def __init__(self, parent=None):
super().__init__(parent)
self.device = SimpleFOCDevice.getInstance()
self.setObjectName('controlLoop')
self.setTitle('Control Loop Mode')
self.controlLoopHorizontalLayout = QtWidgets.QHBoxLayout(self)
self.controlLoopHorizontalLayout.setObjectName(
'controlLoopHorizontalLayout')
self.selectorControlLoop = QtWidgets.QComboBox(self)
self.selectorControlLoop.setObjectName('selectorControlLoop')
self.selectorControlLoop.addItems([
'Torque', 'Velocity', 'Angle', 'Velocity openloop',
'Angle openloop'
])
self.selectorControlLoop.currentIndexChanged.connect(
self.changeControlLoop)
self.controlLoopHorizontalLayout.addWidget(self.selectorControlLoop)
self.setControlLopMode(self.device.controlType)
self.disableUI()
self.device.addConnectionStateListener(self)
self.device.commProvider.commandDataReceived.connect(
self.commandResponseReceived)
self.connectionStateChanged(self.device.isConnected)
def __init__(self, parent=None):
super().__init__(parent)
self.device = SimpleFOCDevice.getInstance()
self.setTitle('Simple FOC Digital Read Out')
self.setObjectName('digitalReadOut')
self.droHorizontalLayout = QtWidgets.QHBoxLayout(self)
self.droHorizontalLayout.setObjectName('droHorizontalLayout')
self.signal0Label = QtWidgets.QLabel(self)
self.signal0Label.setObjectName('angleLabel')
self.signal0Label.setText('Angle')
self.droHorizontalLayout.addWidget(self.signal0Label)
self.signal0LCDNumber = QtWidgets.QLCDNumber(self)
self.putStyleToLCDNumber(self.signal0LCDNumber)
self.signal0LCDNumber.setObjectName('signal0LCDNumber')
self.droHorizontalLayout.addWidget(self.signal0LCDNumber)
self.signal1Label = QtWidgets.QLabel(self)
self.signal1Label.setObjectName('velLabel')
self.signal1Label.setText('Velocity')
self.droHorizontalLayout.addWidget(self.signal1Label)
self.signal1LCDNumber = QtWidgets.QLCDNumber(self)
self.putStyleToLCDNumber(self.signal1LCDNumber)
self.signal1LCDNumber.setObjectName('signal1LCDNumber')
self.droHorizontalLayout.addWidget(self.signal1LCDNumber)
self.signal2Label = QtWidgets.QLabel(self)
self.signal2Label.setObjectName('torqueLabel')
self.signal2Label.setText('Target')
self.droHorizontalLayout.addWidget(self.signal2Label)
self.signal2LCDNumber = QtWidgets.QLCDNumber(self)
self.putStyleToLCDNumber(self.signal2LCDNumber)
self.signal2LCDNumber.setObjectName('signal2LCDNumber')
self.droHorizontalLayout.addWidget(self.signal2LCDNumber)
self.signal3Label = QtWidgets.QLabel(self)
self.signal3Label.setObjectName('targetLabel')
self.signal3Label.setText('Target')
self.droHorizontalLayout.addWidget(self.signal3Label)
self.signal3LCDNumber = QtWidgets.QLCDNumber(self)
self.putStyleToLCDNumber(self.signal3LCDNumber)
self.signal3LCDNumber.setObjectName('signal3LCDNumber')
self.droHorizontalLayout.addWidget(self.signal3LCDNumber)
self.commandResponseReceived('init')
self.initDiplay()
self.disableUI()
self.device.addConnectionStateListener(self)
self.device.commProvider.stateMonitorReceived.connect(self.commandResponseReceived)
self.connectionStateChanged(self.device.isConnected)
def openDevice(self):
if self.configDeviceTool is None:
dlg = QtWidgets.QFileDialog()
dlg.setFileMode(QtWidgets.QFileDialog.AnyFile)
filenames = None
if dlg.exec_():
filenames = dlg.selectedFiles()
try:
with open(filenames[0]) as json_file:
configurationInfo = json.load(json_file)
sfd = SimpleFOCDevice.getInstance()
sfd.configureDevice(configurationInfo)
self.configDeviceTool = TreeViewConfigTool()
sfd.openedFile = filenames
self.activeToolsList.append(self.configDeviceTool)
tabName = self.configDeviceTool.getTabName()
if tabName == '':
tabName = 'Device'
self.addTab(self.configDeviceTool,
self.configDeviceTool.getTabIcon(),
tabName)
self.setCurrentIndex(self.currentIndex() + 1)
except Exception as exception:
msgBox = QtWidgets.QMessageBox()
msgBox.setIcon(QtWidgets.QMessageBox.Warning)
msgBox.setText('Error while opening selected file')
msgBox.setWindowTitle('SimpleFOC configDeviceTool')
msgBox.setStandardButtons(QtWidgets.QMessageBox.Ok)
msgBox.exec()
def __init__(self, parent=None):
super().__init__(parent)
self.device = SimpleFOCDevice.getInstance()
self.setObjectName('torqueMode')
self.setTitle('Torque Mode')
self.torqueTypeHorizontalLayout = QtWidgets.QHBoxLayout(self)
self.torqueTypeHorizontalLayout.setObjectName('torqueHorizontalLayout')
self.selectorTorque = QtWidgets.QComboBox(self)
self.selectorTorque.setObjectName('selectorControlLoop')
self.selectorTorque.addItems(['Voltage', 'DC Current', 'FOC Current'])
self.selectorTorque.currentIndexChanged.connect(self.changeTorque)
self.torqueTypeHorizontalLayout.addWidget(self.selectorTorque)
self.setTorqueMode(self.device.torqueType)
self.disableUI()
self.device.addConnectionStateListener(self)
self.device.commProvider.commandDataReceived.connect(
self.commandResponseReceived)
self.connectionStateChanged(self.device.isConnected)
def __init__(self, parent=None ):
super().__init__(parent)
self.device = SimpleFOCDevice.getInstance()
dlg = GenerateCodeDialog() # If you pass self, the dialog will be centered over the main window as before.
if dlg.exec_():
toGenerate=[
dlg.checkBoxMotionControl.isChecked(),
dlg.checkBoxPidVel.isChecked(),
dlg.checkBoxPidAngle.isChecked(),
dlg.checkBoxPidCq.isChecked(),
dlg.checkBoxPidCd.isChecked(),
dlg.checkBoxLimits.isChecked(),
dlg.sensorOffset.isChecked(),
dlg.sensorElOffset.isChecked(),
dlg.checkBoxPhaseRes.isChecked(),
dlg.checkBoxModulation.isChecked(),
]
code = self.device.toArduinoCode(toGenerate)
self.layout = QVBoxLayout(self)
text = "<h1>Generated Arduino Code</h1>"
text += "This generated code you can just copy/paste into your <code>setup()</code> function, it is important that you place it before calling the <code>motor.init()</code><br>"
message1 = QtWidgets.QLabel(text)
self.layout.addWidget(message1)
self.codeDisplayBefore = QtWidgets.QLabel(self)
self.layout.addWidget(self.codeDisplayBefore)
code0 = '<font color="#5e6d03">#include</font> <font color="#434f54"><</font><b><font color="#d35400">SimpleFOC</font></b><font color="#434f54">.</font><font color="#000000">h</font><font color="#434f54">></font>'
code0 +="<br>...<br>"
code0 += '<font color="#00979c">void</font> <font color="#5e6d03">setup</font><font color="#000000">(</font><font color="#000000">)</font> <font color="#000000">{</font><br>'
code0 += " ...."
