print("bas")
elif event.key == pygame.K_UP:
modepygame = 3
elif event.key == pygame.K_LEFT:
modepygame = 1
elif event.key == pygame.K_RIGHT:
modepygame = 2
elif event.key == pygame.K_z:
modepygame = 0
print("ZERO")
position = tm.encoder_estimates.position
elif event.key == pygame.K_c:
modepygame = 0
print("CALIBRATION")
tm.set_state(state=0, mode=0)
tm.calibrate()
elif event.key == pygame.K_r:
print("RESET")
tm.reset()
elif event.key == pygame.K_SPACE:
print("EMERGENCY STOP")
modepygame = 0
elif event.key == pygame.K_p:
sign = 1
modepygame = 4
count = 0
elif event.key == pygame.K_a:
step += 1 * deg
step = minimum(maximum(step, 0), 50)
print("step:{:.0f}".format(step))
elif event.key == pygame.K_q:
class UserWrapper:
'''
This is a user-friendly wrapper to the Tinymover class, that
allows more intuitive functions to be used instead of plain
getters/setters.
This class sacrifices Pythonic-ness (e.g. raising exceptions)
for better user-friendliness (e.g. using simple print statements).
There are also additional checks performed prior to changing
states, with errors displayed if checks fail.
'''
def __init__(self, **kwargs):
self.tinymovr = Tinymovr(**kwargs)
def __getattr__(self, attr):
return getattr(self.tinymovr, attr)
def calibrate(self):
'''
Enter calibration state, perform motor and encoder calibration
'''
state = self.tinymovr.state
if state.error != 0:
print("Error flag present, cannot continue with calibration. \
Please reset Tinymovr.")
elif state.state != 0:
print("Tinymovr state is not idle, \
calibration needs to be started from idle state.")
else:
input("Ready to calibrate. Please remove any loads \
from the motor and hit Enter to continue")
self.tinymovr.calibrate()
def idle(self):
'''
Enter idle state
'''
self.tinymovr.set_state(0)
def position_control(self):
'''
Enter closed loop control state and position control mode
'''
state = self.tinymovr.state
if state.error != 0:
print("Error flag present, cannot enable position control. \
Please reset Tinymovr.")
elif state.state == 1:
print("Tinymovr is currently calibrating, \
please do not interrupt.")
else:
self.tinymovr.position_control()
def velocity_control(self):
'''
Enter closed loop control state and velocity control mode
'''
state = self.tinymovr.state
if state.error != 0:
print("Error flag present, cannot enable velocity control. \
Please reset Tinymovr.")
elif state.state == 1:
print("Tinymovr is currently calibrating, \
please do not interrupt.")
else:
self.tinymovr.velocity_control()
def current_control(self):
'''
Enter closed loop control state and current control mode
'''
state = self.tinymovr.state
if state.error != 0:
print("Error flag present, cannot enable current control. \
Please reset Tinymovr.")
elif state.state == 1:
print("Tinymovr is currently calibrating, \
please do not interrupt.")
else:
self.tinymovr.current_control()
@property
def error(self):
'''
Report controller error in human-readable form
'''
state = self.tinymovr.state
error_id = ErrorIDs(state.error)
print(error_descriptions[error_id] + " (error code: " + str(error_id) +
")")
def __dir__(self):
tm_keys = self.tinymovr.__dir__()
self_keys = object.__dir__(self)
self_keys.remove("tinymovr")
return tm_keys + self_keys
class UserWrapper:
"""
This is a user-friendly wrapper to the Tinymover class, that
allows more intuitive functions to be used instead of plain
getters/setters.
This class sacrifices Pythonic-ness (e.g. raising exceptions)
for better user-friendliness (e.g. using simple print statements).
There are also additional checks performed prior to changing
states, with errors displayed if checks fail.
"""
def __init__(self, *args, **kwargs):
self.tinymovr = Tinymovr(*args, **kwargs)
def __getattr__(self, attr):
return getattr(self.tinymovr, attr)
def calibrate(self):
"""
Enter calibration state, perform motor and encoder calibration
"""
state = self.tinymovr.state
if state.errors:
print(
"Error flag present, cannot continue with calibration. Please reset Tinymovr."
)
elif state.state != ControlStates.Idle:
print("Tinymovr not in idle state, calibration cannot start.")
else:
input(
"Ready to calibrate. Please remove any loads from the motor and hit Enter to continue."
)
self.tinymovr.calibrate()
def idle(self):
"""
Enter idle state
"""
if self.tinymovr.state.state == ControlStates.Calibration:
print(msg_calibrating)
else:
self.tinymovr.idle()
def position_control(self):
"""
Enter closed loop control state and position control mode
"""
state = self.tinymovr.state
if state.errors:
print(
"Error flag present, cannot enable position control. Please reset Tinymovr."
)
elif state.state == ControlStates.Calibration:
print(msg_calibrating)
else:
self.tinymovr.position_control()
def velocity_control(self):
"""
Enter closed loop control state and velocity control mode
"""
state = self.tinymovr.state
if state.errors:
print(
"Error flag present, cannot enable velocity control. Please reset Tinymovr."
)
elif state.state == ControlStates.Calibration:
print(msg_calibrating)
else:
self.tinymovr.velocity_control()
def current_control(self):
"""
Enter closed loop control state and current control mode
"""
state = self.tinymovr.state
if state.errors:
print(
"Error flag present, cannot enable current control. Please reset Tinymovr."
)
elif state.state == ControlStates.Calibration:
print(msg_calibrating)
else:
self.tinymovr.current_control()
def __dir__(self):
tm_attrs = self.tinymovr.__dir__()
self_attrs = [k for k in object.__dir__(self) if not k.startswith("_")]
self_attrs.remove("tinymovr")
return sorted(list(set(tm_attrs + self_attrs)))
