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 # the firmware version of a Brick can (under common circumstances) not # change during the lifetime of a Brick plugin. therefore, it's okay to # make final decisions based on it here self.has_status_led = self.firmware_version >= (2, 3, 1) 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) 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): super().__init__(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.has_status_led: 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 reset = QAction('Reset', self) reset.triggered.connect(lambda: self.servo.reset()) self.set_actions([(0, None, [reset])]) def start(self): if self.has_status_led: 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().replace('&', '') == "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, period): self.period_spin.setValue(period) self.period_slider.setValue(period) def is_enabled_async(self, enabled): self.enable_checkbox.setChecked(enabled) def get_position_async(self, position): self.position_spin.setValue(position) self.position_slider.setValue(position) def get_velocity_async(self, velocity): self.velocity_spin.setValue(velocity) self.velocity_slider.setValue(velocity) def get_acceleration_async(self, acceleration): self.acceleration_spin.setValue(acceleration) self.acceleration_slider.setValue(acceleration) def get_degree_async(self, servo, degree_min, degree_max): self.degree_min_spin.setValue(degree_min) self.degree_max_spin.setValue(degree_max) self.position_slider.setMinimum(degree_min) self.position_slider.setMaximum(degree_max) self.position_spin.setMinimum(degree_min) self.position_spin.setMaximum(degree_max) self.position_list[servo].set_total_angle( (degree_max - degree_min) / 100) self.position_list[servo].set_range(degree_min / 100, degree_max / 100) def get_pulse_width_async(self, pulse_width_min, pulse_width_max): self.pulse_width_min_spin.setValue(pulse_width_min) self.pulse_width_max_spin.setValue(pulse_width_max) def update_servo_specific(self): servo = self.selected_servo() if servo == 255: self.enable_checkbox.setChecked(False) return async_call(self.servo.get_position, servo, self.get_position_async, self.increase_error_count) async_call(self.servo.get_velocity, servo, self.get_velocity_async, self.increase_error_count) async_call(self.servo.get_acceleration, servo, self.get_acceleration_async, self.increase_error_count) async_call(self.servo.get_period, servo, self.get_period_async, self.increase_error_count) async_call(self.servo.is_enabled, servo, self.is_enabled_async, self.increase_error_count) async_call(self.servo.get_degree, servo, self.get_degree_async, self.increase_error_count, pass_arguments_to_result_callback=True, expand_result_tuple_for_callback=True) async_call(self.servo.get_pulse_width, servo, self.get_pulse_width_async, self.increase_error_count, expand_result_tuple_for_callback=True) 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, servo, position): self.position_list[servo].set_value(position / 100) def velocity_update(self, servo, velocity): self.velocity_list[servo].set_height(velocity * 100 // 0xFFFF) def acceleration_update(self, servo, acceleration): self.acceleration_list[servo].set_height(acceleration * 100 // 0xFFFF) def deactivate_servo(self, servo): if self.enable_list[servo].text().replace('&', '') != 'Off': self.velocity_list[servo].grey() self.acceleration_list[servo].grey() def activate_servo(self, servo): if self.enable_list[servo].text().replace('&', '') != 'On': self.velocity_list[servo].color() self.acceleration_list[servo].color() def selected_servo(self): try: return int(self.servo_dropbox.currentText()[-1:]) except: return 255 def enable_state_changed(self, state): servo = self.selected_servo() try: if state == Qt.Checked: self.servo.enable(servo) elif state == Qt.Unchecked: self.servo.disable(servo) 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_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().replace('&', '') == "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.setWindowTitle('Servo Brick') 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:") 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): degree_min = self.degree_min_spin.value() degree_max = self.degree_max_spin.value() servo = self.selected_servo() self.position_slider.setMinimum(degree_min) self.position_slider.setMaximum(degree_max) self.position_spin.setMinimum(degree_min) self.position_spin.setMaximum(degree_max) if servo == 255: for i in range(7): self.position_list[i].set_total_angle( (degree_max - degree_min) / 