class Window(QtWidgets.QMainWindow):
#only way I found to get keypressed working
def __init__(self):
super(Window, self).__init__()
#self.setMinimumSize(1000, 1000) #How I tested which window accepted qt methods
#PMA Setup, mostly copied from the file-based motion control
try:
USB_DEVICE = 'COM6'
ZABER_ASCII_PORT = AsciiSerial(USB_DEVICE)
print("NUTS!")
self.torch_output = 1
self.wire_output = 2
self.iodev = AsciiDevice(
ZABER_ASCII_PORT, 1) #additional xy dev created to deal w/ io
self.xdev = AsciiDevice(ZABER_ASCII_PORT, 1).axis(1)
self.ydev = AsciiDevice(ZABER_ASCII_PORT, 1).axis(2)
self.zdev = AsciiDevice(ZABER_ASCII_PORT, 2)
self.number_devices = 2
self.xdev.home()
self.ydev.home()
self.zdev.home()
self.cm = 2016
except:
print("No Connection!!")
#UI Setup
self.setObjectName("MainWindow")
self.resize(691, 876)
self.centralwidget = QtWidgets.QWidget(self)
self.centralwidget.setObjectName("centralwidget")
self.gridLayout_6 = QtWidgets.QGridLayout(self.centralwidget)
self.gridLayout_6.setObjectName("gridLayout_6")
self.gridLayout = QtWidgets.QGridLayout()
self.gridLayout.setSizeConstraint(QtWidgets.QLayout.SetNoConstraint)
self.gridLayout.setObjectName("gridLayout")
self.gridLayout_5 = QtWidgets.QGridLayout()
self.gridLayout_5.setObjectName("gridLayout_5")
self.verticalSlider = QtWidgets.QSlider(self.centralwidget)
self.verticalSlider.setOrientation(QtCore.Qt.Vertical)
self.verticalSlider.setObjectName("verticalSlider")
self.verticalSlider.setMaximum(143)
self.verticalSlider.valueChanged.connect(self.updateLCD)
self.gridLayout_5.addWidget(self.verticalSlider, 0, 0, 1, 1)
self.verticalLayout = QtWidgets.QVBoxLayout()
self.verticalLayout.setObjectName("verticalLayout")
self.label_8 = QtWidgets.QLabel(self.centralwidget)
self.label_8.setObjectName("label_8")
self.verticalLayout.addWidget(self.label_8)
self.lcdNumber = QtWidgets.QLCDNumber(self.centralwidget)
palette = QtGui.QPalette()
palette.setBrush(QtGui.QPalette.Active, QtGui.QPalette.WindowText,
QtGui.QBrush(QtGui.QColor('red')))
self.lcdNumber.setPalette(palette)
self.verticalLayout.addWidget(self.lcdNumber)
self.gridLayout_5.addLayout(self.verticalLayout, 0, 1, 1, 1)
self.gridLayout.addLayout(self.gridLayout_5, 3, 1, 1, 1)
self.gridLayout_3 = QtWidgets.QGridLayout()
self.gridLayout_3.setObjectName("gridLayout_3")
self.label_4 = QtWidgets.QLabel(self.centralwidget)
self.label_4.setObjectName("label_4")
self.gridLayout_3.addWidget(self.label_4, 0, 0, 1, 1)
self.plainTextEdit = QtWidgets.QPlainTextEdit(self.centralwidget)
self.plainTextEdit.setSizeAdjustPolicy(
QtWidgets.QAbstractScrollArea.AdjustToContents)
self.plainTextEdit.setReadOnly(True)
self.plainTextEdit.setObjectName("plainTextEdit")
self.gridLayout_3.addWidget(self.plainTextEdit, 1, 0, 1, 1)
self.label_5 = QtWidgets.QLabel(self.centralwidget)
self.label_5.setObjectName("label_5")
self.gridLayout_3.addWidget(self.label_5, 1, 1, 1, 1)
self.gridLayout.addLayout(self.gridLayout_3, 5, 1, 1, 1)
self.gridLayout_4 = QtWidgets.QGridLayout()
self.gridLayout_4.setObjectName("gridLayout_4")
self.lcdNumber_2 = QtWidgets.QLCDNumber(self.centralwidget)
self.lcdNumber_2.setObjectName("lcdNumber_2")
self.lcdNumber_2.setMinimumHeight(75)
self.lcdNumber_2.setPalette(palette)
self.gridLayout_4.addWidget(self.lcdNumber_2, 1, 1, 1, 1)
self.lcdNumber_3 = QtWidgets.QLCDNumber(self.centralwidget)
self.lcdNumber_3.setObjectName("lcdNumber_3")
self.lcdNumber_3.setPalette(palette)
