.silent_stepper.get_minimum_voltage, None, self.minimum_voltage_update, self.increase_error_count) async_call(self.silent_stepper.get_driver_status, None, self.driver_status_update, self.increase_error_count) def velocity_changed(self, value): try: self.silent_stepper.set_max_velocity(value) except ip_connection.Error: return def acceleration_changed(self, value): dec = self.deceleration_spin.value() try: self.silent_stepper.set_speed_ramping(value, dec) except ip_connection.Error: return def deceleration_changed(self, value): acc = self.acceleration_slider.value() try: self.silent_stepper.set_speed_ramping(acc, value) except ip_connection.Error: return
class Blinkenlights(QApplication): HOST = "localhost" PORT = 4223 ipcon = None projects = [] active_project = None error_msg = None def __init__(self, args): super(QApplication, self).__init__(args) self.error_msg = QErrorMessage() self.error_msg.setWindowTitle("Starter Kit: Blinkenlights Demo " + config.DEMO_VERSION) signal.signal(signal.SIGINT, self.exit_demo) signal.signal(signal.SIGTERM, self.exit_demo) self.make_gui() self.connect() def exit_demo(self, signl=None, frme=None): try: self.ipcon.disconnect() self.timer.stop() self.tabs.destroy() except: pass sys.exit() def make_gui(self): self.main = MainWindow(self) self.main.setWindowIcon(QIcon(os.path.join(ProgramPath.program_path(), "demo-icon.png"))) self.tabs = QTabWidget() widget = QWidget() layout = QVBoxLayout() layout.addWidget(self.tabs) widget.setLayout(layout) self.main.setCentralWidget(widget) self.setup = SetupWidget(self.tabs, self) self.tetris = TetrisWidget(self.tabs, self) self.pong = PongWidget(self.tabs, self) self.fire = FireWidget(self.tabs, self) self.text = TextWidget(self.tabs, self) self.images = ImagesWidget(self.tabs, self) self.rainbow = RainbowWidget(self.tabs, self) self.projects.append(self.setup) self.projects.append(self.tetris) self.projects.append(self.pong) self.projects.append(self.fire) self.projects.append(self.text) self.projects.append(self.images) self.projects.append(self.rainbow) self.tabs.addTab(self.setup, "Setup") self.tabs.addTab(self.tetris, "Tetris") self.tabs.addTab(self.pong, "Pong") self.tabs.addTab(self.fire, "Fire") self.tabs.addTab(self.text, "Text") self.tabs.addTab(self.images, "Images") self.tabs.addTab(self.rainbow, "Rainbow") self.active_project = self.projects[0] self.tabs.currentChanged.connect(self.tab_changed_slot) self.main.setWindowTitle("Starter Kit: Blinkenlights Demo " + config.DEMO_VERSION) self.main.show() def connect(self): config.UID_LED_STRIP_BRICKLET = None self.setup.label_led_strip_found.setText('No') self.setup.label_led_strip_uid.setText('None') config.UID_MULTI_TOUCH_BRICKLET = None self.setup.label_multi_touch_found.setText('No') self.setup.label_multi_touch_uid.setText('None') config.UID_DUAL_BUTTON_BRICKLET = (None, None) self.setup.label_dual_button1_found.setText('No') self.setup.label_dual_button1_uid.setText('None') self.setup.label_dual_button2_found.setText('No') self.setup.label_dual_button2_uid.setText('None') config.UID_PIEZO_SPEAKER_BRICKLET = None self.setup.label_piezo_speaker_found.setText('No') self.setup.label_piezo_speaker_uid.setText('None') config.UID_SEGMENT_DISPLAY_4X7_BRICKLET = None self.setup.label_segment_display_found.setText('No') self.setup.label_segment_display_uid.setText('None') if self.ipcon != None: try: self.ipcon.disconnect() except: pass self.ipcon = IPConnection() host = self.setup.edit_host.text() port = self.setup.spinbox_port.value() try: self.ipcon.connect(host, port) except Error as e: self.error_msg.showMessage('Connection Error: ' + str(e.description) + "<br><br>Brickd installed and running?") return except socket.error as e: self.error_msg.showMessage('Socket error: ' + str(e) + "<br><br>Brickd installed and running?") return self.ipcon.register_callback(IPConnection.CALLBACK_ENUMERATE, self.cb_enumerate) self.ipcon.register_callback(IPConnection.CALLBACK_CONNECTED, self.cb_connected) # Wait for a second to give user visual feedback timer = QTimer(self) timer.setSingleShot(True) timer.timeout.connect(self.ipcon.enumerate) timer.start(250) def tab_changed_slot(self, tabIndex): self.active_project.stop() self.active_project = self.projects[tabIndex] self.active_project.start() def cb_enumerate(self, uid, connected_uid, position, hardware_version, firmware_version, device_identifier, enumeration_type): if enumeration_type == IPConnection.ENUMERATION_TYPE_CONNECTED or \ enumeration_type == IPConnection.ENUMERATION_TYPE_AVAILABLE: if device_identifier == LEDStrip.DEVICE_IDENTIFIER: config.UID_LED_STRIP_BRICKLET = uid self.setup.label_led_strip_found.setText('Yes') self.setup.label_led_strip_uid.setText(uid) elif device_identifier == MultiTouch.DEVICE_IDENTIFIER: config.UID_MULTI_TOUCH_BRICKLET = uid self.setup.label_multi_touch_found.setText('Yes') self.setup.label_multi_touch_uid.setText(uid) elif device_identifier == DualButton.DEVICE_IDENTIFIER: if config.UID_DUAL_BUTTON_BRICKLET[0] == None: config.UID_DUAL_BUTTON_BRICKLET = (uid, None) self.setup.label_dual_button1_found.setText('Yes') self.setup.label_dual_button1_uid.setText(uid) else: config.UID_DUAL_BUTTON_BRICKLET = (config.UID_DUAL_BUTTON_BRICKLET[0], uid) self.setup.label_dual_button2_found.setText('Yes') self.setup.label_dual_button2_uid.setText(uid) elif device_identifier == PiezoSpeaker.DEVICE_IDENTIFIER: config.UID_PIEZO_SPEAKER_BRICKLET = uid self.setup.label_piezo_speaker_found.setText('Yes') self.setup.label_piezo_speaker_uid.setText(uid) elif device_identifier == SegmentDisplay4x7.DEVICE_IDENTIFIER: config.UID_SEGMENT_DISPLAY_4X7_BRICKLET = uid self.setup.label_segment_display_found.setText('Yes') self.setup.label_segment_display_uid.setText(uid) def cb_connected(self, connected_reason): if connected_reason == IPConnection.CONNECT_REASON_AUTO_RECONNECT: while True: try: self.ipcon.enumerate() break except Error as e: self.error_msg.showMessage('Enumerate Error: ' + str(e.description)) time.sleep(1)