100) self.position_list[i].set_range(degree_min / 100, degree_max / 100) else: self.position_list[servo].set_total_angle( (degree_max - degree_min) / 100) self.position_list[servo].set_range(degree_min / 100, degree_max / 100) try: self.servo.set_degree(servo, degree_min, degree_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.setWindowTitle('Servo Brick') 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 # the firmware version of a Brick can (under common circumstances) not # change during the lifetime of a Brick plugin. therefore, it's okay to # make final decisions based on it here self.has_status_led = self.firmware_version >= (2, 3, 1) self.encoder_hide_all() self.update_timer = QTimer(self) self.update_timer.timeout.connect(self.update_data) 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, None, self.update_velocity, self.increase_error_count) if self.has_status_led: self.status_led_action = QAction('Status LED', self) self.status_led_action.setCheckable(True) self.status_led_action.toggled.connect( lambda checked: self.dc.enable_status_led() if checked else self.dc.disable_status_led()) self.set_configs([(0, None, [self.status_led_action])]) else: self.status_led_action = None reset = QAction('Reset', self) reset.triggered.connect(lambda: self.dc.reset()) self.set_actions([(0, None, [reset])]) def start(self): if self.has_status_led: async_call(self.dc.is_status_led_enabled, None, self.status_led_action.setChecked, self.increase_error_count) 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 @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, velocity): self.speedometer.set_velocity(velocity) self.current_velocity_label.setText('{0} ({1}%)'.format( velocity, round(abs(velocity) * 100 / 32768.0, 1))) def get_velocity_async(self, velocity): self.velocity_syncer.set_value(velocity) self.update_velocity(velocity) def get_acceleration_async(self, acceleration): self.acceleration_syncer.set_value(acceleration) def get_pwm_frequency_async(self, frequency): self.frequency_syncer.set_value(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) 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 DCV2(COMCUPluginBase, Ui_DCV2): qtcb_emergency_shutdown = pyqtSignal() def __init__(self, *args): COMCUPluginBase.__init__(self, BrickletDCV2, *args) self.setupUi(self) self.dc = self.device self.qem = QErrorMessage(self) self.qtcb_emergency_shutdown.connect(self.cb_emergency_shutdown) self.dc.register_callback(self.dc.CALLBACK_EMERGENCY_SHUTDOWN, self.qtcb_emergency_shutdown.emit) self.full_brake_button.clicked.connect(self.full_brake_clicked) self.enable_checkbox.stateChanged.connect(self.enable_state_changed) self.radio_mode_brake.toggled.connect(self.brake_value_changed) self.radio_mode_coast.toggled.connect(self.coast_value_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.motion_changed) self.deceleration_syncer = SliderSpinSyncer(self.deceleration_slider, self.deceleration_spin, self.motion_changed) self.frequency_syncer = SliderSpinSyncer(self.frequency_slider, self.frequency_spin, self.frequency_changed) self.cbe_power_statistics = CallbackEmulator( self, self.dc.get_power_statistics, None, self.get_power_statistics_async, self.increase_error_count) self.cbe_current_velocity = CallbackEmulator( self, self.dc.get_current_velocity, None, self.get_current_velocity_async, self.increase_error_count) def start(self): async_call(self.dc.get_drive_mode, None, self.get_drive_mode_async, self.increase_error_count) async_call(self.dc.get_velocity, None, self.get_velocity_async, self.increase_error_count) async_call(self.dc.get_motion, None, self.get_motion_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.get_enabled, None, self.get_enabled_async, self.increase_error_count) self.cbe_power_statistics.set_period(100) self.cbe_current_velocity.set_period(50) def stop(self): self.cbe_power_statistics.set_period(0) self.cbe_current_velocity.set_period(0) def destroy(self): pass @staticmethod def has_device_identifier(device_identifier): return device_identifier == BrickletDCV2.DEVICE_IDENTIFIER def cb_emergency_shutdown(self): # Refresh enabled checkbox in case of emergency shutdown async_call(self.dc.get_enabled, None, self.get_enabled_async, self.increase_error_count) if not self.qem.isVisible(): self.qem.setWindowTitle("Emergency Shutdown") self.qem.showMessage( "Emergency Shutdown: Short-Circuit or Over-Temperature or Under-Voltage" ) 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() self.velocity_syncer.set_value(0) except ip_connection.Error: return def get_drive_mode_async(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 