self.gridLayout_4.addWidget(self.lcdNumber_3, 1, 0, 1, 1)
self.label_6 = QtWidgets.QLabel(self.centralwidget)
self.label_6.setObjectName("label_6")
self.gridLayout_4.addWidget(self.label_6, 0, 1, 1, 1)
self.label_7 = QtWidgets.QLabel(self.centralwidget)
self.label_7.setObjectName("label_7")
self.gridLayout_4.addWidget(self.label_7, 0, 0, 1, 1)
self.gridLayout.addLayout(self.gridLayout_4, 4, 0, 1, 1)
self.gridLayout_2 = QtWidgets.QGridLayout()
self.gridLayout_2.setObjectName("gridLayout_2")
self.pushButton_3 = QtWidgets.QPushButton(self.centralwidget)
self.pushButton_3.setObjectName("pushButton_3")
self.pushButton_3.clicked.connect(self.ButtAdjYUp)
self.gridLayout_2.addWidget(self.pushButton_3, 0, 0, 1, 1)
self.pushButton_4 = QtWidgets.QPushButton(self.centralwidget)
self.pushButton_4.setObjectName("pushButton_4")
self.pushButton_4.clicked.connect(self.ButtAdjYDn)
self.gridLayout_2.addWidget(self.pushButton_4, 2, 0, 1, 1)
self.horizontalLayout = QtWidgets.QHBoxLayout()
self.horizontalLayout.setObjectName("horizontalLayout")
self.pushButton_6 = QtWidgets.QPushButton(self.centralwidget)
self.pushButton_6.setObjectName("pushButton_6")
self.pushButton_6.clicked.connect(self.ButtAdjXUp)
self.horizontalLayout.addWidget(self.pushButton_6)
self.frame = QtWidgets.QFrame(self.centralwidget)
self.frame.setFrameShape(QtWidgets.QFrame.StyledPanel)
self.frame.setMinimumSize(200, 200)
self.frame.setFrameShadow(QtWidgets.QFrame.Raised)
self.frame.setObjectName("frame")
self.horizontalLayout.addWidget(self.frame)
self.joystick = Joystick(self.frame)
#need to find a way to connect joystick to handler to use successfully
#print(self.joystick.property("clicked"))
#self.joystick.clicked.connect(self.JoyWrangler)
self.horizontalLayout.addWidget(self.joystick)
self.pushButton_5 = QtWidgets.QPushButton(self.centralwidget)
self.pushButton_5.setObjectName("pushButton_5")
self.pushButton_5.clicked.connect(self.ButtAdjXDn)
self.horizontalLayout.addWidget(self.pushButton_5)
self.gridLayout_2.addLayout(self.horizontalLayout, 1, 0, 1, 1)
self.gridLayout.addLayout(self.gridLayout_2, 3, 0, 1, 1)
self.label_2 = QtWidgets.QLabel(self.centralwidget)
self.label_2.setObjectName("label_2")
self.gridLayout.addWidget(self.label_2, 1, 0, 1, 1)
self.pushButton_2 = QtWidgets.QPushButton(self.centralwidget)
self.pushButton_2.setObjectName("pushButton_2")
self.pushButton_2.clicked.connect(self.ButtAdjZDn)
self.gridLayout.addWidget(self.pushButton_2, 4, 1, 1, 1)
self.label = QtWidgets.QLabel(self.centralwidget)
self.label.setObjectName("label")
self.gridLayout.addWidget(self.label, 1, 1, 1, 1)
self.label_3 = QtWidgets.QLabel(self.centralwidget)
self.label_3.setObjectName("label_3")
self.gridLayout.addWidget(self.label_3, 0, 0, 1, 1)
self.pushButton = QtWidgets.QPushButton(self.centralwidget)
self.pushButton.setObjectName("pushButton")
self.pushButton.clicked.connect(self.ButtAdjZUp)
self.gridLayout.addWidget(self.pushButton, 2, 1, 1, 1)
self.label_9 = QtWidgets.QLabel(self.centralwidget)
self.label_9.setObjectName("label_9")
self.gridLayout.addWidget(self.label_9, 6, 0, 1, 1)
self.label_10 = QtWidgets.QLabel(self.centralwidget)
self.label_10.setObjectName("label_10")
self.gridLayout.addWidget(self.label_10, 7, 0, 1, 1)
self.pushButton_8 = QtWidgets.QPushButton(self.centralwidget)
self.pushButton_8.setObjectName("pushButton_8")
self.pushButton_8.setCheckable(True)
self.pushButton_8.clicked[bool].connect(self.FIRE)