class Servo(PluginBase, Ui_Servo): qtcb_under_voltage = pyqtSignal(int) def __init__(self, *args): PluginBase.__init__(self, BrickServo, *args) self.setupUi(self) self.servo = self.device self.position_list = [] self.velocity_list = [] self.acceleration_list = [] self.enable_list = [] self.up_cur = 0 self.up_siv = 0 self.up_eiv = 0 self.up_opv = 0 self.up_mv = 0 self.up_ena = [0] * 7 self.up_pos = [0] * 7 self.up_vel = [0] * 7 self.up_acc = [0] * 7 self.update_timer = QTimer() self.update_timer.timeout.connect(self.update_apply) self.update_timer.setInterval(50) self.alive = True for i in range(1, 8): label = QLabel() label.setText('Off') self.enable_list.append(label) self.status_grid.addWidget(label, i, 1) for i in range(1, 8): pk = PositionKnob() self.position_list.append(pk) self.status_grid.addWidget(pk, i, 2) for i in range(1, 8): cb = ColorBar(Qt.Vertical) self.velocity_list.append(cb) self.status_grid.addWidget(cb, i, 3) for i in range(1, 8): cb = ColorBar(Qt.Vertical) self.acceleration_list.append(cb) self.status_grid.addWidget(cb, i, 4) self.qem = QErrorMessage(self) self.qem.setWindowTitle("Under Voltage") self.test_button.clicked.connect(self.test_button_clicked) self.output_voltage_button.clicked.connect( self.output_voltage_button_clicked) self.servo_dropbox.currentIndexChanged.connect( lambda x: self.update_servo_specific()) self.enable_checkbox.stateChanged.connect(self.enable_state_changed) self.position_syncer = SliderSpinSyncer(self.position_slider, self.position_spin, self.position_changed) self.velocity_syncer = SliderSpinSyncer(self.velocity_slider, self.velocity_spin, self.velocity_changed) self.acceleration_syncer = SliderSpinSyncer(self.acceleration_slider, self.acceleration_spin, self.acceleration_changed) self.period_syncer = SliderSpinSyncer(self.period_slider, self.period_spin, self.period_changed) self.pulse_width_min_spin.editingFinished.connect( self.pulse_width_spin_finished) self.pulse_width_max_spin.editingFinished.connect( self.pulse_width_spin_finished) self.degree_min_spin.editingFinished.connect(self.degree_spin_finished) self.degree_max_spin.editingFinished.connect(self.degree_spin_finished) self.minimum_voltage_button.clicked.connect( self.minimum_voltage_button_clicked) self.qtcb_under_voltage.connect(self.cb_under_voltage) self.servo.register_callback(self.servo.CALLBACK_UNDER_VOLTAGE, self.qtcb_under_voltage.emit) class WorkerThread(QThread): def __init__(self, parent=None, func=None): QThread.__init__(self, parent) self.func = func def run(self): self.func() self.test_event = Event() self.test_thread_object = WorkerThread(self, self.test_thread) self.update_event = Event() self.update_thread_object = WorkerThread(self, self.update_thread) self.update_thread_first_time = False self.update_done_event = Event() self.update_done_event.set() if self.firmware_version >= (2, 3, 1): self.status_led_action = QAction('Status LED', self) self.status_led_action.setCheckable(True) self.status_led_action.toggled.connect( lambda checked: self.servo.enable_status_led() if checked else self.servo.disable_status_led()) self.set_configs([(0, None, [self.status_led_action])]) else: self.status_led_action = None if self.firmware_version >= (1, 1, 3): reset = QAction('Reset', self) reset.triggered.connect(lambda: self.servo.reset()) self.set_actions([(0, None, [reset])]) def start(self): if self.firmware_version >= (2, 3, 1): async_call(self.servo.is_status_led_enabled, None, self.status_led_action.setChecked, self.increase_error_count) self.alive = True self.test_event.clear() self.update_done_event.set() self.update_event.set() if not self.test_thread_object.isRunning(): self.test_thread_object.start() if not self.update_thread_object.isRunning(): self.update_thread_object.start() self.update_servo_specific() self.update_timer.start() def stop(self): if self.test_button.text() == "Stop Test": self.test_button_clicked() self.update_timer.stop() self.update_event.clear() self.alive = False self.update_done_event.wait() def destroy(self): self.test_event.set() self.update_event.set() @staticmethod def has_device_identifier(device_identifier): return device_identifier == BrickServo.DEVICE_IDENTIFIER def get_period_async(self, per): self.period_spin.setValue(per) self.period_slider.setValue(per) def is_enabled_async(self, ena): self.enable_checkbox.setChecked(ena) def get_position_async(self, pos): self.position_spin.setValue(pos) self.position_slider.setValue(pos) def