get_power_statistics_async(self, ps): if ps.current >= 1000: current_str = "{0}A".format(round(ps.current / 1000.0, 1)) else: current_str = "{0}mA".format(ps.current) if ps.voltage >= 1000: voltage_str = "{0}V".format(round(ps.voltage / 1000.0, 1)) else: voltage_str = "{0}mV".format(ps.voltage) self.current_label.setText(current_str) self.input_voltage_label.setText(voltage_str) def get_current_velocity_async(self, velocity): self.speedometer.set_velocity(velocity) self.current_velocity_label.setText('{0} ({1}%)'.format( velocity, round(abs(velocity) * 100 / 32768.0, 1))) def get_velocity_async(self, velocity): self.velocity_syncer.set_value(velocity) def get_motion_async(self, motion): self.acceleration_syncer.set_value(motion.acceleration) self.deceleration_syncer.set_value(motion.deceleration) def get_pwm_frequency_async(self, frequency): self.frequency_syncer.set_value(frequency) def get_enabled_async(self, enabled): self.enable_checkbox.setChecked(enabled) def enable_state_changed(self, state): try: self.dc.set_enabled(state == Qt.Checked) except ip_connection.Error: return def motion_changed(self, _): acceleration = self.acceleration_spin.value() deceleration = self.deceleration_spin.value() try: self.dc.set_motion(acceleration, deceleration) 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 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) 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 SilentStepperV2(COMCUPluginBase, Ui_SilentStepperV2): qtcb_position_reached = pyqtSignal(int) qtcb_under_voltage = pyqtSignal(int) def __init__(self, *args): COMCUPluginBase.__init__(self, BrickletSilentStepperV2, *args) self.setupUi(self) self.silent_stepper_v2 = self.device self.endis_all(False) self.update_timer = QTimer(self) 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_v2.register_callback( self.silent_stepper_v2.CALLBACK_POSITION_REACHED, self.qtcb_position_reached.emit) self.qtcb_under_voltage.connect(self.cb_under_voltage) self.silent_stepper_v2.register_callback( self.silent_stepper_v2.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.gpio0_rising_combo.currentIndexChanged.connect( lambda x: self.gpio_action_changed(0)) self.gpio0_falling_combo.currentIndexChanged.connect( lambda x: self.gpio_action_changed(0)) self.gpio1_rising_combo.currentIndexChanged.connect( lambda x: self.gpio_action_changed(1)) self.gpio1_falling_combo.currentIndexChanged.connect( lambda x: self.gpio_action_changed(1)) self.gpio0_debounce_spin.valueChanged.connect( lambda: self.gpio_configuration_changed(0)) self.gpio0_stop_deceleration_spin.valueChanged.connect( lambda: self.gpio_configuration_changed(0)) self.gpio1_debounce_spin.valueChanged.connect( lambda: self.gpio_configuration_changed(1)) self.gpio1_stop_deceleration_spin.valueChanged.connect( lambda: self.gpio_configuration_changed(1)) 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 destroy(self): pass @staticmethod def has_device_identifier(device_identifier): return device_identifier == BrickletSilentStepperV2.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_v2.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_v2.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_v2.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_v2.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_v2.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_v2.set_misc_configuration( disable_short_to_ground_protection, synchronize_phase_frequency) except ip_connection.Error: return def forward_clicked(self): try: self.silent_stepper_v2.drive_forward() except ip_connection.Error: return self.disable_list([self.to_button, self.steps_button]) def backward_clicked(self): try: self.silent_stepper_v2.drive_backward() except ip_connection.Error: return self.disable_list([self.to_button, self.steps_button]) def stop_clicked(self): try: self.silent_stepper_v2.stop() except ip_connection.Error: return self.endis_all(True) def full_brake_clicked(self): try: self.silent_stepper_v2.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_v2.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_v2.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_v2.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_v2.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_v2.set_motor_current(value) except ip_connection.Error: return def minimum_motor_voltage_selected(self, value): try: self.silent_stepper_v2.