self.codeDisplayBefore.setText(code0)
self.codeDisplayBefore.setTextFormat(Qt.TextFormat.RichText)
self.codeDisplay = QtWidgets.QTextEdit(self)
self.codeDisplay.setObjectName('codeDisplay')
self.codeDisplay.setText(code)
highlighter = MyHighlighter( self.codeDisplay, "Classic" )
self.layout.addWidget(self.codeDisplay)
self.codeDisplayAfter = QtWidgets.QLabel(self)
self.layout.addWidget(self.codeDisplayAfter)
code1 = '<font color="#434f54">// initialize motor</font><br>'
code1 += '<font color="#d35400">motor</font><font color="#434f54">.</font><font color="#d35400">init</font><font color="#000000">(</font><font color="#000000">)</font><font color="#000000">;</font><br>'
code1 += '<font color="#434f54">// align sensor and start FOC</font><br>'
code1 += '<font color="#d35400">motor</font><font color="#434f54">.</font><font color="#d35400">initFOC</font><font color="#000000">(</font><font color="#000000">)</font><font color="#000000">;</font><br> ...<br> }'
code1 += '<br><font color="#00979c">void</font> <font color="#5e6d03">loop</font><font color="#000000">(</font><font color="#000000">)</font> <font color="#000000">{</font><br>....<br>}'
# MyHighlighter( self.codeDisplayAfter, "Classic" )
self.codeDisplayAfter.setText(code1)
self.codeDisplayAfter.setTextFormat(Qt.TextFormat.RichText)
self.setLayout(self.layout)
def __init__(self, parent=None):
super().__init__(parent)
self.setObjectName('plotWidget')
self.setTitle('Real time motor variables: ')
self.horizontalLayout = QtWidgets.QVBoxLayout(self)
self.device = SimpleFOCDevice.getInstance()
self.numberOfSamples = 300
pg.setConfigOptions(antialias=True)
self.plotWidget = pg.PlotWidget()
self.plotWidget.showGrid(x=True, y=True, alpha=0.5)
self.plotWidget.addLegend()
# self.legend = pg.LegendItem()
# self.legend.setParentItem(self.plotWidget)
self.timeArray = np.arange(-self.numberOfSamples, 0, 1)
self.controlPlotWidget = ControlPlotPanel(controllerPlotWidget=self)
self.signalDataArrays = []
self.signalPlots = []
self.signalPlotFlags = []
for (sig, sigColor, checkBox,
tooltip) in zip(self.signals, self.signalColors,
self.controlPlotWidget.signalCheckBox,
self.signal_tooltip):
# define signal plot data array
self.signalDataArrays.append(np.zeros(self.numberOfSamples))
# configure signal plot parameters
signalPen = pg.mkPen(color=sigColor, width=1.5)
self.signalPlots.append(
pg.PlotDataItem(self.timeArray,
self.signalDataArrays[-1],
pen=signalPen,
name=tooltip))
self.plotWidget.addItem(self.signalPlots[-1])
# is plotted flag
self.signalPlotFlags.append(True)
# add callback
checkBox.stateChanged.connect(self.signalPlotFlagUpdate)
self.horizontalLayout.addWidget(self.plotWidget)
self.horizontalLayout.addWidget(self.controlPlotWidget)
self.device.commProvider.monitoringDataReceived.connect(
self.upDateGraphic)
self.currentStatus = self.disconnectedState
self.controlPlotWidget.pauseContinueButton.setDisabled(True)
self.device.addConnectionStateListener(self)
self.connectionStateChanged(self.device.isConnected)
def __init__(self, parent=None):
super().__init__(parent)
self.device = SimpleFOCDevice.getInstance()
self.setObjectName('joggingControl')
self.setTitle('Jogging control')
self.horizontalLayout = QtWidgets.QHBoxLayout(self)
self.horizontalLayout.setObjectName('generalControlHL')
self.fastFordwardButton = QtWidgets.QPushButton()
self.fastFordwardButton.setObjectName('fastbackward')
self.fastFordwardButton.setIcon(
GUIToolKit.getIconByName('fastbackward'))
self.fastFordwardButton.clicked.connect(self.joggingFastBackward)
self.horizontalLayout.addWidget(self.fastFordwardButton)
self.backwardButton = QtWidgets.QPushButton()
self.backwardButton.setObjectName('backward')
self.backwardButton.setIcon(GUIToolKit.getIconByName('backward'))
self.backwardButton.clicked.connect(self.joggingBackward)
self.horizontalLayout.addWidget(self.backwardButton)
self.stopButton = QtWidgets.QPushButton()
self.stopButton.setObjectName('stopbutton')
self.stopButton.setIcon(GUIToolKit.getIconByName('stopjogging'))
self.stopButton.clicked.connect(self.joggingStop)
self.horizontalLayout.addWidget(self.stopButton)
self.fordwardButton = QtWidgets.QPushButton()
self.fordwardButton.setObjectName('fordward')
self.fordwardButton.setIcon(GUIToolKit.getIconByName('fordward'))
self.fordwardButton.clicked.connect(self.joggingFordward)
self.horizontalLayout.addWidget(self.fordwardButton)
self.fastBackwardButton = QtWidgets.QPushButton()
self.fastBackwardButton.setObjectName('fastfordward')
self.fastBackwardButton.setIcon(
GUIToolKit.getIconByName('fastfordward'))
self.fastBackwardButton.clicked.connect(self.joggingfastFordward)
self.horizontalLayout.addWidget(self.fastBackwardButton)
self.incrementLabel = QtWidgets.QLabel("Increment:")
self.horizontalLayout.addWidget(self.incrementLabel)
onlyFloat = QtGui.QRegExpValidator(
QtCore.QRegExp("[+-]?([0-9]*[.])?[0-9]+"))
self.incrementEdit = QtWidgets.QLineEdit()
self.incrementEdit.setValidator(onlyFloat)
self.incrementEdit.setAlignment(QtCore.Qt.AlignCenter)
self.incrementEdit.setText('1.0')
self.incrementEdit.setObjectName('incrementEdit')
self.horizontalLayout.addWidget(self.incrementEdit)
self.disableUI()
self.device.addConnectionStateListener(self)
def __init__(self, parent=None):
super().__init__(parent)
self.device = SimpleFOCDevice.getInstance()
self.setObjectName('groupBox')
self.setTitle('Command Line interface')
self.cmlVerticalLayout = QtWidgets.QVBoxLayout(self)
self.cmlVerticalLayout.setObjectName('cmlVerticalLayout')
self.commandLineDisplay = QtWidgets.QTextEdit(self)
self.commandLineDisplay.setObjectName('commandLineDisplay')
self.cmlVerticalLayout.addWidget(self.commandLineDisplay)
self.commandLineDisplay.setReadOnly(True)
self.commandLineDisplay.setTextColor(QtGui.QColor(68, 117, 68, 255))
self.cmlWidget = QtWidgets.QWidget(self)
self.cmlWidget.setObjectName('cmlWidget')
self.cmlHorizontalLayout = QtWidgets.QHBoxLayout(self.cmlWidget)
self.cmlHorizontalLayout.setObjectName('cmlHorizontalLayout')
self.commandLineEdit = QtWidgets.QLineEdit(self.cmlWidget)
self.commandLineEdit.setObjectName('commandLineEdit')
self.cmlHorizontalLayout.addWidget(self.commandLineEdit)
self.commandLineEdit.returnPressed.connect(self.sendAction)
self.sendButton = QtWidgets.QPushButton(self.cmlWidget)
self.sendButton.setObjectName('sendButton')
self.sendButton.setText('Send')
self.sendButton.setIcon(GUIToolKit.getIconByName('send'))
self.sendButton.clicked.connect(self.sendAction)
self.cmlHorizontalLayout.addWidget(self.sendButton)
self.clearButton = QtWidgets.QPushButton(self.cmlWidget)
self.clearButton.setObjectName('clearButton')
self.cmlHorizontalLayout.addWidget(self.clearButton)
self.clearButton.setIcon(GUIToolKit.getIconByName('delete'))
self.clearButton.clicked.connect(self.clearAction)
self.clearButton.setText('Clear')
self.listDevices = QtWidgets.QPushButton(self.cmlWidget)
self.listDevices.setObjectName('listDevices')
self.cmlHorizontalLayout.addWidget(self.listDevices)
self.listDevices.setIcon(GUIToolKit.getIconByName('list'))
self.listDevices.clicked.connect(self.sendListDevices)
self.listDevices.setText('List Devices')
self.cmlVerticalLayout.addWidget(self.cmlWidget)
self.device.addConnectionStateListener(self)
self.setEnabled(False)
def __init__(self, parent=None):
super().__init__(parent)
self.device = SimpleFOCDevice.getInstance()
self.setObjectName('DeviceConfigurationTool')
self.verticalLayout = QtWidgets.QVBoxLayout(self)
self.verticalLayout.setObjectName('verticalLayout')
self.counterWidget = QtWidgets.QWidget(self)
self.counterWidget.setObjectName('counterWidget')
self.horizontalLayout = QtWidgets.QHBoxLayout(self.counterWidget)
self.horizontalLayout.setObjectName('horizontalLayout')
self.digitalReadOut = DROGroupBox(self.counterWidget)
self.horizontalLayout.addWidget(self.digitalReadOut)
self.controlLoop = ControlLoopGroupBox(self.counterWidget)