get_velocity_async(self, vel): self.velocity_spin.setValue(vel) self.velocity_slider.setValue(vel) def get_acceleration_async(self, acc): self.acceleration_spin.setValue(acc) self.acceleration_slider.setValue(acc) def get_degree_async(self, deg, i): deg_min, deg_max = deg self.degree_min_spin.setValue(deg_min) self.degree_max_spin.setValue(deg_max) self.position_slider.setMinimum(deg_min) self.position_slider.setMaximum(deg_max) self.position_spin.setMinimum(deg_min) self.position_spin.setMaximum(deg_max) self.position_list[i].set_total_angle((deg_max - deg_min) / 100) self.position_list[i].set_range(deg_min / 100, deg_max / 100) def get_pulse_width_async(self, pulse): pulse_min, pulse_max = pulse self.pulse_width_min_spin.setValue(pulse_min) self.pulse_width_max_spin.setValue(pulse_max) def update_servo_specific(self): i = self.selected_servo() if i == 255: self.enable_checkbox.setChecked(False) return async_call(self.servo.get_position, i, self.get_position_async, self.increase_error_count) async_call(self.servo.get_velocity, i, self.get_velocity_async, self.increase_error_count) async_call(self.servo.get_acceleration, i, self.get_acceleration_async, self.increase_error_count) async_call(self.servo.get_period, i, self.get_period_async, self.increase_error_count) async_call(self.servo.is_enabled, i, self.is_enabled_async, self.increase_error_count) def get_lambda_deg(i): return lambda x: self.get_degree_async(x, i) async_call(self.servo.get_degree, i, get_lambda_deg(i), self.increase_error_count) async_call(self.servo.get_pulse_width, i, self.get_pulse_width_async, self.increase_error_count) def error_handler(self, error): pass def servo_current_update(self, value): self.current_label.setText(str(value) + "mA") def stack_input_voltage_update(self, sv): sv_str = "%gV" % round(sv / 1000.0, 1) self.stack_voltage_label.setText(sv_str) def external_input_voltage_update(self, ev): ev_str = "%gV" % round(ev / 1000.0, 1) self.external_voltage_label.setText(ev_str) def output_voltage_update(self, ov): ov_str = "%gV" % round(ov / 1000.0, 1) self.output_voltage_label.setText(ov_str) def minimum_voltage_update(self, mv): mv_str = "%gV" % round(mv / 1000.0, 1) self.minimum_voltage_label.setText(mv_str) def position_update(self, i, pos): self.position_list[i].set_value(pos / 100) def velocity_update(self, i, vel): self.velocity_list[i].set_height(vel * 100 / 0xFFFF) def acceleration_update(self, i, acc): self.acceleration_list[i].set_height(acc * 100 / 0xFFFF) def deactivate_servo(self, i): if self.enable_list[i].text() != 'Off': self.velocity_list[i].grey() self.acceleration_list[i].grey() def activate_servo(self, i): if self.enable_list[i].text() != 'On': self.velocity_list[i].color() self.acceleration_list[i].color() def selected_servo(self): try: return int(self.servo_dropbox.currentText()[-1:]) except: return 255 def enable_state_changed(self, state): s = self.selected_servo() try: if state == Qt.Checked: self.servo.enable(s) elif state == Qt.Unchecked: self.servo.disable(s) except ip_connection.Error: return def update_apply(self): if not self.update_thread_first_time: return self.servo_current_update(self.up_cur) self.stack_input_voltage_update(self.up_siv) self.external_input_voltage_update(self.up_eiv) self.output_voltage_update(self.up_opv) self.minimum_voltage_update(self.up_mv) for i in range(7): if self.up_ena[i]: self.activate_servo(i) self.position_update(i, self.up_pos[i]) self.velocity_update(i, self.up_vel[i]) self.acceleration_update(i, self.up_acc[i]) self.enable_list[i].setText('On') else: self.deactivate_servo(i) self.enable_list[i].setText('Off') def update_thread(self): while self.alive: time.sleep(0.1) try: servo = self.selected_servo() if servo == 255: self.up_cur = self.servo.get_overall_current() else: self.up_cur = self.servo.get_servo_current(servo) self.up_siv = self.servo.get_stack_input_voltage() self.up_eiv = self.servo.get_external_input_voltage() self.up_opv = self.servo.get_output_voltage() self.up_mv = self.servo.get_minimum_voltage() for i in range(7): self.up_ena[i] = self.servo.is_enabled(i) if self.up_ena[i]: self.activate_servo(i) self.up_pos[i] = self.servo.get_current_position(i) self.up_vel[i] = self.servo.get_current_velocity(i) self.up_acc[i] = self.servo.get_acceleration(i) #self.update_apply() self.update_done_event.set() self.update_event.wait() self.update_done_event.clear() except ip_connection.Error: pass self.update_thread_first_time = True self.update_done_event.set() def test_thread(self): def test(num, ena, acc, vel, pos): if not self.alive: return try: if ena: self.servo.enable(num) else: self.servo.disable(num) self.servo.set_acceleration(num, acc) self.servo.set_velocity(num, vel) self.servo.set_position(num, pos) except ip_connection.Error: return def random_test(): for i in range(7): test(i, random.randrange(0, 2), random.randrange(0, 65536), random.randrange(0, 65536), random.randrange(-9000, 9001)) while self.alive: self.test_event.wait() if not self.alive: return # Full Speed left for 2 seconds for i in range(7): test(i, True, 65535, 65535, 9000) time.sleep(2) self.test_event.wait() if not self.alive: return # Full Speed right for 2 seconds for i in range(7): test(i, True, 65535, 65535, -9000) time.sleep(2) self.test_event.wait() if