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, "SilentStepperV2_UnderVoltage") def enable_state_changed(self, state): try: if state == Qt.Checked: self.endis_all(True) self.silent_stepper_v2.set_enabled(True) elif state == Qt.Unchecked: self.endis_all(False) self.silent_stepper_v2.set_enabled(False) except ip_connection.Error: return def input_voltage_update(self, sv): sv_str = "%gV" % round(sv / 1000.0, 1) self.input_voltage_label.setText(sv_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 get_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_v2.get_max_velocity, None, self.get_max_velocity_async, self.increase_error_count) async_call(self.silent_stepper_v2.get_speed_ramping, None, self.get_speed_ramping_async, self.increase_error_count) async_call(self.silent_stepper_v2.get_enabled, None, self.get_enabled_async, self.increase_error_count) async_call(self.silent_stepper_v2.get_step_configuration, None, self.get_step_configuration_async, self.increase_error_count) async_call(self.silent_stepper_v2.get_basic_configuration, None, self.get_basic_configuration_async, self.increase_error_count) async_call(self.silent_stepper_v2.get_spreadcycle_configuration, None, self.get_spreadcycle_configuration_async, self.increase_error_count) async_call(self.silent_stepper_v2.get_stealth_configuration, None, self.get_stealth_configuration_async, self.increase_error_count) async_call(self.silent_stepper_v2.get_coolstep_configuration, None, self.get_coolstep_configuration_async, self.increase_error_count) async_call(self.silent_stepper_v2.get_misc_configuration, None, self.get_misc_configuration_async, self.increase_error_count) def update_data(self): async_call(self.silent_stepper_v2.get_remaining_steps, None, self.remaining_steps_update, self.increase_error_count) async_call(self.silent_stepper_v2.get_current_position, None, self.position_update, self.increase_error_count) async_call(self.silent_stepper_v2.get_current_velocity, None, self.speedometer.set_velocity, self.increase_error_count) async_call(self.silent_stepper_v2.get_gpio_state, None, self.gpio_state_update, self.increase_error_count) self.update_counter += 1 if self.update_counter % 10 == 0: async_call(self.silent_stepper_v2.get_motor_current, None, self.maximum_current_update, self.increase_error_count) async_call(self.silent_stepper_v2.get_input_voltage, None, self.input_voltage_update, self.increase_error_count) async_call(self.silent_stepper_v2.get_minimum_voltage, None, self.minimum_voltage_update, self.increase_error_count) async_call(self.silent_stepper_v2.get_driver_status, None, self.driver_status_update, self.increase_error_count) def velocity_changed(self, value): try: self.silent_stepper_v2.set_max_velocity(value) except ip_connection.Error: return def acceleration_changed(self, value): dec = self.deceleration_spin.value() try: self.silent_stepper_v2.set_speed_ramping(value, dec) except ip_connection.Error: return def deceleration_changed(self, value): acc = self.acceleration_slider.value() try: self.silent_stepper_v2.set_speed_ramping(acc, value) except ip_connection.Error: return def gpio_action_changed(self, channel): action = 0 if channel == 0: rising = self.gpio0_rising_combo.currentIndex() falling = self.gpio0_falling_combo.currentIndex() elif channel == 1: rising = self.gpio1_rising_combo.currentIndex() falling = self.gpio1_falling_combo.currentIndex() else: return # unreachable if rising == 1: action = action | self.silent_stepper_v2.GPIO_ACTION_NORMAL_STOP_RISING_EDGE if falling == 1: action = action | self.silent_stepper_v2.GPIO_ACTION_NORMAL_STOP_FALLING_EDGE if rising == 2: action = action | self.silent_stepper_v2.GPIO_ACTION_FULL_BRAKE_RISING_EDGE if falling == 2: action = action | self.silent_stepper_v2.GPIO_ACTION_FULL_BRAKE_FALLING_EDGE # TODO: Retain callback configuration self.silent_stepper_v2.set_gpio_action(channel, action) def gpio_configuration_changed(self, channel): if channel == 0: debounce = self.gpio0_debounce_spin.value() stop_deceleration = self.gpio0_stop_deceleration_spin.value() elif channel == 1: debounce = self.gpio1_debounce_spin.value() stop_deceleration = self.gpio1_stop_deceleration_spin.value() self.silent_stepper_v2.set_gpio_configuration(channel, debounce, stop_deceleration) def gpio_state_update(self, state): if state[0]: self.gpio0_state_label.setText('High') else: self.gpio0_state_label.setText('Low') if state[1]: self.gpio1_state_label.setText('High') else: self.gpio1_state_label.setText('Low')