self.horizontalLayout.addWidget(self.controlLoop)
self.torqueConfig = TorqueGroupBox(self.counterWidget)
self.horizontalLayout.addWidget(self.torqueConfig)
self.connectionControl = ConnectionControlGroupBox(self.counterWidget)
self.horizontalLayout.addWidget(self.connectionControl)
self.verticalLayout.addWidget(self.counterWidget)
self.graphicWidget = SimpleFOCGraphicWidget()
self.verticalLayout.addWidget(self.graphicWidget)
self.bottomWidget = QtWidgets.QWidget(self)
self.bottomWidget.setObjectName('bottomWidget')
self.bottomHorizontalLayout = QtWidgets.QHBoxLayout(self.bottomWidget)
self.bottomHorizontalLayout.setObjectName('configureHorizontalLayout')
self.pidConfigurator = PidGroupBox(self.bottomWidget)
self.bottomHorizontalLayout.addWidget(self.pidConfigurator)
self.generalLayout = QtWidgets.QVBoxLayout()
self.generalDeviceSettings = GeneralSettingsGroupBox(self.bottomWidget)
self.generalControls = GeneralControls(self.bottomWidget)
self.generalLayout.addWidget(self.generalControls)
self.generalLayout.addWidget(self.generalDeviceSettings)
self.bottomHorizontalLayout.addLayout(self.generalLayout)
self.commandLine = CommandLineWidget(self)
self.bottomHorizontalLayout.addWidget(self.commandLine)
self.verticalLayout.addWidget(self.bottomWidget)
self.device.commProvider.commandDataReceived.connect(
self.commandLine.publishCommandResponseData)
def __init__(self, parent=None):
super().__init__(parent)
self.device = SimpleFOCDevice.getInstance()
self.verticalLayout = QtWidgets.QVBoxLayout(self)
self.verticalLayout.setObjectName('verticalLayout')
self.configureConnection = ConfigureConnection()
self.verticalLayout.addWidget(self.configureConnection)
self.commandLineInterface = CommandLineWidget()
self.verticalLayout.addWidget(self.commandLineInterface)
self.device.commProvider.rawDataReceived.connect(self.commandLineInterface.publishCommandResponseData)
def __init__(self, parent=None):
super().__init__(parent)
self.device = SimpleFOCDevice.getInstance()
self.layout = QVBoxLayout(self)
self.treeViewWidget = DevicesInspectorTree(self)
self.leftWidget = DeviceInteractionFrame(self)
self.verticalSplitter = QSplitter(Qt.Horizontal)
self.verticalSplitter.addWidget(self.treeViewWidget)
self.verticalSplitter.addWidget(self.leftWidget)
self.layout.addWidget(self.verticalSplitter)
self.setLayout(self.layout)
def __init__(self, parent=None):
super().__init__(parent)
self.device = SimpleFOCDevice.getInstance()
self.setObjectName('connectionControl')
self.setTitle('Connection control')
self.horizontalLayout = QtWidgets.QHBoxLayout(self)
self.horizontalLayout.setObjectName('generalControlHL')
self.devCommandIDLabel = QtWidgets.QLabel("Command:")
self.horizontalLayout.addWidget(self.devCommandIDLabel)
self.devCommandIDLetter = QtWidgets.QLineEdit()
self.devCommandIDLetter.setObjectName('devCommandIDLetter')
self.devCommandIDLetter.editingFinished.connect(
self.changeDevicedevCommandID)
self.horizontalLayout.addWidget(self.devCommandIDLetter)
self.pullConfig = QtWidgets.QPushButton()
self.pullConfig.setObjectName('pullConfig')
self.pullConfig.setIcon(GUIToolKit.getIconByName('pull'))
self.pullConfig.setText(' Pull Params')
self.pullConfig.clicked.connect(self.device.pullConfiguration)
self.horizontalLayout.addWidget(self.pullConfig)
self.connectDisconnectButton = QtWidgets.QPushButton(self)
self.connectDisconnectButton.setIcon(
GUIToolKit.getIconByName('connect'))
self.connectDisconnectButton.setObjectName('connectDeviceButton')
self.connectDisconnectButton.setText('Connect')
self.connectDisconnectButton.clicked.connect(
self.connectDisconnectDeviceAction)
self.horizontalLayout.addWidget(self.connectDisconnectButton)
self.configureDeviceButton = QtWidgets.QPushButton(self)
self.configureDeviceButton.setIcon(
GUIToolKit.getIconByName('configure'))
self.configureDeviceButton.setObjectName('configureDeviceButton')
self.configureDeviceButton.setText('Configure')
self.configureDeviceButton.clicked.connect(self.configureDeviceAction)
self.horizontalLayout.addWidget(self.configureDeviceButton)
self.device.addConnectionStateListener(self)
self.connectionStateChanged(self.device.isConnected)
def __init__(self, parent=None):
super().__init__(parent)
# self.setMaximumWidth(300)
onlyFloat = QtGui.QRegExpValidator(
QtCore.QRegExp("[+-]?([0-9]*[.])?[0-9]+"))
self.device = SimpleFOCDevice.getInstance()
self.setTitle('General Controls')
self.setObjectName('generalControls')
self.gcGridLayout = QtWidgets.QGridLayout(self)
self.gcGridLayout.setObjectName('gcGridLayout')
self.enableDeviceButton = QtWidgets.QPushButton(self)
self.enableDeviceButton.setObjectName('enButton')
self.enableDeviceButton.setText('Enable Device')
self.enableDeviceButton.setIcon(GUIToolKit.getIconByName('greendot'))
self.enableDeviceButton.clicked.connect(self.toggleEnable)
self.gcGridLayout.addWidget(self.enableDeviceButton, 1, 0, 1, 1)
self.sensorZeroButton = QtWidgets.QPushButton(self)
self.sensorZeroButton.setObjectName('homeButton')
self.sensorZeroButton.setText('Sensor Zero')
self.sensorZeroButton.setIcon(GUIToolKit.getIconByName('home'))
self.sensorZeroButton.clicked.connect(self.setSensorZero)
self.gcGridLayout.addWidget(self.sensorZeroButton, 1, 1, 1, 1)
self.setZeroTarget = QtWidgets.QPushButton(self)
self.setZeroTarget.setObjectName('zeroButton')
self.setZeroTarget.setText('Zero Target')
self.setZeroTarget.setIcon(GUIToolKit.getIconByName('stop'))
self.setZeroTarget.clicked.connect(self.setTargetZero)
self.gcGridLayout.addWidget(self.setZeroTarget, 1, 2, 1, 1)
self.reloadValues()
self.device.addConnectionStateListener(self)
self.device.commProvider.commandDataReceived.connect(
self.commandResponseReceived)
self.connectionStateChanged(self.device.isConnected)
def __init__(self, parent=None):
super().__init__(parent)
self.setTabsClosable(True)
self.setMovable(True)
self.setObjectName('devicesTabWidget')
self.device = SimpleFOCDevice.getInstance()
self.cmdLineTool = None
self.configDeviceTool = None
self.generatedCodeTab = None
self.activeToolsList = []
self.tabCloseRequested.connect(self.removeTabHandler)
self.setStyleSheet(
'QTabBar::close - button { image: url(close.png) subcontrol - position: left; }'
)
self.setStyleSheet('QTabBar::tab { height: 30px; width: 150px;}')
def __init__(self, parent=None):
super().__init__(parent)
self.device = SimpleFOCDevice.getInstance()
self.layout = QVBoxLayout(self)
self.setLayout(self.layout)
self.droWidget = DROGroupBox(self)
self.layout.addWidget(self.droWidget)
self.generalControls = GeneralControls(self)
self.layout.addWidget(self.generalControls)
self.treeView = DeviceTreeView(self)
self.layout.addWidget(self.treeView)
self.connectionControl = ConnectionControlGroupBox(self)
self.layout.addWidget(self.connectionControl)
self.setMaximumWidth(500)
def __init__(self, parent=None):
super().__init__(parent)
self.layout = QVBoxLayout(self)
self.setLayout(self.layout)
self.device = SimpleFOCDevice.getInstance()
self.graphicWidget = SimpleFOCGraphicWidget(self)
self.cmdLineTollWidget = CommandLineWidget(self)
self.cmdLineTollWidget.setMaximumHeight(150)
self.verticalSplitter = QSplitter(Qt.Vertical)
self.verticalSplitter.addWidget(self.graphicWidget)
self.verticalSplitter.addWidget(self.cmdLineTollWidget)
self.device.commProvider.commandDataReceived.connect(
self.cmdLineTollWidget.publishCommandResponseData)
self.layout.addWidget(self.verticalSplitter)
self.setLayout(self.layout)
def __init__(self, parent=None):
super().__init__(parent)
self.device = SimpleFOCDevice.getInstance()
dlg = MinimalCodeDialog(
) # If you pass self, the dialog will be centered over the main window as before.
if not dlg.exec_():
return
# get the version of the library from te github
try:
repo = Repo('lib_src')
QMessageBox.about(
self, "INFO",
"Using already cloned <i>Simple<b>FOC</b>library</i> files from <i>lib_src</i> folder!"