self.gridLayout.addWidget(self.pushButton_8, 5, 0, 1, 1)
self.label_11 = QtWidgets.QLabel(self.centralwidget)
self.label_11.setObjectName("label_11")
self.gridLayout.addWidget(self.label_11, 8, 0, 1, 1)
self.horizontalLayout_2 = QtWidgets.QHBoxLayout()
self.horizontalLayout_2.setObjectName("horizontalLayout_2")
self.plainTextEdit_2 = QtWidgets.QPlainTextEdit(self.centralwidget)
self.plainTextEdit_2.setSizeAdjustPolicy(
QtWidgets.QAbstractScrollArea.AdjustToContents)
self.plainTextEdit_2.setObjectName("plainTextEdit_2")
self.plainTextEdit_2.setReadOnly(True)
self.horizontalLayout_2.addWidget(self.plainTextEdit_2)
self.label_12 = QtWidgets.QLabel(self.centralwidget)
self.label_12.setObjectName("label_12")
self.horizontalLayout_2.addWidget(self.label_12)
self.gridLayout.addLayout(self.horizontalLayout_2, 6, 1, 1, 1)
self.horizontalLayout_3 = QtWidgets.QHBoxLayout()
self.horizontalLayout_3.setObjectName("horizontalLayout_3")
self.plainTextEdit_3 = QtWidgets.QPlainTextEdit(self.centralwidget)
self.plainTextEdit_3.setSizeAdjustPolicy(
QtWidgets.QAbstractScrollArea.AdjustToContents)
self.plainTextEdit_3.setObjectName("plainTextEdit_3")
self.plainTextEdit_3.setReadOnly(True)
self.horizontalLayout_3.addWidget(self.plainTextEdit_3)
self.label_13 = QtWidgets.QLabel(self.centralwidget)
self.label_13.setObjectName("label_13")
self.horizontalLayout_3.addWidget(self.label_13)
self.gridLayout.addLayout(self.horizontalLayout_3, 7, 1, 1, 1)
self.horizontalLayout_4 = QtWidgets.QHBoxLayout()
self.horizontalLayout_4.setObjectName("horizontalLayout_4")
self.plainTextEdit_4 = QtWidgets.QPlainTextEdit(self.centralwidget)
self.plainTextEdit_4.setSizeAdjustPolicy(
QtWidgets.QAbstractScrollArea.AdjustToContents)
self.plainTextEdit_4.setObjectName("plainTextEdit_4")
self.plainTextEdit_4.setReadOnly(True)
self.horizontalLayout_4.addWidget(self.plainTextEdit_4)
self.label_14 = QtWidgets.QLabel(self.centralwidget)
self.label_14.setObjectName("label_14")
self.horizontalLayout_4.addWidget(self.label_14)
self.gridLayout.addLayout(self.horizontalLayout_4, 8, 1, 1, 1)
self.gridLayout_6.addLayout(self.gridLayout, 0, 0, 1, 1)
self.setCentralWidget(self.centralwidget)
self.menubar = QtWidgets.QMenuBar(self)
self.menubar.setGeometry(QtCore.QRect(0, 0, 691, 21))
self.menubar.setObjectName("menubar")
self.setMenuBar(self.menubar)
self.statusbar = QtWidgets.QStatusBar(self)
self.statusbar.setObjectName("statusbar")
self.setStatusBar(self.statusbar)
self.retranslateUi(self)
QtCore.QMetaObject.connectSlotsByName(self)
def ButtAdjZUp(self):
self.verticalSlider.setValue(self.verticalSlider.value() + 1)
print("+1cm Z")
#individual handlers for each button is inefficient, fix later
def ButtAdjZDn(self):
self.verticalSlider.setValue(self.verticalSlider.value() - 1)
print("-1cm Z")
def ButtAdjXUp(self):
try:
self.x = self.x + 1
except:
self.x = 1
self.lcdNumber_3.display(self.x)
print("+1cm X")
self.updateLCD3()
def ButtAdjXDn(self):
try:
if self.x > 0:
self.x = self.x - 1
print("-1cm X")
except:
self.x = 0
self.lcdNumber_3.display(self.x)
self.updateLCD3()
def ButtAdjYUp(self):
try:
self.y = self.y + 1
except:
self.y = 1
self.lcdNumber_2.display(self.y)
print("+1cm Y")
self.updateLCD2()
def ButtAdjYDn(self):
try:
if self.y > 0:
self.y = self.y - 1
print("-1cm Y")
except:
self.y = 0
self.lcdNumber_2.display(self.y)
self.updateLCD2()
def JoyWrangler(self):
#dysfunctional joystick handler
print("I'm in")
def FIRE(self, pressed):
if pressed:
print("ZAP!")