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 # the firmware version of a Brick can (under common circumstances) not # change during the lifetime of a Brick plugin. therefore, it's okay to # make final decisions based on it here self.has_status_led = self.firmware_version >= (2, 3, 1) self.endis_all(False) self.update_timer = QTimer(self) 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.has_status_led: 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 reset = QAction('Reset', self) reset.triggered.connect(lambda: self.stepper.reset()) self.set_actions([(0, None, [reset])]) def start(self): if self.has_status_led: 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.") 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 PerformanceDC(COMCUPluginBase, Ui_PerformanceDC): qtcb_emergency_shutdown = pyqtSignal() def __init__(self, *args): COMCUPluginBase.__init__(self, BrickletPerformanceDC, *args) self.setupUi(self) self.dc = self.device self.qem = QErrorMessage(self) self.qtcb_emergency_shutdown.connect(self.cb_emergency_shutdown) self.dc.register_callback(self.dc.CALLBACK_EMERGENCY_SHUTDOWN, self.qtcb_emergency_shutdown.emit) self.full_brake_button.clicked.connect(self.full_brake_clicked) self.enable_checkbox.stateChanged.connect(self.enable_state_changed) self.radio_mode_brake.toggled.connect(self.brake_value_changed) self.radio_mode_coast.toggled.connect(self.coast_value_changed) self.gpio0_rising_combo.currentIndexChanged.connect( lambda x: self.gpio_action_changed(0)) self.gpio0_falling_combo.currentIndexChanged.connect( lambda x: self.gpio_action_changed(0)) self.gpio1_rising_combo.currentIndexChanged.connect( lambda x: self.gpio_action_changed(1)) self.gpio1_falling_combo.currentIndexChanged.connect( lambda x: self.gpio_action_changed(1)) self.gpio0_debounce_spin.valueChanged.connect( lambda: self.gpio_configuration_changed(0)) self.gpio0_stop_deceleration_spin.valueChanged.connect( lambda: self.gpio_configuration_changed(0)) self.gpio1_debounce_spin.valueChanged.connect( lambda: self.gpio_configuration_changed(1)) self.gpio1_stop_deceleration_spin.valueChanged.connect( lambda: self.gpio_configuration_changed(1)) self.velocity_syncer = SliderSpinSyncer(self.velocity_slider, self.velocity_spin, self.velocity_changed) self.acceleration_syncer = SliderSpinSyncer(self.acceleration_slider, self.acceleration_spin, self.motion_changed) self.deceleration_syncer = SliderSpinSyncer(self.deceleration_slider, self.deceleration_spin, self.motion_changed) self.frequency_syncer = SliderSpinSyncer(self.frequency_slider, self.frequency_spin, self.frequency_changed) self.cbe_power_statistics = CallbackEmulator( self, self.dc.get_power_statistics, None, self.get_power_statistics_async, self.increase_error_count) self.cbe_current_velocity = CallbackEmulator( self, self.dc.get_current_velocity, None, self.get_current_velocity_async, self.increase_error_count) self.cbe_gpio_state = CallbackEmulator(self, self.dc.get_gpio_state, None, self.get_gpio_state_async, self.increase_error_count) self.error_led_off_action = QAction('Off', self) self.error_led_off_action.triggered.connect( lambda: self.dc.set_error_led_config(BrickletPerformanceDC. ERROR_LED_CONFIG_OFF)) self.error_led_on_action = QAction('On', self) self.error_led_on_action.triggered.connect( lambda: self.dc.set_error_led_config(BrickletPerformanceDC. ERROR_LED_CONFIG_ON)) self.error_led_show_heartbeat_action = QAction('Show Heartbeat', self) self.error_led_show_heartbeat_action.triggered.connect( lambda: self.dc.set_error_led_config( BrickletPerformanceDC.ERROR_LED_CONFIG_SHOW_HEARTBEAT)) self.error_led_show_error_action = QAction('Show Error', self) self.error_led_show_error_action.triggered.connect( lambda: self.dc.set_error_led_config(BrickletPerformanceDC. ERROR_LED_CONFIG_SHOW_ERROR)) self.extra_configs += [(1, 'Error LED:', [ self.error_led_off_action, self.error_led_on_action, self.error_led_show_heartbeat_action, self.error_led_show_error_action ])] self.cw_led_off_action = QAction('Off', self) self.cw_led_off_action.triggered.connect( lambda: self.dc.set_cw_led_config(BrickletPerformanceDC. CW_LED_CONFIG_OFF)) self.cw_led_on_action = QAction('On', self) self.cw_led_on_action.triggered.connect( lambda: self.dc.set_cw_led_config(BrickletPerformanceDC. CW_LED_CONFIG_ON)) self.cw_led_show_heartbeat_action = QAction('Show Heartbeat', self) self.cw_led_show_heartbeat_action.triggered.connect( lambda: self.dc.set_cw_led_config(BrickletPerformanceDC. CW_LED_CONFIG_SHOW_HEARTBEAT)) self.cw_led_show_cw_as_forward_action = QAction( 'Show CW As Forward', self) self.cw_led_show_cw_as_forward_action.triggered.connect( lambda: self.dc.set_cw_led_config( BrickletPerformanceDC.CW_LED_CONFIG_SHOW_CW_AS_FORWARD)) self.cw_led_show_cw_as_backward_action = QAction( 'Show CW As Backward', self) self.cw_led_show_cw_as_backward_action.triggered.connect( lambda: self.dc.set_cw_led_config( BrickletPerformanceDC.CW_LED_CONFIG_SHOW_CW_AS_BACKWARD)) self.extra_configs += [(2, 'CW LED:', [ self.cw_led_off_action, self.cw_led_on_action, self.cw_led_show_heartbeat_action, self.cw_led_show_cw_as_forward_action, self.cw_led_show_cw_as_backward_action ])] self.ccw_led_off_action = QAction('Off', self) self.ccw_led_off_action.triggered.connect( lambda: self.dc.set_ccw_led_config(BrickletPerformanceDC. CCW_LED_CONFIG_OFF)) self.ccw_led_on_action = QAction('On', self) self.ccw_led_on_action.triggered.connect( lambda: self.dc.set_ccw_led_config(BrickletPerformanceDC. CCW_LED_CONFIG_ON)) self.ccw_led_show_heartbeat_action = QAction('Show Heartbeat', self) self.ccw_led_show_heartbeat_action.triggered.connect( lambda: self.dc.set_ccw_led_config(BrickletPerformanceDC. CCW_LED_CONFIG_SHOW_HEARTBEAT)) self.ccw_led_show_ccw_as_forward_action = QAction( 'Show CCW As Forward', self) self.ccw_led_show_ccw_as_forward_action.triggered.connect( lambda: self.dc.set_ccw_led_config( BrickletPerformanceDC.CCW_LED_CONFIG_SHOW_CCW_AS_FORWARD)) self.ccw_led_show_ccw_as_backward_action = QAction( 'Show CCW As Backward', self) self.ccw_led_show_ccw_as_backward_action.triggered.connect( lambda: self.dc.set_ccw_led_config( BrickletPerformanceDC.CCW_LED_CONFIG_SHOW_CCW_AS_BACKWARD)) self.extra_configs += [(2, 'CCW LED:', [ self.ccw_led_off_action, self.ccw_led_on_action, self.ccw_led_show_heartbeat_action, self.ccw_led_show_ccw_as_forward_action, self.ccw_led_show_ccw_as_backward_action ])] self.gpio0_led_off_action = QAction('Off', self) self.gpio0_led_off_action.triggered.connect( lambda: self.dc.set_gpio_led_config( 0, BrickletPerformanceDC.GPIO_LED_CONFIG_OFF)) self.gpio0_led_on_action = QAction('On', self) self.gpio0_led_on_action.triggered.connect( lambda: self.dc.set_gpio_led_config( 0, BrickletPerformanceDC.GPIO_LED_CONFIG_ON)) self.gpio0_led_show_heartbeat_action = QAction('Show Heartbeat', self) self.gpio0_led_show_heartbeat_action.triggered.connect( lambda: self.dc.set_gpio_led_config( 0, BrickletPerformanceDC.GPIO_LED_CONFIG_SHOW_HEARTBEAT)) self.gpio0_led_show_show_gpio_active_high_action = QAction( 'Show GPIO Active High', self) self.gpio0_led_show_show_gpio_active_high_action.triggered.connect( lambda: self.dc.set_gpio_led_config( 0, BrickletPerformanceDC.GPIO_LED_CONFIG_SHOW_GPIO_ACTIVE_HIGH )) self.gpio0_led_show_show_gpio_active_low_action = QAction( 'Show GPIO Active Low', self) self.gpio0_led_show_show_gpio_active_low_action.triggered.connect( lambda: self.dc.set_gpio_led_config( 0, BrickletPerformanceDC.GPIO_LED_CONFIG_SHOW_GPIO_ACTIVE_LOW)) self.extra_configs += [(3, 'GPIO0 LED:', [ self.gpio0_led_off_action, self.gpio0_led_on_action, self.gpio0_led_show_heartbeat_action, self.gpio0_led_show_show_gpio_active_high_action, self.gpio0_led_show_show_gpio_active_low_action ])] self.gpio1_led_off_action = QAction('Off', self) self.gpio1_led_off_action.triggered.connect( lambda: self.dc.set_gpio_led_config( 1, BrickletPerformanceDC.GPIO_LED_CONFIG_OFF)) self.gpio1_led_on_action = QAction('On', self) self.gpio1_led_on_action.triggered.connect( lambda: self.dc.set_gpio_led_config( 1, BrickletPerformanceDC.GPIO_LED_CONFIG_ON)) self.gpio1_led_show_heartbeat_action = QAction('Show Heartbeat', self) self.gpio1_led_show_heartbeat_action.triggered.connect( lambda: self.dc.set_gpio_led_config( 1, BrickletPerformanceDC.GPIO_LED_CONFIG_SHOW_HEARTBEAT)) self.gpio1_led_show_show_gpio_active_high_action = QAction( 'Show GPIO Active High', self) self.gpio1_led_show_show_gpio_active_high_action.triggered.connect( lambda: self.dc.set_gpio_led_config( 1, BrickletPerformanceDC.GPIO_LED_CONFIG_SHOW_GPIO_ACTIVE_HIGH )) self.gpio1_led_show_show_gpio_active_low_action = QAction( 'Show GPIO Active Low', self) self.gpio1_led_show_show_gpio_active_low_action.triggered.connect( lambda: self.dc.set_gpio_led_config( 1, BrickletPerformanceDC.GPIO_LED_CONFIG_SHOW_GPIO_ACTIVE_LOW)) self.extra_configs += [(3, 'GPIO1 LED:', [ self.gpio1_led_off_action, self.gpio1_led_on_action, self.gpio1_led_show_heartbeat_action, self.gpio1_led_show_show_gpio_active_high_action, self.gpio1_led_show_show_gpio_active_low_action ])] def start(self): async_call(self.dc.get_drive_mode, None, self.get_drive_mode_async, self.increase_error_count) async_call(self.dc.get_velocity, None, self.get_velocity_async, self.increase_error_count) async_call(self.dc.get_motion, None, self.get_motion_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.get_enabled, None, self.get_enabled_async, self.increase_error_count) async_call(self.dc.get_gpio_configuration, 