def computeSettings(self, section, key, value):
# Update Computed settings
if key == 'kinematicsType':
if value == 'Quadrilateral':
self.config.set('Computed Settings', 'kinematicsTypeComputed',
"1")
else:
self.config.set('Computed Settings', 'kinematicsTypeComputed',
"2")
elif (key == 'gearTeeth'
or key == 'chainPitch') and self.config.has_option(
'Advanced Settings', 'gearTeeth') and self.config.has_option(
'Advanced Settings', 'chainPitch'):
distPerRot = float(
self.config.get('Advanced Settings', 'gearTeeth')) * float(
self.config.get('Advanced Settings', 'chainPitch'))
self.config.set('Computed Settings', "distPerRot", str(distPerRot))
elif key == 'enablePosPIDValues':
for key in ('KpPos', 'KiPos', 'KdPos', 'propWeight'):
if int(
self.config.get('Advanced Settings',
'enablePosPIDValues')) == 1:
value = float(self.config.get('Advanced Settings', key))
else:
value = maslowSettings.getDefaultValue(
'Advanced Settings', key)
self.config.set('Computed Settings', key + "Main", value)
self.config.set('Computed Settings', key + "Z", value)
elif key == 'enableVPIDValues':
for key in ('KpV', 'KiV', 'KdV'):
if int(
self.config.get('Advanced Settings',
'enablePosPIDValues')) == 1:
value = float(self.config.get('Advanced Settings', key))
else:
value = maslowSettings.getDefaultValue(
'Advanced Settings', key)
self.config.set('Computed Settings', key + "Main", value)
self.config.set('Computed Settings', key + "Z", value)
elif key == 'chainOverSprocket':
if value == 'Top':
self.config.set('Computed Settings',
'chainOverSprocketComputed', 1)
else:
self.config.set('Computed Settings',
'chainOverSprocketComputed', 2)
elif key == 'fPWM':
if value == '31,000Hz':
self.config.set('Computed Settings', 'fPWMComputed', 1)
elif value == '4,100Hz':
self.config.set('Computed Settings', 'fPWMComputed', 2)
else:
self.config.set('Computed Settings', 'fPWMComputed', 3)
def computeSettings(self, section, key, value):
# Update Computed settings
if key == 'kinematicsType':
if value == 'Quadrilateral':
self.config.set('Computed Settings', 'kinematicsTypeComputed', "1")
else:
self.config.set('Computed Settings', 'kinematicsTypeComputed', "2")
elif (key == 'gearTeeth' or key == 'chainPitch') and self.config.has_option('Advanced Settings', 'gearTeeth') and self.config.has_option('Advanced Settings', 'chainPitch'):
distPerRot = float(self.config.get('Advanced Settings', 'gearTeeth')) * float(self.config.get('Advanced Settings', 'chainPitch'))
self.config.set('Computed Settings', "distPerRot", str(distPerRot))
if self.config.has_option('Advanced Settings', 'leftChainTolerance'):
distPerRotLeftChainTolerance = (1 + (float(self.config.get('Advanced Settings', 'leftChainTolerance')) / 100)) * float(self.config.get('Advanced Settings', 'gearTeeth')) * float(self.config.get('Advanced Settings', 'chainPitch'))
self.config.set('Computed Settings', "distPerRotLeftChainTolerance", str("{0:.5f}".format(distPerRotLeftChainTolerance)))
if self.config.has_option('Advanced Settings', 'rightChainTolerance'):
distPerRotRightChainTolerance = (1 + (float(self.config.get('Advanced Settings', 'rightChainTolerance')) / 100)) * float(self.config.get('Advanced Settings', 'gearTeeth')) * float(self.config.get('Advanced Settings', 'chainPitch'))
self.config.set('Computed Settings', "distPerRotRightChainTolerance", str("{0:.5f}".format(distPerRotRightChainTolerance)))
elif key == 'leftChainTolerance' and self.config.has_option('Advanced Settings', 'leftChainTolerance') and self.config.has_option('Computed Settings', 'distPerRot'):
distPerRotLeftChainTolerance = (1 + (float(self.config.get('Advanced Settings', 'leftChainTolerance')) / 100)) * float(self.config.get('Computed Settings', 'distPerRot'))
self.config.set('Computed Settings', "distPerRotLeftChainTolerance", str("{0:.5f}".format(distPerRotLeftChainTolerance)))
elif key == 'rightChainTolerance' and self.config.has_option('Advanced Settings', 'rightChainTolerance') and self.config.has_option('Computed Settings', 'distPerRot'):
distPerRotRightChainTolerance = (1 + (float(self.config.get('Advanced Settings', 'rightChainTolerance')) / 100)) * float(self.config.get('Computed Settings', 'distPerRot'))
self.config.set('Computed Settings', "distPerRotRightChainTolerance", str("{0:.5f}".format(distPerRotRightChainTolerance)))
elif key == 'enablePosPIDValues':
for key in ('KpPos', 'KiPos', 'KdPos', 'propWeight'):
if int(self.config.get('Advanced Settings', 'enablePosPIDValues')) == 1:
value = float(self.config.get('Advanced Settings', key))
else:
value = maslowSettings.getDefaultValue('Advanced Settings', key)
self.config.set('Computed Settings', key + "Main", value)
self.config.set('Computed Settings', key + "Z", value)
elif key == 'enableVPIDValues':
for key in ('KpV', 'KiV', 'KdV'):
if int(self.config.get('Advanced Settings', 'enablePosPIDValues')) == 1:
value = float(self.config.get('Advanced Settings', key))
else:
value = maslowSettings.getDefaultValue('Advanced Settings', key)
self.config.set('Computed Settings', key + "Main", value)
self.config.set('Computed Settings', key + "Z", value)
elif key == 'chainOverSprocket':
if value == 'Top':
self.config.set('Computed Settings', 'chainOverSprocketComputed', 1)
else:
self.config.set('Computed Settings', 'chainOverSprocketComputed', 2)
elif key == 'fPWM':
if value == '31,000Hz':
self.config.set('Computed Settings', 'fPWMComputed', 1)
elif value == '4,100Hz':
self.config.set('Computed Settings', 'fPWMComputed', 2)
else:
self.config.set('Computed Settings', 'fPWMComputed', 3)