)
except git.exc.NoSuchPathError:
QMessageBox.about(
self, "INFO",
"Cloning the <i>Siimple<b>FOC</b>library</i> files to th <i>lib_src</i> folder!<br> This could take few mmoments."
)
repo = Repo.clone_from(
"https://github.com/simplefoc/Arduino-FOC.git",
"lib_src",
single_branch=True,
branch='v2.2')
QMessageBox.about(self, "INFO", "Cloning done.")
folder_path = os.path.join(dlg.folderPath.box.text(),
dlg.projectNameEdit.text())
project_name = dlg.projectNameEdit.text()
# checking whether folder exists or not
if os.path.exists(folder_path):
# checking whether the folder is empty or not
if len(os.listdir(folder_path)) != 0:
# messaging saying folder not empty
QMessageBox.about(
self, "ERROR",
"Folder is not empty. Project may already exist! <br><br>Rewritig the project files not supported, please choose different project name."
)
return
else:
# file not found message
os.mkdir(folder_path)
"""
create the ino file
"""
start_comment = "/* \n* SimpleFOCStudio generated example \n"+ \
"* at "+datetime.now().strftime("%d/%m/%Y %H:%M:%S"+"\n")+ \
"*\n*\n"+ \
"* Chosen components:\n" \
ino_includes = ""
start_inc = '#include "src/'
end_inc = "\" \n"
"""
building the minimal example structure
"""
# add the source folder
os.mkdir(os.path.join(folder_path, 'src'))
# common files
shutil.copytree(os.path.join("lib_src", "src/common"),
os.path.join(folder_path, "src/common"))
"""
motors
"""
if dlg.checkBoxBLDCMotor.isChecked():
shutil.copy(os.path.join('lib_src', 'src/BLDCMotor.cpp'),
os.path.join(folder_path, 'src/'))
shutil.copy(os.path.join('lib_src', 'src/BLDCMotor.h'),
os.path.join(folder_path, 'src/'))
start_comment += "*\t - BLDCMotor\n"
ino_includes += start_inc + "BLDCMotor.h" + end_inc
if dlg.checkBoxStepperMotor.isChecked():
shutil.copy(os.path.join('lib_src', 'src/StepperMotor.cpp'),
os.path.join(folder_path, 'src/'))
shutil.copy(os.path.join('lib_src', 'src/StepperMotor.h'),
os.path.join(folder_path, 'src/'))
start_comment += "*\t - StepperMotor\n"
ino_includes += start_inc + "StepperMotor.h" + end_inc
"""
drivers
"""
src_drivers = os.path.join('lib_src', 'src/drivers')
target_drivers = os.path.join(folder_path, 'src/drivers')
if dlg.checkBoxBLDCDriver3PWM.isChecked(
) or dlg.checkBoxBLDCDriver6PWM.isChecked(
) or dlg.checkBoxStepperDriver2PWM.isChecked(
) or dlg.checkBoxStepperDriver4PWM.isChecked():
os.mkdir(os.path.join(folder_path, 'src/drivers'))
shutil.copy(os.path.join(src_drivers, 'hardware_api.h'),
target_drivers)
# add hardware specific stuff
target_hardware_specific = os.path.join(target_drivers,
'hardware_specific')
src_hardware_specific = os.path.join(src_drivers,
'hardware_specific')
# create hardware specific folder
os.mkdir(target_hardware_specific)
# for now coppy the generic as well - this might change in future
shutil.copy(os.path.join(src_hardware_specific, 'generic_mcu.cpp'),
target_hardware_specific)
# find selected mcu
mcu = dlg.dropDownMCU.currentData()
# coppy necessary files
for file_name in driverMCUFiles[mcu]:
shutil.copy(os.path.join(src_hardware_specific, file_name),
target_hardware_specific)
if dlg.checkBoxBLDCDriver3PWM.isChecked():
shutil.copy(os.path.join(src_drivers, 'BLDCDriver3PWM.cpp'),
target_drivers)
shutil.copy(os.path.join(src_drivers, 'BLDCDriver3PWM.h'),
target_drivers)
start_comment += "*\t - BLDCDriver3PWM\n"
ino_includes += start_inc + "drivers/BLDCDriver3PWM.h" + end_inc
if dlg.checkBoxBLDCDriver6PWM.isChecked():
shutil.copy(os.path.join(src_drivers, 'BLDCDriver6PWM.cpp'),
target_drivers)
shutil.copy(os.path.join(src_drivers, 'BLDCDriver6PWM.h'),
target_drivers)
start_comment += "*\t - BLDCDriver6PWM\n"
ino_includes += start_inc + "drivers/BLDCDriver6PWM.h" + end_inc
if dlg.checkBoxStepperDriver2PWM.isChecked():
shutil.copy(os.path.join(src_drivers, 'StepperDriver2PWM.cpp'),
target_drivers)
shutil.copy(os.path.join(src_drivers, 'StepperDriver2PWM.h'),
target_drivers)
start_comment += "*\t - StepperDriver2PWM\n"
ino_includes += start_inc + "drivers/StepperDriver2PWM.h" + end_inc
if dlg.checkBoxStepperDriver4PWM.isChecked():
shutil.copy(os.path.join(src_drivers, 'StepperDriver4PWM.cpp'),
target_drivers)
shutil.copy(os.path.join(src_drivers, 'StepperDriver4PWM.h'),
target_drivers)
start_comment += "*\t - StepperDriver4PWM\n"
ino_includes += start_inc + "drivers/StepperDriver4PWM.h" + end_inc
# driver mcu specific
"""
sensors
"""
src_sensors = os.path.join('lib_src', 'src/sensors')
target_sensors = os.path.join(folder_path, 'src/sensors')
if dlg.checkBoxEncoder.isChecked() or dlg.checkBoxHallSensor.isChecked(
) or dlg.checkBoxMagneticAnalog.isChecked(
) or dlg.checkBoxMagneticSPI.isChecked(
) or dlg.checkBoxMagneticI2C.isChecked(
) or dlg.checkBoxMagneticPWM.isChecked():
os.mkdir(os.path.join(folder_path, 'src/sensors'))
if dlg.checkBoxEncoder.isChecked():
shutil.copy(os.path.join(src_sensors, 'Encoder.cpp'),
target_sensors)
shutil.copy(os.path.join(src_sensors, 'Encoder.h'), target_sensors)
start_comment += "*\t - Encoder\n"
ino_includes += start_inc + "sensors/Encoder.h" + end_inc
if dlg.checkBoxHallSensor.isChecked():
shutil.copy(os.path.join(src_sensors, 'HallSensor.cpp'),
target_sensors)
shutil.copy(os.path.join(src_sensors, 'HallSensor.h'),
target_sensors)
start_comment += "*\t - HallSensor\n"
ino_includes += start_inc + "sensors/HallSensor.h" + end_inc
if dlg.checkBoxMagneticSPI.isChecked():
shutil.copy(os.path.join(src_sensors, 'MagneticSensorSPI.cpp'),
target_sensors)
shutil.copy(os.path.join(src_sensors, 'MagneticSensorSPI.h'),
target_sensors)
start_comment += "*\t - MagneticSensorSPI\n"
ino_includes += start_inc + "sensors/MagneticSensorSPI.h" + end_inc
if dlg.checkBoxMagneticI2C.isChecked():
shutil.copy(os.path.join(src_sensors, 'MagneticSensorI2C.cpp'),
target_sensors)
shutil.copy(os.path.join(src_sensors, 'MagneticSensorI2C.h'),
target_sensors)
start_comment += "*\t - MagneticSensorI2C\n"
ino_includes += start_inc + "sensors/MagneticSensorSPI.h" + end_inc
if dlg.checkBoxMagneticPWM.isChecked():
shutil.copy(os.path.join(src_sensors, 'MagneticSensorPWM.cpp'),
target_sensors)
shutil.copy(os.path.join(src_sensors, 'MagneticSensorPWM.h'),
target_sensors)
start_comment += "*\t - MagneticSensorPWM\n"
ino_includes += start_inc + "sensors/MagneticSensorPWM.h" + end_inc
if dlg.checkBoxMagneticAnalog.isChecked():
shutil.copy(os.path.join(src_sensors, 'MagneticSensorAnalog.cpp'),
target_sensors)
shutil.copy(os.path.join(src_sensors, 'MagneticSensorAnalog.h'),
target_sensors)
start_comment += "*\t - MagneticSensorAnalog\n"