0, lambda x: self.get_gpio_configuration_async(0, x), self.increase_error_count) async_call(self.dc.get_gpio_configuration, 1, lambda x: self.get_gpio_configuration_async(1, x), self.increase_error_count) async_call(self.dc.get_gpio_action, 0, lambda x: self.get_gpio_action_async(0, x), self.increase_error_count) async_call(self.dc.get_gpio_action, 1, lambda x: self.get_gpio_action_async(1, x), self.increase_error_count) async_call(self.dc.get_error_led_config, None, self.get_error_led_config_async, self.increase_error_count) async_call(self.dc.get_cw_led_config, None, self.get_cw_led_config_async, self.increase_error_count) async_call(self.dc.get_ccw_led_config, None, self.get_ccw_led_config_async, self.increase_error_count) async_call(self.dc.get_gpio_led_config, 0, self.get_gpio0_led_config_async, self.increase_error_count) async_call(self.dc.get_gpio_led_config, 1, self.get_gpio1_led_config_async, self.increase_error_count) self.cbe_gpio_state.set_period(200) self.cbe_power_statistics.set_period(100) self.cbe_current_velocity.set_period(50) def stop(self): self.cbe_gpio_state.set_period(0) self.cbe_power_statistics.set_period(0) self.cbe_current_velocity.set_period(0) def destroy(self): pass @staticmethod def has_device_identifier(device_identifier): return device_identifier == BrickletPerformanceDC.DEVICE_IDENTIFIER def get_error_led_config_async(self, config): if config == BrickletPerformanceDC.ERROR_LED_CONFIG_OFF: self.error_led_off_action.trigger() elif config == BrickletPerformanceDC.ERROR_LED_CONFIG_ON: self.error_led_on_action.trigger() elif config == BrickletPerformanceDC.ERROR_LED_CONFIG_SHOW_HEARTBEAT: self.error_led_show_heartbeat_action.trigger() elif config == BrickletPerformanceDC.ERROR_LED_CONFIG_SHOW_ERROR: self.error_led_show_error_action.trigger() def get_cw_led_config_async(self, config): if config == BrickletPerformanceDC.CW_LED_CONFIG_OFF: self.cw_led_off_action.trigger() elif config == BrickletPerformanceDC.CW_LED_CONFIG_ON: self.cw_led_on_action.trigger() elif config == BrickletPerformanceDC.CW_LED_CONFIG_SHOW_HEARTBEAT: self.cw_led_show_heartbeat_action.trigger() elif config == BrickletPerformanceDC.CW_LED_CONFIG_SHOW_CW_AS_FORWARD: self.cw_led_show_cw_as_forward_action.trigger() elif config == BrickletPerformanceDC.CW_LED_CONFIG_SHOW_CW_AS_BACKWARD: self.cw_led_show_cw_as_backward_action.trigger() def get_ccw_led_config_async(self, config): if config == BrickletPerformanceDC.CCW_LED_CONFIG_OFF: self.ccw_led_off_action.trigger() elif config == BrickletPerformanceDC.CCW_LED_CONFIG_ON: self.ccw_led_on_action.trigger() elif config == BrickletPerformanceDC.CCW_LED_CONFIG_SHOW_HEARTBEAT: self.ccw_led_show_heartbeat_action.trigger() elif config == BrickletPerformanceDC.CCW_LED_CONFIG_SHOW_CCW_AS_FORWARD: self.ccw_led_show_ccw_as_forward_action.trigger() elif config == BrickletPerformanceDC.CCW_LED_CONFIG_SHOW_CCW_AS_BACKWARD: self.ccw_led_show_ccw_as_backward_action.trigger() def get_gpio0_led_config_async(self, config): if config == BrickletPerformanceDC.GPIO_LED_CONFIG_OFF: self.gpio0_led_off_action.trigger() elif config == BrickletPerformanceDC.GPIO_LED_CONFIG_ON: self.gpio0_led_on_action.trigger() elif config == BrickletPerformanceDC.GPIO_LED_CONFIG_SHOW_HEARTBEAT: self.gpio0_led_show_heartbeat_action.trigger() elif config == BrickletPerformanceDC.GPIO_LED_CONFIG_SHOW_GPIO_ACTIVE_HIGH: self.gpio0_led_show_show_gpio_active_high_action.trigger() elif config == BrickletPerformanceDC.GPIO_LED_CONFIG_SHOW_GPIO_ACTIVE_LOW: self.gpio0_led_show_show_gpio_active_low_action.trigger() def get_gpio1_led_config_async(self, config): if config == BrickletPerformanceDC.GPIO_LED_CONFIG_OFF: self.gpio1_led_off_action.trigger() elif config == BrickletPerformanceDC.GPIO_LED_CONFIG_ON: self.gpio1_led_on_action.trigger() elif config == BrickletPerformanceDC.GPIO_LED_CONFIG_SHOW_HEARTBEAT: self.gpio1_led_show_heartbeat_action.trigger() elif config == BrickletPerformanceDC.GPIO_LED_CONFIG_SHOW_GPIO_ACTIVE_HIGH: self.gpio1_led_show_show_gpio_active_high_action.trigger() elif config == BrickletPerformanceDC.GPIO_LED_CONFIG_SHOW_GPIO_ACTIVE_LOW: self.gpio1_led_show_show_gpio_active_low_action.trigger() def cb_emergency_shutdown(self): # Refresh enabled checkbox in case of emergency shutdown async_call(self.dc.get_enabled, None, self.get_enabled_async, self.increase_error_count) if not self.qem.isVisible(): self.qem.setWindowTitle("Emergency Shutdown") self.qem.showMessage( "Emergency Shutdown: Short-Circuit or Over-Temperature or Under-Voltage" ) 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() self.velocity_syncer.set_value(0) except