not self.alive: return # Test different speeds for i in range(19): for j in range(7): test(j, True, 65535, 65535 * i / 18, -9000 + i * 1000) time.sleep(0.1) self.test_event.wait() if not self.alive: return time.sleep(1) self.test_event.wait() if not self.alive: return # Test acceleration for i in range(7): test(i, True, 100, 65535, -9000) time.sleep(3) self.test_event.wait() if not self.alive: return # Random for 3 seconds random_test() time.sleep(3) def test_button_clicked(self): if self.test_button.text() == "Start Test": self.test_button.setText("Stop Test") self.test_event.set() else: self.test_button.setText("Start Test") self.test_event.clear() def output_voltage_button_clicked(self): qid = QInputDialog(self) qid.setInputMode(QInputDialog.IntInput) qid.setIntMinimum(2000) qid.setIntMaximum(9000) qid.setIntStep(100) async_call(self.servo.get_output_voltage, None, qid.setIntValue, self.increase_error_count) qid.intValueSelected.connect(self.output_voltage_selected) qid.setLabelText("Choose Output Voltage in mV.") # "<font color=red>Setting this too high can destroy your servo.</font>") qid.open() def output_voltage_selected(self, value): try: self.servo.set_output_voltage(value) except ip_connection.Error: return def position_changed(self, value): try: self.servo.set_position(self.selected_servo(), value) except ip_connection.Error: return def velocity_changed(self, value): try: self.servo.set_velocity(self.selected_servo(), value) except ip_connection.Error: return def acceleration_changed(self, value): try: self.servo.set_acceleration(self.selected_servo(), value) except ip_connection.Error: return def period_changed(self, value): try: self.servo.set_period(self.selected_servo(), value) except ip_connection.Error: return def pulse_width_spin_finished(self): try: self.servo.set_pulse_width(self.selected_servo(), self.pulse_width_min_spin.value(), self.pulse_width_max_spin.value()) except ip_connection.Error: return def degree_spin_finished(self): min = self.degree_min_spin.value() max = self.degree_max_spin.value() servo = self.selected_servo() self.position_slider.setMinimum(min) self.position_slider.setMaximum(max) self.position_spin.setMinimum(min) self.position_spin.setMaximum(max) if servo == 255: for i in range(7): self.position_list[i].set_total_angle((max - min) / 100) self.position_list[i].set_range(min / 100, max / 100) else: self.position_list[servo].set_total_angle((max - min) / 100) self.position_list[servo].set_range(min / 100, max / 100) try: self.servo.set_degree(servo, min, max) except ip_connection.Error: return def cb_under_voltage(self, ov): mv_str = self.minimum_voltage_label.text() ov_str = "%gV" % round(ov / 1000.0, 1) if not self.qem.isVisible(): self.qem.showMessage( "Under Voltage: Output Voltage of " + ov_str + " is below minimum voltage of " + mv_str, "Servo_UnterVoltage") def minimum_voltage_selected(self, value): try: self.servo.set_minimum_voltage(value) except ip_connection.Error: return def minimum_voltage_button_clicked(self): qid = QInputDialog(self) qid.setInputMode(QInputDialog.IntInput) qid.setIntMinimum(5000) qid.setIntMaximum(0xFFFF) qid.setIntStep(100) async_call(self.servo.get_minimum_voltage, None, qid.setIntValue, self.increase_error_count) qid.intValueSelected.connect(self.minimum_voltage_selected) qid.setLabelText("Choose minimum servo voltage in mV.") qid.open()
class DC(PluginBase, Ui_DC): qtcb_velocity_reached = pyqtSignal(int) qtcb_under_voltage = pyqtSignal(int) qtcb_emergency_shutdown = pyqtSignal() def __init__(self, *args): PluginBase.__init__(self, BrickDC, *args) self.setupUi(self) self.dc = self.device self.encoder_hide_all() self.update_timer = QTimer() self.update_timer.timeout.connect(self.update_data) self.speedometer = SpeedoMeter() self.vertical_layout_right.insertWidget(4, self.speedometer) self.new_value = 0 self.update_counter = 0 self.full_brake_time = 0 self.velocity_syncer = SliderSpinSyncer(self.velocity_slider, self.velocity_spin, self.velocity_changed) self.acceleration_syncer = SliderSpinSyncer(self.acceleration_slider, self.acceleration_spin, self.acceleration_changed) self.frequency_syncer = SliderSpinSyncer(self.frequency_slider, self.frequency_spin, self.frequency_changed) self.radio_mode_brake.toggled.connect(self.brake_value_changed) self.radio_mode_coast.toggled.connect(self.coast_value_changed) self.minimum_voltage_button.clicked.connect( self.minimum_voltage_button_clicked) self.full_brake_button.clicked.connect(self.full_brake_clicked) self.enable_checkbox.stateChanged.connect(self.enable_state_changed) self.emergency_signal = None self.under_signal = None self.current_velocity_signal = None self.velocity_reached_signal = None self.qem = QErrorMessage(self) self.qtcb_under_voltage.connect(self.cb_under_voltage) self.dc.register_callback(self.dc.CALLBACK_UNDER_VOLTAGE, self.qtcb_under_voltage.emit) self.qtcb_emergency_shutdown.connect(self.cb_emergency_shutdown) self.dc.register_callback(self.dc.CALLBACK_EMERGENCY_SHUTDOWN, self.qtcb_emergency_shutdown.emit) self.qtcb_velocity_reached.connect(self.update_velocity) self.dc.register_callback(self.dc.CALLBACK_VELOCITY_REACHED, self.qtcb_velocity_reached.emit) self.cbe_current_velocity = CallbackEmulator( self.dc.get_current_velocity, self.update_velocity, self.increase_error_count) if self.firmware_version >= (1, 1, 3): reset = QAction('Reset', self) reset.triggered.connect(lambda: self.dc.reset()) self.set_actions(reset) # if self.firmware_version >= (2, 0, 1): # self.enable_encoder_checkbox.stateChanged.connect(self.enable_encoder_state_changed) # self.encoder_show() # else: # self.enable_encoder_checkbox.setText('Enable Encoder (FW Version >= 2.0.1 required)') # self.enable_encoder_checkbox.setEnabled(False) def start(self): self.update_timer.start(1000) self.cbe_current_velocity.set_period(100) self.update_start() self.update_data() def stop(self): self.update_timer.stop() self.cbe_current_velocity.set_period(0) def destroy(self): pass def get_url_part(self): return 'dc' @staticmethod def has_device_identifier(device_identifier): return device_identifier == BrickDC.DEVICE_IDENTIFIER def cb_emergency_shutdown(self): if not self.qem.isVisible(): self.qem.setWindowTitle("Emergency Shutdown") self.qem.showMessage( "Emergency Shutdown: Short-Circuit or Over-Temperature") def cb_under_voltage(self, ov): mv_str = self.minimum_voltage_label.text() ov_str = "%gV" % round(ov / 1000.0, 1) if not self.qem.isVisible(): self.qem.setWindowTitle("Under Voltage") self.qem.showMessage( "Under Voltage: Output Voltage of " + ov_str + " is below minimum voltage of " + mv_str, "DC_UnderVoltage") def encoder_hide_all(self): self.enable_encoder_checkbox.hide() self.encoder_hide() def encoder_hide(self): self.p_label.hide() self.p_spinbox.hide() self.i_label.hide() self.i_spinbox.hide() self.d_label.hide() self.d_spinbox.hide() self.st_label.hide() self.st_spinbox.hide() self.cpr_label.hide() self.cpr_spinbox.hide() self.encoder_spacer.hide() def encoder_show(self): self.p_label.show() self.p_spinbox.show() self.i_label.show() self.i_spinbox.show() self.d_label.show() self.d_spinbox.show() self.st_label.show() self.st_spinbox.show() self.cpr_label.show() self.cpr_spinbox.show() self.encoder_spacer.show() def enable_encoder_state_changed(self, state): try: if state == Qt.Checked: self.dc.enable_encoder() self.update_encoder() elif state == Qt.Unchecked: self.dc.disable_encoder() except ip_connection.Error: return def enable_state_changed(self, state): try: if state == Qt.Checked: self.dc.enable() elif state == Qt.Unchecked: self.dc.disable() except ip_connection.Error: return def brake_value_changed(self, checked): if checked: try: self.dc.set_drive_mode(0) except ip_connection.Error: return def coast_value_changed(self, checked): if checked: try: self.dc.set_drive_mode(1) except ip_connection.Error: return def full_brake_clicked(self): try: self.dc.full_brake() except ip_connection.Error: return def minimum_voltage_selected(self, value): try: self.dc.set_minimum_voltage(value) except ip_connection.Error: return def minimum_voltage_button_clicked(self): qid = QInputDialog(self) qid.setInputMode(QInputDialog.IntInput) qid.setIntMinimum(5000) qid.setIntMaximum(0xFFFF) qid.setIntStep(100) async_call(self.dc.get_minimum_voltage, None, qid.setIntValue, self.increase_error_count) qid.intValueSelected.connect(self.minimum_voltage_selected) qid.setLabelText("Choose minimum motor voltage in mV.") qid.open() def stack_input_voltage_update(self, sv): sv_str = "%gV" % round(sv / 1000.0, 1) self.stack_voltage_label.setText(sv_str) def external_input_voltage_update(self, ev): ev_str = "%gV" % round(ev / 1000.0, 1) self.external_voltage_label.setText(ev_str) def minimum_voltage_update(self, mv): mv_str = "%gV" % round(mv / 1000.0, 1) self.minimum_voltage_label.setText(mv_str) def drive_mode_update(self, dm): if dm == 0: self.radio_mode_brake.setChecked(True) self.radio_mode_coast.setChecked(False) else: self.radio_mode_brake.setChecked(False) self.radio_mode_coast.setChecked(True) def current_consumption_update(self, cc): if cc >= 1000: cc_str = "%gA" % round(cc / 1000.0, 1) else: cc_str = "%gmA" % cc self.current_label.setText(cc_str) def update_velocity(self, value): self.speedometer.set_velocity(value) def get_velocity_async(self, velocity): if not self.velocity_slider.isSliderDown(): if velocity != self.velocity_slider.sliderPosition(): self.velocity_slider.setSliderPosition(velocity) self.velocity_spin.setValue(velocity) self.speedometer.set_velocity(velocity) def get_acceleration_async(self, acceleration): if not self.acceleration_slider.isSliderDown(): if acceleration != self.acceleration_slider.sliderPosition(): self.acceleration_slider.setSliderPosition(acceleration) self.acceleration_spin.setValue(acceleration) def get_pwm_frequency_async(self, frequency): if not self.frequency_slider.isSliderDown(): if frequency != self.frequency_slider.sliderPosition(): self.frequency_slider.setSliderPosition(frequency) self.frequency_spin.setValue(frequency) def is_enabled_async(self, enabled): self.enable_checkbox.setChecked(enabled) def is_encoder_enabled_async(self, enabled): self.enable_encoder_checkbox.setChecked(enabled) def get_encoder_config_async(self, cpr): self.cpr_spinbox.setValue(cpr) def get_encoder_pid_config_async(self, pid_config): self.p_spinbox.setValue(pid_config.p) self.i_spinbox.setValue(pid_config.i) self.d_spinbox.setValue(pid_config.d) self.st_spinbox.setValue(pid_config.sample_time) def