ino_includes += start_inc + "sensors/MagneticSensorAnalog.h" + end_inc
"""
current sense
"""
src_currentsense = os.path.join('lib_src', 'src/current_sense')
target_currentsense = os.path.join(folder_path, 'src/current_sense')
if dlg.checkBoxCSInline.isChecked() or dlg.checkBoxCSLowside.isChecked(
):
os.mkdir(target_currentsense)
shutil.copy(os.path.join(src_currentsense, 'hardware_api.h'),
target_currentsense)
# add hardware specific stuff
target_hardware_specific = os.path.join(target_currentsense,
'hardware_specific')
src_hardware_specific = os.path.join(src_currentsense,
'hardware_specific')
# create hardware specific folder
os.mkdir(target_hardware_specific)
# for now coppy the generic as well - this might change in future
shutil.copy(os.path.join(src_hardware_specific, 'generic_mcu.cpp'),
target_hardware_specific)
# find selected mcu
mcu = dlg.dropDownMCU.currentData()
# coppy necessary files
for file_name in currentsenseMCUFiles[mcu]:
shutil.copy(os.path.join(src_hardware_specific, file_name),
target_hardware_specific)
if dlg.checkBoxCSInline.isChecked():
shutil.copy(
os.path.join(src_currentsense, 'InlineCurrentSense.cpp'),
target_currentsense)
shutil.copy(os.path.join(src_currentsense, 'InlineCurrentSense.h'),
target_currentsense)
start_comment += "*\t - InlineCurrentSense\n"
ino_includes += start_inc + "current_sense/InlineCurrentSense.h" + end_inc
if dlg.checkBoxCSLowside.isChecked():
shutil.copy(
os.path.join(src_currentsense, 'LowsideCurrentSense.cpp'),
target_currentsense)
shutil.copy(
os.path.join(src_currentsense, 'LowsideCurrentSense.h'),
target_currentsense)
start_comment += "*\t - LowsideCurrentSense\n"
ino_includes += start_inc + "current_sense/LowsideCurrentSense.h" + end_inc
# current sense specific
"""
communication
"""
src_communication = os.path.join('lib_src', 'src/communication')
target_communication = os.path.join(folder_path, 'src/communication')
if dlg.checkBoxCommander.isChecked(
) or dlg.checkBoxCommStepDir.isChecked():
os.mkdir(os.path.join(folder_path, 'src/communication'))
if dlg.checkBoxCommander.isChecked():
shutil.copy(os.path.join(src_communication, 'Commander.cpp'),
target_communication)
shutil.copy(os.path.join(src_communication, 'Commander.h'),
target_communication)
shutil.copy(os.path.join(src_communication, 'commands.h'),
target_communication)
start_comment += "*\t - Commander\n"
ino_includes += start_inc + "communication/Commander.h" + end_inc
if dlg.checkBoxCommStepDir.isChecked():
shutil.copy(os.path.join(src_communication, 'StepDirListener.cpp'),
target_communication)
shutil.copy(os.path.join(src_communication, 'StepDirListener.h'),
target_communication)
start_comment += "*\t - StepDirListener\n"
ino_includes += start_inc + "communication/StepDirListener.h" + end_inc
# include file ( maybe )
# finish the ino file
f = open(os.path.join(folder_path, project_name + '.ino'), "w")
start_comment += "*\n* Microcontroller type:\n"
start_comment += "*\t -" + dlg.dropDownMCU.currentText() + "\n*\n"
start_comment += "*/\n\n"
ino_includes += "\n\n"
f.write(start_comment)
f.write(ino_includes)
f.writelines([
"void setup(){\n\t\n\t\n",
"}\n\n",
"void loop(){\n\t\n\t\n",
"}\n\n",
])
f.close()
QMessageBox.about(self, "INFO", "Project generated successfully!")
self.layout = QVBoxLayout()
text = "<h1>Arduino Minimal Project Code Generation</h1>"
text += "Generated minimal stand alone arduino project using the <i>Simple<b>FOC</b>Studio</i>, based on the <i>Simple<b>FOC</b>library</i> <small>v2.2</small> <br><br>"
text += "In this window you can simply navigate and familiarise yourself with the code structure.<br>"
text += "Your project is saved on the disk at the desired path: <b>" + folder_path + "</b><br>"
text += "<br>"
message = QtWidgets.QLabel(text)
self.layout.addWidget(message)
self.layout.addWidget(QLabel("<h2>Generated project structure:</h2>"))
self.model = QFileSystemModel()
self.model.setIconProvider(FileIconProvider())
self.model.setRootPath(folder_path)
self.tree = QTreeView()
self.tree.setModel(self.model)
self.tree.setRootIndex(self.model.index(folder_path))
self.tree.setAnimated(False)
self.tree.setIndentation(20)
self.tree.setSortingEnabled(True)
self.tree.setWindowTitle("Project View")
self.codeDisplay = QtWidgets.QTextEdit()
self.codeDisplay.setObjectName('codeDisplay')
self.codeDisplay.setText("")
self.codeDisplay.setReadOnly(True)
h = Highlighter(self.codeDisplay)
self.separatedView = QHBoxLayout()
self.separatedView.addWidget(self.tree)
self.separatedView.addWidget(self.codeDisplay)
self.layout.addLayout(self.separatedView)
self.setLayout(self.layout)
self.tree.clicked.connect(self.on_treeView_clicked)
# display ino file on startup
self.tree.setCurrentIndex(
self.model.index(os.path.join(folder_path, project_name + '.ino')))
self.on_treeView_clicked(
self.model.index(os.path.join(folder_path, project_name + '.ino')))
def __init__(self, parent=None, controllerPlotWidget=None):
'''Constructor for ToolsWidget'''
super().__init__(parent)
self.device = SimpleFOCDevice.getInstance()
self.controlledPlot = controllerPlotWidget
self.verticalLayout = QtWidgets.QVBoxLayout(self)
self.setLayout(self.verticalLayout)
self.horizontalLayout1 = QtWidgets.QHBoxLayout()
self.horizontalLayout1.setObjectName('horizontalLayout')
self.startStopButton = QtWidgets.QPushButton(self)
self.startStopButton.setText('Start')
self.startStopButton.setObjectName('Start')
self.startStopButton.clicked.connect(self.startStoPlotAction)
self.startStopButton.setIcon(GUIToolKit.getIconByName('start'))
self.horizontalLayout1.addWidget(self.startStopButton)
self.pauseContinueButton = QtWidgets.QPushButton(self)
self.pauseContinueButton.setObjectName('pauseButton')
self.pauseContinueButton.setText('Pause')
self.pauseContinueButton.setIcon(GUIToolKit.getIconByName('pause'))
self.pauseContinueButton.clicked.connect(self.pauseContinuePlotAction)
self.horizontalLayout1.addWidget(self.pauseContinueButton)
self.zoomAllButton = QtWidgets.QPushButton(self)
self.zoomAllButton.setObjectName('zoomAllButton')
self.zoomAllButton.setText('View all')
self.zoomAllButton.setIcon(GUIToolKit.getIconByName('zoomall'))
self.zoomAllButton.clicked.connect(self.zoomAllPlot)
self.horizontalLayout1.addWidget(self.zoomAllButton)
self.signalCheckBox = []
for i in range(len(self.controlledPlot.signals)):
checkBox = QtWidgets.QCheckBox(self)
checkBox.setObjectName('signalCheckBox' + str(i))
checkBox.setToolTip(self.controlledPlot.signal_tooltip[i])