ip_connection.Error: return def get_drive_mode_async(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 get_power_statistics_async(self, ps): if ps.current >= 1000: current_str = "{0}A".format(round(ps.current / 1000.0, 1)) else: current_str = "{0}mA".format(ps.current) if ps.voltage >= 1000: voltage_str = "{0}V".format(round(ps.voltage / 1000.0, 1)) else: voltage_str = "{0}mV".format(ps.voltage) temperature_str = "{0}°C".format(round(ps.temperature / 10.0, 1)) self.current_label.setText(current_str) self.input_voltage_label.setText(voltage_str) self.temperature_label.setText(temperature_str) def get_current_velocity_async(self, velocity): self.speedometer.set_velocity(velocity) self.current_velocity_label.setText('{0} ({1}%)'.format( velocity, round(abs(velocity) * 100 / 32768.0, 1))) def get_velocity_async(self, velocity): self.velocity_syncer.set_value(velocity) def get_motion_async(self, motion): self.acceleration_syncer.set_value(motion.acceleration) self.deceleration_syncer.set_value(motion.deceleration) def get_pwm_frequency_async(self, frequency): self.frequency_syncer.set_value(frequency) def get_enabled_async(self, enabled): self.enable_checkbox.setChecked(enabled) def get_gpio_configuration_async(self, channel, conf): if channel == 0: self.gpio0_debounce_spin.setValue(conf.debounce) self.gpio0_stop_deceleration_spin.setValue(conf.stop_deceleration) elif channel == 1: self.gpio1_debounce_spin.setValue(conf.debounce) self.gpio1_stop_deceleration_spin.setValue(conf.stop_deceleration) def get_gpio_action_async(self, channel, action): if channel == 0: if action & self.dc.GPIO_ACTION_FULL_BRAKE_RISING_EDGE: # full brake has higher priority self.gpio0_rising_combo.setCurrentIndex(2) elif action & self.dc.GPIO_ACTION_NORMAL_STOP_RISING_EDGE: self.gpio0_rising_combo.setCurrentIndex(1) else: self.gpio0_rising_combo.setCurrentIndex(0) if action & self.dc.GPIO_ACTION_FULL_BRAKE_FALLING_EDGE: # full brake has higher priority self.gpio0_falling_combo.setCurrentIndex(2) elif action & self.dc.GPIO_ACTION_NORMAL_STOP_FALLING_EDGE: self.gpio0_falling_combo.setCurrentIndex(1) else: self.gpio0_falling_combo.setCurrentIndex(0) elif channel == 1: if action & self.dc.GPIO_ACTION_FULL_BRAKE_RISING_EDGE: # full brake has higher priority self.gpio1_rising_combo.setCurrentIndex(2) elif action & self.dc.GPIO_ACTION_NORMAL_STOP_RISING_EDGE: self.gpio1_rising_combo.setCurrentIndex(1) else: self.gpio1_rising_combo.setCurrentIndex(0) if action & self.dc.GPIO_ACTION_FULL_BRAKE_FALLING_EDGE: # full brake has higher priority self.gpio1_falling_combo.setCurrentIndex(2) elif action & self.dc.GPIO_ACTION_NORMAL_STOP_FALLING_EDGE: self.gpio1_falling_combo.setCurrentIndex(1) else: self.gpio1_falling_combo.setCurrentIndex(0) def get_gpio_state_async(self, state): if state[0]: self.gpio0_state_label.setText('High') else: self.gpio0_state_label.setText('Low') if state[1]: self.gpio1_state_label.setText('High') else: self.gpio1_state_label.setText('Low') def enable_state_changed(self, state): try: self.dc.set_enabled(state == Qt.Checked) except ip_connection.Error: return def motion_changed(self, _): acceleration = self.acceleration_spin.value() deceleration = self.deceleration_spin.value() try: self.dc.set_motion(acceleration, deceleration) 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 def gpio_action_changed(self, channel): async_call(self.dc.get_gpio_action, channel, lambda x: self.gpio_action_changed_step2(channel, x), self.increase_error_count) def gpio_action_changed_step2(self, channel, action): action &= self.dc.GPIO_ACTION_CALLBACK_RISING_EDGE | self.dc.GPIO_ACTION_CALLBACK_FALLING_EDGE if channel == 0: rising = self.gpio0_rising_combo.currentIndex() falling = self.gpio0_falling_combo.currentIndex() elif channel == 1: rising = self.gpio1_rising_combo.currentIndex() falling = self.gpio1_falling_combo.currentIndex() else: return # unreachable if rising == 1: action |= self.dc.GPIO_ACTION_NORMAL_STOP_RISING_EDGE if falling == 1: action |= self.dc.GPIO_ACTION_NORMAL_STOP_FALLING_EDGE if rising == 2: action |= self.dc.GPIO_ACTION_FULL_BRAKE_RISING_EDGE if falling == 2: action |= self.dc.GPIO_ACTION_FULL_BRAKE_FALLING_EDGE self.dc.set_gpio_action(channel, action) def gpio_configuration_changed(self, channel): if channel == 0: debounce = self.gpio0_debounce_spin.value() stop_deceleration = self.gpio0_stop_deceleration_spin.value() elif channel == 1: debounce = self.gpio1_debounce_spin.value() stop_deceleration = self.gpio1_stop_deceleration_spin.value() self.dc.set_gpio_configuration(channel, debounce, stop_deceleration)