update_encoder(self): async_call(self.dc.get_encoder_config, None, self.get_encoder_config_async, self.increase_error_count) async_call(self.dc.get_encoder_pid_config, None, self.get_encoder_pid_config_async, self.increase_error_count) async_call(self.dc.is_encoder_enabled, None, self.is_encoder_enabled_async, self.increase_error_count) def update_start(self): async_call(self.dc.get_drive_mode, None, self.drive_mode_update, self.increase_error_count) async_call(self.dc.get_velocity, None, self.get_velocity_async, self.increase_error_count) async_call(self.dc.get_acceleration, None, self.get_acceleration_async, self.increase_error_count) async_call(self.dc.get_pwm_frequency, None, self.get_pwm_frequency_async, self.increase_error_count) async_call(self.dc.is_enabled, None, self.is_enabled_async, self.increase_error_count) # if self.firmware_version >= (2, 0, 1): # self.update_encoder() def update_data(self): async_call(self.dc.get_stack_input_voltage, None, self.stack_input_voltage_update, self.increase_error_count) async_call(self.dc.get_external_input_voltage, None, self.external_input_voltage_update, self.increase_error_count) async_call(self.dc.get_minimum_voltage, None, self.minimum_voltage_update, self.increase_error_count) async_call(self.dc.get_current_consumption, None, self.current_consumption_update, self.increase_error_count) def acceleration_changed(self, value): try: self.dc.set_acceleration(value) except ip_connection.Error: return def velocity_changed(self, value): try: self.dc.set_velocity(value) except ip_connection.Error: return def frequency_changed(self, value): try: self.dc.set_pwm_frequency(value) except ip_connection.Error: return
class Servo(PluginBase, Ui_Servo): qtcb_under_voltage = pyqtSignal(int) def __init__ (self, ipcon, uid): PluginBase.__init__(self, ipcon, uid) self.setupUi(self) self.servo = brick_servo.Servo(self.uid) self.device = self.servo self.ipcon.add_device(self.servo) self.version = '.'.join(map(str, self.servo.get_version()[1])) self.update_timer = QTimer() self.update_timer.timeout.connect(self.update_apply) self.update_timer.setInterval(0) self.update_timer.setSingleShot(True) layout = QVBoxLayout(self) layout.addWidget(QLabel('Servo')) self.position_list = [] self.velocity_list = [] self.acceleration_list = [] self.enable_list = [] self.up_ena = [0]*7 self.up_pos = [0]*7 self.up_vel = [0]*7 self.up_acc = [0]*7 self.alive = True for i in range(1, 8): label = QLabel() label.setText('Off') self.enable_list.append(label) self.status_grid.addWidget(label, i, 1) for i in range(1, 8): pk = PositionKnob() self.position_list.append(pk) self.status_grid.addWidget(pk, i, 2) for i in range(1, 8): cb = ColorBar(Qt.Vertical) self.velocity_list.append(cb) self.status_grid.addWidget(cb, i, 3) for i in range(1, 8): cb = ColorBar(Qt.Vertical) self.acceleration_list.append(cb) self.status_grid.addWidget(cb, i, 4) self.qem = QErrorMessage(self) self.qem.setWindowTitle("Under Voltage") self.test_button.clicked.connect(self.test_button_clicked) self.output_voltage_button.clicked.connect(self.output_voltage_button_clicked) self.servo_dropbox.currentIndexChanged.connect(lambda x: self.update_servo_specific()) self.enable_checkbox.stateChanged.connect(self.enable_state_changed) self.position_slider.sliderReleased.connect(self.position_slider_released) self.position_slider.valueChanged.connect(self.position_spin.setValue) self.position_spin.editingFinished.connect(self.position_spin_finished) self.velocity_slider.sliderReleased.connect(self.velocity_slider_released) self.velocity_slider.valueChanged.connect(self.velocity_spin.setValue) self.velocity_spin.editingFinished.connect(self.velocity_spin_finished) self.acceleration_slider.sliderReleased.connect(self.acceleration_slider_released) self.acceleration_slider.valueChanged.connect(self.acceleration_spin.setValue) self.acceleration_spin.editingFinished.connect(self.acceleration_spin_finished) self.period_slider.sliderReleased.connect(self.period_slider_released) self.period_slider.valueChanged.connect(self.period_spin.setValue) self.period_spin.editingFinished.connect(self.period_spin_finished) self.pulse_width_min_spin.editingFinished.connect(self.pulse_width_spin_finished) self.pulse_width_max_spin.editingFinished.connect(self.pulse_width_spin_finished) self.degree_min_spin.editingFinished.connect(self.degree_spin_finished) self.degree_max_spin.editingFinished.connect(self.degree_spin_finished) self.minimum_voltage_button.pressed.connect(self.minimum_voltage_button_pressed) self.qtcb_under_voltage.connect(self.cb_under_voltage) self.servo.register_callback(self.servo.CALLBACK_UNDER_VOLTAGE, self.qtcb_under_voltage.emit) class WorkerThread(QThread): def __init__(self, parent = None, func = None): QThread.