checkBox.setText(self.controlledPlot.signals[i])
checkBox.setIcon(
GUIToolKit.getIconByName(self.controlledPlot.signalIcons[i]))
checkBox.setChecked(True)
self.signalCheckBox.append(checkBox)
self.horizontalLayout1.addWidget(checkBox)
spacerItem = QtWidgets.QSpacerItem(100, 20,
QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Maximum)
self.horizontalLayout1.addItem(spacerItem)
self.horizontalLayout1.addItem(spacerItem)
self.downsampleLabel = QtWidgets.QLabel(self)
self.downsampleLabel.setText('Downsample')
self.downampleValue = QtWidgets.QLineEdit(self.downsampleLabel)
self.downampleValue.setText("100")
self.downampleValue.editingFinished.connect(self.changeDownsampling)
self.horizontalLayout1.addWidget(self.downsampleLabel)
self.horizontalLayout1.addWidget(self.downampleValue)
self.verticalLayout.addLayout(self.horizontalLayout1)
def __init__(self, parent=None):
super().__init__(parent)
self.device = SimpleFOCDevice.getInstance()
self.sFOCDevice = QtWidgets.QTreeWidgetItem(self)
self.sFOCDevice.setText(0, 'sFOC Device')
self.sFOCDevice.setIcon(0, GUIToolKit.getIconByName('motor'))
self.setColumnCount(2)
self.motionControl = QtWidgets.QTreeWidgetItem(self.sFOCDevice)
self.motionControl.setText(0, 'Motion config')
self.motionControl.setIcon(0, GUIToolKit.getIconByName('pidconfig'))
self.sFOCDevice.addChild(self.motionControl)
self.controller = QtWidgets.QTreeWidgetItem(self.motionControl)
self.controller.setText(0, 'Motion Control Type')
self.controller.setIcon(0, GUIToolKit.getIconByName('gear'))
self.selectorControlLoop = QtWidgets.QComboBox(self)
self.selectorControlLoop.addItems([
'Torque', 'Velocity', 'Angle', 'Velocity openloop',
'Angle openloop'
])
self.selectorControlLoop.currentIndexChanged.connect(
self.changeControlLoop)
self.setItemWidget(self.controller, 1, self.selectorControlLoop)
self.torque = QtWidgets.QTreeWidgetItem(self.motionControl)
self.torque.setText(0, 'Torque Control Type')
self.torque.setIcon(0, GUIToolKit.getIconByName('gear'))
self.selectorTorque = QtWidgets.QComboBox(self)
self.selectorTorque.addItems(['Voltage', 'DC Curret', 'FOC Current'])
self.selectorTorque.currentIndexChanged.connect(self.changeTorque)
self.setItemWidget(self.torque, 1, self.selectorTorque)
self.motionDownsample = QtWidgets.QTreeWidgetItem(self.motionControl)
self.motionDownsample.setText(0, 'Motion Downsample')
self.motionDownsample.setIcon(0, GUIToolKit.getIconByName('gear'))
self.motionDownsample.setText(1, '')
self.motionDownsample.setFlags(self.motionDownsample.flags()
| QtCore.Qt.ItemIsEditable)
self.PIDVelocityConfig = self.addPIDSubtree(self.motionControl,
'Velocity PID')
self.PIDAngleConfig = self.addPIDSubtree(self.motionControl,
'Angle PID')
self.PIDCurrentQConfig = self.addPIDSubtree(self.motionControl,
'Current q PID')
self.PIDCurrentDConfig = self.addPIDSubtree(self.motionControl,
'Current d PID')
self.limitsConfig = QtWidgets.QTreeWidgetItem(self.sFOCDevice)
self.limitsConfig.setText(0, 'Limits')
self.limitsConfig.setIcon(0, GUIToolKit.getIconByName('statistics'))
self.sFOCDevice.addChild(self.limitsConfig)
self.velocityLimit = QtWidgets.QTreeWidgetItem(self.limitsConfig)
self.velocityLimit.setText(0, 'Velocity limit')
self.velocityLimit.setIcon(0, GUIToolKit.getIconByName('gear'))
self.velocityLimit.setText(1, '')
self.velocityLimit.setFlags(self.velocityLimit.flags()
| QtCore.Qt.ItemIsEditable)
self.voltageLimit = QtWidgets.QTreeWidgetItem(self.limitsConfig)
self.voltageLimit.setText(0, 'Voltage limit')
self.voltageLimit.setIcon(0, GUIToolKit.getIconByName('gear'))
self.voltageLimit.setText(1, '')
self.voltageLimit.setFlags(self.voltageLimit.flags()
| QtCore.Qt.ItemIsEditable)
self.currentLimit = QtWidgets.QTreeWidgetItem(self.limitsConfig)
self.currentLimit.setText(0, 'Current limit')
self.currentLimit.setIcon(0, GUIToolKit.getIconByName('gear'))
self.currentLimit.setText(1, '')
self.currentLimit.setFlags(self.currentLimit.flags()
| QtCore.Qt.ItemIsEditable)
self.statesConfig = QtWidgets.QTreeWidgetItem(self.sFOCDevice)
self.statesConfig.setText(0, 'States')
self.statesConfig.setIcon(0, GUIToolKit.getIconByName('statistics'))
self.sFOCDevice.addChild(self.statesConfig)
self.satateTarget = QtWidgets.QTreeWidgetItem(self.statesConfig)
self.satateTarget.setText(0, 'Target')
self.satateTarget.setIcon(0, GUIToolKit.getIconByName('gear'))
self.satateTarget.setText(1, '')
self.stateVq = QtWidgets.QTreeWidgetItem(self.statesConfig)
self.stateVq.setText(0, 'Voltage q')
self.stateVq.setIcon(0, GUIToolKit.getIconByName('gear'))
self.stateVd = QtWidgets.QTreeWidgetItem(self.statesConfig)
self.stateVd.setText(0, 'Voltage d')
self.stateVd.setIcon(0, GUIToolKit.getIconByName('gear'))
self.stateCq = QtWidgets.QTreeWidgetItem(self.statesConfig)
self.stateCq.setText(0, 'Current q')
self.stateCq.setIcon(0, GUIToolKit.getIconByName('gear'))
self.stateCd = QtWidgets.QTreeWidgetItem(self.statesConfig)
self.stateCd.setText(0, 'Current d')
self.stateCd.setIcon(0, GUIToolKit.getIconByName('gear'))
self.stateVel = QtWidgets.QTreeWidgetItem(self.statesConfig)
self.stateVel.setText(0, 'Velocity')
self.stateVel.setIcon(0, GUIToolKit.getIconByName('gear'))
self.stateVel.setText(1, '')
self.stateAngle = QtWidgets.QTreeWidgetItem(self.statesConfig)
self.stateAngle.setText(0, 'Angle')
self.stateAngle.setIcon(0, GUIToolKit.getIconByName('gear'))
self.stateAngle.setText(1, '')
self.sensorConfig = QtWidgets.QTreeWidgetItem(self.sFOCDevice)
self.sensorConfig.setText(0, 'Sensor config')
self.sensorConfig.setIcon(0, GUIToolKit.getIconByName('sensor'))
self.sFOCDevice.addChild(self.sensorConfig)
self.sensorZeroOffset = QtWidgets.QTreeWidgetItem(self.sensorConfig)
self.sensorZeroOffset.setText(0, 'Zero Angle Offset')
self.sensorZeroOffset.setIcon(0, GUIToolKit.getIconByName('gear'))
self.sensorZeroOffset.setText(1, '')
self.sensorZeroOffset.setFlags(self.sensorZeroOffset.flags()
| QtCore.Qt.ItemIsEditable)
self.sensorZeroElecOffset = QtWidgets.QTreeWidgetItem(
self.sensorConfig)
self.sensorZeroElecOffset.setText(0, 'Electrical Zero Offset')
self.sensorZeroElecOffset.setIcon(0, GUIToolKit.getIconByName('gear'))
self.sensorZeroElecOffset.setText(1, '')
self.sensorZeroElecOffset.setFlags(self.sensorZeroElecOffset.flags()
| QtCore.Qt.ItemIsEditable)
self.generalSettings = QtWidgets.QTreeWidgetItem(self.sFOCDevice)
self.generalSettings.setText(0, 'General settings')
self.generalSettings.setIcon(
0, GUIToolKit.getIconByName('generalsettings'))
self.sFOCDevice.addChild(self.generalSettings)
self.phaseRes = QtWidgets.QTreeWidgetItem(self.generalSettings)
self.phaseRes.setText(0, 'Phase Resistance')
self.phaseRes.setIcon(0, GUIToolKit.getIconByName('res'))
self.phaseRes.setText(1, '')
self.phaseRes.setFlags(self.phaseRes.flags()
| QtCore.Qt.ItemIsEditable)
self.deviceStatus = QtWidgets.QTreeWidgetItem(self.generalSettings)
self.deviceStatus.setText(0, 'Motor Status')
self.deviceStatus.setIcon(0, GUIToolKit.getIconByName('gear'))
self.selectStatus = QtWidgets.QComboBox(self)
self.selectStatus.addItems(['Disabled', 'Enabled'])
self.selectStatus.currentIndexChanged.connect(self.changeStatus)
self.setItemWidget(self.deviceStatus, 1, self.selectStatus)
self.modulationType = QtWidgets.QTreeWidgetItem(self.generalSettings)
self.modulationType.setText(0, 'PWM modulation')
self.modulationType.setIcon(0, GUIToolKit.getIconByName('gear'))
self.selectModulation = QtWidgets.QComboBox(self)
self.selectModulation.addItems([
'Sine PWM', 'Space Vector PWM', 'Trapezoidal 120',
'Trapezoidal 150'
])
self.selectModulation.currentIndexChanged.connect(self.changeModType)
self.setItemWidget(self.modulationType, 1, self.selectModulation)
self.modulationCenter = QtWidgets.QTreeWidgetItem(self.generalSettings)
self.modulationCenter.setText(0, 'Modulation center')
self.modulationCenter.setIcon(0, GUIToolKit.getIconByName('gear'))
self.selectModCenter = QtWidgets.QComboBox(self)
self.selectModCenter.addItems(['Disabled', 'Enabled'])
self.selectModCenter.currentIndexChanged.connect(self.changeModCenter)
self.setItemWidget(self.modulationCenter, 1, self.selectModCenter)
self.customComands = QtWidgets.QTreeWidgetItem(self.sFOCDevice)
self.customComands.setText(0, 'Custom commands')
self.customComands.setIcon(0,
GUIToolKit.getIconByName('customcommands'))
self.sFOCDevice.addChild(self.customComands)
for customCommand in self.device.customCommands.customCommandsList:
self.initCustomCommand(customCommand)
self.installEventFilter(self)
self.setContextMenuPolicy(QtCore.Qt.CustomContextMenu)
self.customContextMenuRequested.connect(self.customCommandsMenu)
self.header().resizeSection(0, 230)
self.setAlternatingRowColors(True)
self.header().hide()
self.expandItem(self.sFOCDevice)
self.expandItem(self.motionControl)
self.device.addConnectionStateListener(self)
self.device.commProvider.commandDataReceived.connect(
self.commandResponseReceived)
self.device.commProvider.stateMonitorReceived.connect(
self.stateResponseReceived)
self.itemChanged.connect(self.treeItemEdited)
self.setEnabled(self.device.isConnected)
def __init__(self, parent=None):
super().__init__(parent)
self.setupUi(SimpleFOCDevice.getInstance())
def __init__(self, parent=None):
super().__init__(parent)
self.setMaximumWidth(300)
onlyFloat = QtGui.QRegExpValidator(
QtCore.QRegExp("[+-]?([0-9]*[.])?[0-9]+"))
self.device = SimpleFOCDevice.getInstance()
self.setTitle('General device settings')
self.setObjectName('generalDeviceSettings')
self.gcGridLayout = QtWidgets.QGridLayout(self)
self.gcGridLayout.setObjectName('gcGridLayout')
self.motionDownsample = QtWidgets.QLabel(self)
self.motionDownsample.setObjectName('motionDownsample')
self.motionDownsample.setText('Motion Downsample')
self.gcGridLayout.addWidget(self.motionDownsample, 2, 0, 1, 1)
self.motionDownsampleEdit = ConfigQLineEdit(self)
self.motionDownsampleEdit.setObjectName('motionDownsampleEdit')
self.motionDownsampleEdit.setValidator(onlyFloat)
self.motionDownsampleEdit.setAlignment(QtCore.Qt.AlignCenter)
self.motionDownsampleEdit.updateValue.connect(
self.sendMotionDownsampleAction)
self.gcGridLayout.addWidget(self.motionDownsampleEdit, 2, 1, 1, 1)
self.curLimitLabel = QtWidgets.QLabel(self)
self.curLimitLabel.setObjectName('curLimitLabel')
self.curLimitLabel.setText('Current Limit')
self.gcGridLayout.addWidget(self.curLimitLabel, 3, 0, 1, 1)
self.velLimitlabel = QtWidgets.QLabel(self)
self.velLimitlabel.setObjectName('velLimitlabel')
self.velLimitlabel.setText('Velocity limit')
self.gcGridLayout.addWidget(self.velLimitlabel, 4, 0, 1, 1)
self.volLimitLabel = QtWidgets.QLabel(self)
self.volLimitLabel.setObjectName('volLimitLabel')
self.volLimitLabel.setText('Voltage limit')
self.gcGridLayout.addWidget(self.volLimitLabel, 6, 0, 1, 1)
self.clLineEdit = ConfigQLineEdit(self)
self.clLineEdit.setObjectName('clLineEdit')
self.clLineEdit.setValidator(onlyFloat)
self.clLineEdit.setAlignment(QtCore.Qt.AlignCenter)
self.clLineEdit.updateValue.connect(self.sendCurrentLimitAction)
self.gcGridLayout.addWidget(self.clLineEdit, 3, 1, 1, 1)
self.vlLineEdit = ConfigQLineEdit(self)
self.vlLineEdit.setObjectName('vlLineEdit')
self.vlLineEdit.setValidator(onlyFloat)
self.vlLineEdit.setAlignment(QtCore.Qt.AlignCenter)
self.vlLineEdit.updateValue.connect(self.sendVelLimitAction)
self.gcGridLayout.addWidget(self.vlLineEdit, 4, 1, 1, 1)
self.volLLineEdit = ConfigQLineEdit(self)
self.volLLineEdit.setObjectName('volLLineEdit')
self.volLLineEdit.setValidator(onlyFloat)
self.volLLineEdit.setAlignment(QtCore.Qt.AlignCenter)
self.volLLineEdit.updateValue.connect(self.sendVoltageLimitAction)
self.gcGridLayout.addWidget(self.volLLineEdit, 6, 1, 1, 1)
self.reloadValues()
self.device.addConnectionStateListener(self)
self.device.commProvider.commandDataReceived.connect(
self.commandResponseReceived)
self.connectionStateChanged(self.device.isConnected)
from src.simpleFOCConnector import SimpleFOCDevice
import time
if __name__ == '__main__':
deviceConnector = SimpleFOCDevice.getInstance()
deviceConnector.serialPortName = 'COM32'
deviceConnector.serialRate = 115200
deviceConnector.devCommandID = 'M'
if deviceConnector.connect(SimpleFOCDevice.ONLY_CONNECT):
while True:
deviceConnector.sendControlType(SimpleFOCDevice.ANGLE_CONTROL)
deviceConnector.sendTargetValue(0)
time.sleep(2.0)
deviceConnector.sendTargetValue(3)
time.sleep(2)
deviceConnector.sendTargetValue(6)
time.sleep(2)
deviceConnector.sendTargetValue(-6)
time.sleep(2)
deviceConnector.sendControlType(SimpleFOCDevice.VELOCITY_CONTROL)
deviceConnector.sendTargetValue(30)
time.sleep(2)
deviceConnector.sendTargetValue(-30)
time.sleep(2)
def __init__(self, parent=None):
super().__init__(parent)
self.device = SimpleFOCDevice.getInstance()
self.setTitle('Configure serial connection')
self.setObjectName('configureConnection')
self.configCoonLayout = QtWidgets.QHBoxLayout(self)
self.configCoonLayout.setObjectName(
'configureConnectionorizontalLayout')
self.portNameLabel = QtWidgets.QLabel(self)
self.portNameLabel.setObjectName('portNameLabel')