__init__(self, parent) self.func = func def run(self): self.func() self.test_event = Event() self.test_thread_object = WorkerThread(self, self.test_thread) self.update_event = Event() self.update_thread_object = WorkerThread(self, self.update_thread) self.update_done_event = Event() self.update_done_event.set() def stop(self): if self.test_button.text() == "Stop Test": self.test_button_clicked() self.update_event.clear() self.alive = False self.update_done_event.wait() def start(self): self.alive = True self.test_event.clear() self.update_done_event.set() self.update_event.set() if not self.test_thread_object.isRunning(): self.test_thread_object.start() if not self.update_thread_object.isRunning(): self.update_thread_object.start() self.update_servo_specific() def destroy(self): self.test_event.set() self.update_event.set() @staticmethod def has_name(name): return 'Servo Brick' in name def update_servo_specific(self): i = self.selected_servo() if i == 255: self.enable_checkbox.setCheckState(Qt.Unchecked) return try: pos = self.servo.get_position(i); vel = self.servo.get_velocity(i); acc = self.servo.get_acceleration(i); per = self.servo.get_period(i) ena = self.servo.is_enabled(i) deg_min, deg_max = self.servo.get_degree(i) pulse_min, pulse_max = self.servo.get_pulse_width(i) except ip_connection.Error: return self.position_spin.setValue(pos) self.velocity_spin.setValue(vel) self.acceleration_spin.setValue(acc) self.period_spin.setValue(per) self.position_slider.setValue(pos) self.velocity_slider.setValue(vel) self.acceleration_slider.setValue(acc) self.period_slider.setValue(per) if ena: self.enable_checkbox.setCheckState(Qt.Checked) else: self.enable_checkbox.setCheckState(Qt.Unchecked) self.pulse_width_min_spin.setValue(pulse_min) self.pulse_width_max_spin.setValue(pulse_max) self.degree_min_spin.setValue(deg_min) self.degree_max_spin.setValue(deg_max) self.position_slider.setMinimum(deg_min) self.position_slider.setMaximum(deg_max) self.position_spin.setMinimum(deg_min) self.position_spin.setMaximum(deg_max) self.position_list[i].setTotalAngle((deg_max - deg_min)/100) self.position_list[i].setRange(deg_min/100, deg_max/100) def error_handler(self, error): pass def servo_current_update(self, value): self.current_label.setText(str(value) + "mA") def stack_input_voltage_update(self, sv): sv_str = "%gV" % round(sv/1000.0, 1) self.stack_voltage_label.setText(sv_str) def external_input_voltage_update(self, ev): ev_str = "%gV" % round(ev/1000.0, 1) self.external_voltage_label.setText(ev_str) def output_voltage_update(self, ov): ov_str = "%gV" % round(ov/1000.0, 1) self.output_voltage_label.setText(ov_str) def minimum_voltage_update(self, mv): mv_str = "%gV" % round(mv/1000.0, 1) self.minimum_voltage_label.setText(mv_str) def position_update(self, i, pos): self.position_list[i].setValue(pos/100) def velocity_update(self, i, vel): self.velocity_list[i].set_height(vel*100/0xFFFF) def acceleration_update(self, i, acc): self.acceleration_list[i].set_height(acc*100/0xFFFF) def deactivate_servo(self, i): if self.enable_list[i].text() != 'Off': self.velocity_list[i].grey() self.acceleration_list[i].grey() def activate_servo(self, i): if self.enable_list[i].text() != 'On': self.velocity_list[i].color() self.acceleration_list[i].color() def selected_servo(self): try: return int(self.servo_dropbox.currentText()[-1:]) except: return 255 def enable_state_changed(self, state): s = self.selected_servo() try: if state == Qt.Checked: self.servo.enable(s) elif state == Qt.Unchecked: self.servo.disable(s) except ip_connection.Error: return def update_apply(self): self.servo_current_update(self.up_cur) self.stack_input_voltage_update(self.up_siv) self.external_input_voltage_update(self.up_eiv) self.output_voltage_update(self.up_opv) self.minimum_voltage_update(self.up_mv) for i in range(7): if self.up_ena[i]: self.activate_servo(i) self.position_update(i, self.up_pos[i]) self.velocity_update(i, self.up_vel[i]) self.acceleration_update(i, self.up_acc[i]) self.enable_list[i].setText('On') else: self.deactivate_servo(i) self.enable_list[i].setText('Off') def update_thread(self): while self.alive: time.sleep(0.1) try: servo = self.selected_servo() if servo == 255: self.up_cur = self.servo.get_overall_current() else: self.up_cur = self.servo.get_servo_current(servo) self.up_siv = self.servo.get_stack_input_voltage() self.up_eiv = self.servo.get_external_input_voltage() self.up_opv = self.servo.get_output_voltage() self.up_mv = self.servo.get_minimum_voltage() for i in range(7): self.up_ena[i] = self.servo.is_enabled(i) if self.up_ena[i]: self.activate_servo(i) self.up_pos[i] = self.servo.get_current_position(i) self.up_vel[i] = self.servo.get_current_velocity(i) self.up_acc[i] = self.servo.get_acceleration(i) self.update_timer.start() #self.update_apply() self.update_done_event.set() self.update_event.wait() self.update_done_event.clear() except ip_connection.Error: pass self.update_done_event.set() def test_thread(self): def test(num, ena, acc, vel, pos): if not self.alive: return try: if ena: self.servo.enable(num) else: self.servo.disable(num) self.servo.set_acceleration(num, acc) self.servo.set_velocity(num, vel) self.servo.set_position(num, pos) except ip_connection.Error: return def random_test(): for i in range(7): test(i, random.randrange(0, 2), random.randrange(0, 65536), random.randrange(0, 65536), random.randrange(-9000, 9001)) while self.alive: self.test_event.wait() if not self.alive: return # Full Speed left for 2 seconds for i in range(7): test(i, True, 65535, 65535, 9000) time.sleep(2) self.test_event.wait() if not self.alive: return # Full Speed right for 2 seconds for i in range(7): test(i, True, 