self.configCoonLayout.addWidget(self.portNameLabel)
self.portNameComboBox = SerialPortComboBox(self)
self.portNameComboBox.setObjectName('portNameComboBox')
self.portNameComboBox.setMinimumWidth(250)
self.configCoonLayout.addWidget(self.portNameComboBox)
self.bitRateLabel = QtWidgets.QLabel(self)
self.bitRateLabel.setObjectName('bitRateLabel')
self.configCoonLayout.addWidget(self.bitRateLabel)
self.bitRatelineEdit = QtWidgets.QLineEdit(self)
self.bitRatelineEdit.setObjectName('bitRatelineEdit')
self.bitRatelineEdit.setValidator(
QtGui.QRegExpValidator(QtCore.QRegExp("^[0-9]*$")))
self.bitRatelineEdit.setText('115200')
self.configCoonLayout.addWidget(self.bitRatelineEdit)
self.parityLabel = QtWidgets.QLabel(self)
self.parityLabel.setObjectName('parityLabel')
self.configCoonLayout.addWidget(self.parityLabel)
self.parityComboBox = QtWidgets.QComboBox(self)
self.parityComboBox.setObjectName('parityComboBox')
self.parityComboBox.addItems(serial.PARITY_NAMES.values())
self.configCoonLayout.addWidget(self.parityComboBox)
serial.PARITY_NAMES.values()
self.byteSizeLabel = QtWidgets.QLabel(self)
self.byteSizeLabel.setObjectName('byteSizeLabel')
self.configCoonLayout.addWidget(self.byteSizeLabel)
self.byteSizeComboBox = QtWidgets.QComboBox(self)
self.byteSizeComboBox.setObjectName('byteSizeComboBox')
byteSizeList = [
str(serial.EIGHTBITS),
str(serial.FIVEBITS),
str(serial.SIXBITS),
str(serial.SEVENBITS)
]
self.byteSizeComboBox.addItems(byteSizeList)
self.configCoonLayout.addWidget(self.byteSizeComboBox)
self.stopBitsLabel = QtWidgets.QLabel(self)
self.stopBitsLabel.setObjectName('stopBitsLabel')
self.configCoonLayout.addWidget(self.stopBitsLabel)
self.stopBitsComboBox = QtWidgets.QComboBox(self)
byteStopBitsList = [
str(serial.STOPBITS_ONE),
str(serial.STOPBITS_ONE_POINT_FIVE),
str(serial.STOPBITS_TWO)
]
self.stopBitsComboBox.addItems(byteStopBitsList)
self.stopBitsComboBox.setObjectName('stopBitsComboBox')
self.configCoonLayout.addWidget(self.stopBitsComboBox)
self.connectDisconnectButton = QtWidgets.QPushButton(self)
self.connectDisconnectButton.setIcon(
GUIToolKit.getIconByName('connect'))
self.connectDisconnectButton.setObjectName('connectDeviceButton')
self.connectDisconnectButton.setText('Connect')
self.connectDisconnectButton.clicked.connect(
self.connectDisconnectDeviceAction)
self.configCoonLayout.addWidget(self.connectDisconnectButton)
self.portNameLabel.setText('Port Name')
self.bitRateLabel.setText('Bit rate')
self.parityLabel.setText('Parity')
self.byteSizeLabel.setText('Byte size')
self.stopBitsLabel.setText('Stop bits')
self.device.addConnectionStateListener(self)
self.connectionStateChanged(self.device.isConnected)
def __init__(self, parent=None):
super().__init__(parent)
self.setMaximumWidth(300)
onlyFloatInputValidator = QtGui.QRegExpValidator(
QtCore.QRegExp("[+-]?([0-9]*[.])?[0-9]+"))
self.device = SimpleFOCDevice.getInstance()
self.activePID = self.device.PIDVelocity
self.activeLPF = self.device.LPFVelocity
self.setObjectName('pidConfigurator')
self.setTitle('PID Controller configuration')
self.gridLayout = QtWidgets.QGridLayout(self)
self.gridLayout.setObjectName('gridLayout')
self.sPidLabel = QtWidgets.QLabel(self)
self.sPidLabel.setObjectName('pgLabel')
self.sPidLabel.setText('Select PID')
self.gridLayout.addWidget(self.sPidLabel, 0, 1, 1, 1)
self.selectorPIDF = QtWidgets.QComboBox(self)
self.selectorPIDF.setObjectName('selectPIDF')
self.selectorPIDF.addItems(
['Velocity', 'Angle', 'Current Q', 'Current D'])
self.selectorPIDF.currentIndexChanged.connect(self.changePIDF)
self.gridLayout.addWidget(self.selectorPIDF, 0, 2, 1, 1)
self.pgLabel = QtWidgets.QLabel(self)
self.pgLabel.setObjectName('pgLabel')
self.pgLabel.setText('Proportional gain')
self.gridLayout.addWidget(self.pgLabel, 1, 1, 1, 1)
self.iglabel = QtWidgets.QLabel(self)
self.iglabel.setObjectName('iglabel')
self.iglabel.setText('Integral gain')
self.gridLayout.addWidget(self.iglabel, 2, 1, 1, 1)
self.dgLabel = QtWidgets.QLabel(self)
self.dgLabel.setObjectName('dgLabel')
self.dgLabel.setText('Derivative gain')
self.gridLayout.addWidget(self.dgLabel, 3, 1, 1, 1)
self.vrLabel = QtWidgets.QLabel(self)
self.vrLabel.setObjectName('vrLabel')
self.vrLabel.setText('Output ramp')
self.gridLayout.addWidget(self.vrLabel, 4, 1, 1, 1)
self.vrLabel = QtWidgets.QLabel(self)
self.vrLabel.setObjectName('lpfLabel')
self.vrLabel.setText('Low pass filter')
self.gridLayout.addWidget(self.vrLabel, 5, 1, 1, 1)
self.pgLineEdit = ConfigQLineEdit(self)
self.pgLineEdit.setObjectName('pgLineEdit')
self.pgLineEdit.setValidator(onlyFloatInputValidator)
self.pgLineEdit.setAlignment(QtCore.Qt.AlignCenter)
self.pgLineEdit.editingFinished.connect(
self.sendProportionalGainAction)
self.gridLayout.addWidget(self.pgLineEdit, 1, 2, 1, 1)
self.igLineEdit = ConfigQLineEdit(self)
self.igLineEdit.setObjectName('igLineEdit')
self.igLineEdit.setValidator(onlyFloatInputValidator)
self.igLineEdit.setAlignment(QtCore.Qt.AlignCenter)
self.igLineEdit.editingFinished.connect(self.sendIntegralGainAction)
self.gridLayout.addWidget(self.igLineEdit, 2, 2, 1, 1)
self.dgLineEdit = ConfigQLineEdit(self)
self.dgLineEdit.setObjectName('dgLineEdit')
self.dgLineEdit.setValidator(onlyFloatInputValidator)
self.dgLineEdit.setAlignment(QtCore.Qt.AlignCenter)
self.dgLineEdit.editingFinished.connect(self.sendDerivativeGainAction)
self.gridLayout.addWidget(self.dgLineEdit, 3, 2, 1, 1)
self.vrLineEdit = ConfigQLineEdit(self)
self.vrLineEdit.setObjectName('vrLineEdit')
self.vrLineEdit.setValidator(onlyFloatInputValidator)
self.vrLineEdit.setAlignment(QtCore.Qt.AlignCenter)
self.vrLineEdit.editingFinished.connect(self.sendRampAction)
self.gridLayout.addWidget(self.vrLineEdit, 4, 2, 1, 1)
self.lpfLineEdit = ConfigQLineEdit(self)
self.lpfLineEdit.setObjectName('lpfLineEdit')
self.lpfLineEdit.setValidator(onlyFloatInputValidator)
self.lpfLineEdit.setAlignment(QtCore.Qt.AlignCenter)
self.lpfLineEdit.editingFinished.connect(self.sendLPFAction)
self.gridLayout.addWidget(self.lpfLineEdit, 5, 2, 1, 1)
self.reloadPIDValues()
# self.setDerivativeGainAction(self.device.derivativeGainPID)
# self.setProportionalGainAction(self.device.proportionalGainPID)
# self.setIntegralGainAction(self.device.integralGainPID)
# self.setVoltageRampAction(self.device.voltageRampPID)
self.connectionStateChanged(self.device.isConnected)
self.device.addConnectionStateListener(self)
self.device.commProvider.commandDataReceived.connect(
self.commandResponseReceived)