65535, 65535, -9000) time.sleep(2) self.test_event.wait() if not self.alive: return # Test different speeds for i in range(19): for j in range(7): test(j, True, 65535, 65535*i/18, -9000+i*1000) time.sleep(0.1) self.test_event.wait() if not self.alive: return time.sleep(1) self.test_event.wait() if not self.alive: return # Test acceleration for i in range(7): test(i, True, 100, 65535, -9000) time.sleep(3) self.test_event.wait() if not self.alive: return # Random for 3 seconds random_test() time.sleep(3) def test_button_clicked(self): if self.test_button.text() == "Start Test": self.test_button.setText("Stop Test") self.test_event.set() else: self.test_button.setText("Start Test") self.test_event.clear() def output_voltage_button_clicked(self): qid = QInputDialog(self) qid.setInputMode(QInputDialog.IntInput) qid.setIntMinimum(5000) qid.setIntMaximum(27000) qid.setIntStep(100) try: qid.setIntValue(self.servo.get_output_voltage()) except ip_connection.Error: return qid.intValueSelected.connect(self.output_voltage_selected) qid.setLabelText("Choose Output Voltage in mV.") # "<font color=red>Setting this too high can destroy your servo.</font>") qid.open() def output_voltage_selected(self, value): try: self.servo.set_output_voltage(value) except ip_connection.Error: return def position_slider_released(self): value = self.position_slider.value() self.position_spin.setValue(value) try: self.servo.set_position(self.selected_servo(), value) except ip_connection.Error: return def position_spin_finished(self): value = self.position_spin.value() self.position_slider.setValue(value) try: self.servo.set_position(self.selected_servo(), value) except ip_connection.Error: return def velocity_slider_released(self): value = self.velocity_slider.value() self.velocity_spin.setValue(value) try: self.servo.set_velocity(self.selected_servo(), value) except ip_connection.Error: return def velocity_spin_finished(self): value = self.velocity_spin.value() self.velocity_slider.setValue(value) try: self.servo.set_velocity(self.selected_servo(), value) except ip_connection.Error: return def acceleration_slider_released(self): value = self.acceleration_slider.value() self.acceleration_spin.setValue(value) try: self.servo.set_acceleration(self.selected_servo(), value) except ip_connection.Error: return def acceleration_spin_finished(self): value = self.acceleration_spin.value() self.acceleration_slider.setValue(value) try: self.servo.set_acceleration(self.selected_servo(), value) except ip_connection.Error: return def period_slider_released(self): value = self.period_slider.value() self.period_spin.setValue(value) try: self.servo.set_period(self.selected_servo(), value) except ip_connection.Error: return def period_spin_finished(self): value = self.period_spin.value() self.period_slider.setValue(value) try: self.servo.set_period(self.selected_servo(), value) except ip_connection.Error: return def pulse_width_spin_finished(self): try: self.servo.set_pulse_width(self.selected_servo(), self.pulse_width_min_spin.value(), self.pulse_width_max_spin.value()) except ip_connection.Error: return def degree_spin_finished(self): min = self.degree_min_spin.value() max = self.degree_max_spin.value() servo = self.selected_servo() self.position_slider.setMinimum(min) self.position_slider.setMaximum(max) self.position_spin.setMinimum(min) self.position_spin.setMaximum(max) self.position_list[servo].setTotalAngle((max - min)/100) self.position_list[servo].setRange(min/100, max/100) try: self.servo.set_degree(servo, min, max) except ip_connection.Error: return def cb_under_voltage(self, ov): mv_str = self.minimum_voltage_label.text() ov_str = "%gV" % round(ov/1000.0, 1) if not self.qem.isVisible(): self.qem.showMessage("Under Voltage: Output Voltage of " + ov_str + " is below minimum voltage of " + mv_str) def minimum_voltage_selected(self, value): try: self.servo.set_minimum_voltage(value) except ip_connection.Error: return def minimum_voltage_button_pressed(self): qid = QInputDialog(self) qid.setInputMode(QInputDialog.IntInput) qid.setIntMinimum(5000) qid.setIntMaximum(0xFFFF) qid.setIntStep(100) try: qid.setIntValue(self.servo.get_minimum_voltage()) except ip_connection.Error: return qid.intValueSelected.connect(self.minimum_voltage_selected) qid.setLabelText("Choose minimum servo voltage in mV.") qid.open()
def input_device_changed(self, index): self.ui.actionStart.setChecked(False) success, index = self.audiobackend.select_input_device(index) self.settings_dialog.comboBox_inputDevice.setCurrentIndex(index) if not success: # Note: the error message is a child of the settings dialog, so that # that dialog remains on top when the error message is closed error_message = QErrorMessage(self.settings_dialog) error_message.setWindowTitle("Input device error") error_message.showMessage( "Impossible to use the selected input device, reverting to the previous one" ) # reset the channels first_channel = self.audiobackend.get_current_first_channel() self.settings_dialog.comboBox_firstChannel.setCurrentIndex( first_channel) second_channel = self.audiobackend.get_current_second_channel() self.settings_dialog.comboBox_secondChannel.setCurrentIndex( second_channel) self.ui.actionStart.setChecked(True)