switch1 = self.iodev.send("io set do 1 1")
switch2 = self.iodev.send("io set do 2 1")
state = self.iodev.send("io get do")
else:
print("no zap")
switch1 = self.iodev.send("io set do 1 0")
switch2 = self.iodev.send("io set do 2 0")
state = self.iodev.send("io get do")
def updateLCD(self, event):
print(event)
self.lcdNumber.display(event)
#sleep(1) #delaying didn't seem to help the refresh lag
reply = self.zdev.move_abs(self.cm * self.lcdNumber.intValue())
def updateLCD3(self):
print('x beep beep')
reply = self.xdev.move_abs(self.cm * self.x)
def updateLCD2(self):
print('y beep beep')
reply = self.ydev.move_abs(self.cm * self.y)
def retranslateUi(self, MainWindow):
_translate = QtCore.QCoreApplication.translate
MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow"))
self.label_8.setText(_translate("MainWindow", "Z pos (cm)"))
self.label_4.setText(_translate("MainWindow", "Wire Length"))
self.label_5.setText(_translate("MainWindow", "cm"))
self.label_6.setText(_translate("MainWindow", "Y pos (cm)"))
self.label_7.setText(_translate("MainWindow", "X pos (cm)"))
self.pushButton_3.setText(_translate("MainWindow", "+y (1cm)"))
self.pushButton_4.setText(_translate("MainWindow", "-y (1cm)"))
self.pushButton_6.setText(_translate("MainWindow", "+x (1cm)"))
self.pushButton_5.setText(_translate("MainWindow", "-x (1cm)"))
self.label_2.setText(_translate("MainWindow", "XY Control"))
self.pushButton_2.setText(_translate("MainWindow", "-z (1cm)"))
self.label.setText(_translate("MainWindow", "Z Control"))
self.label_3.setText(
_translate("MainWindow", "Welcome to the PMA GUI!1!"))
self.pushButton.setText(_translate("MainWindow", "+z (1cm)"))
self.label_9.setText(_translate("MainWindow", "Wire Feed Delay"))
self.label_10.setText(_translate("MainWindow", "Arc Delay"))
self.pushButton_8.setText(_translate("MainWindow", "TEST FIRE"))
self.label_11.setText(_translate("MainWindow", "Velocity"))
self.label_12.setText(_translate("MainWindow", "Sec"))
self.label_13.setText(_translate("MainWindow", "Sec"))
self.label_14.setText(_translate("MainWindow", "fast"))
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
#wasd control not working currently, leaving it here
def keyPressEvent(self, e):
if e.key() == QtCore.Qt.Key_W:
print("+0.388455cm Y")
try:
self.y = self.y + 0.388455
except:
self.y = 0.388455
self.lcdNumber_2.display(self.y)
reply = self.ydev.move_vel(20 * self.cm)
elif e.key() == QtCore.Qt.Key_S:
try:
if self.y > 0:
self.y = self.y - 0.388455
print("-0.388455cm Y")
except:
self.y = 0
self.lcdNumber_2.display(self.y)
reply = self.ydev.move_vel(-(20 * self.cm))
elif e.key() == QtCore.Qt.Key_A:
print("+0.377799cm X")
try:
self.x = self.x + 0.377799
except:
self.x = 0.377799
self.lcdNumber_3.display(self.x)
reply = self.xdev.move_vel(20 * self.cm)
elif e.key() == QtCore.Qt.Key_D:
try:
if self.x > 0:
self.x = self.x - 0.377799
print("-0.377799cm X")
except:
self.x = 0
self.lcdNumber_3.display(self.x)
reply = self.xdev.move_vel(-(20 * self.cm))
elif e.key() == QtCore.Qt.Key_Up:
#Z keyboard control isn't very useful compared to GUI so might remove
self.verticalSlider.setValue(self.verticalSlider.value() + 1)
print("+1cm Z")
elif e.key() == QtCore.Qt.Key_Down:
self.verticalSlider.setValue(self.verticalSlider.value() - 1)
print("-1cm Z")
def keyReleaseEvent(self, e):
if e.key() == QtCore.Qt.Key_W:
print('0y')
reply = self.ydev.move_vel(0)
elif e.key() == QtCore.Qt.Key_S:
print('0y')
reply = self.ydev.move_vel(0)
elif e.key() == QtCore.Qt.Key_A:
print('0x')
reply = self.xdev.move_vel(0)
elif e.key() == QtCore.Qt.Key_D:
print('0x')
reply = self.xdev.move_vel(0)
elif e.key() == QtCore.Qt.Key_Up:
print('0z')
elif e.key() == QtCore.Qt.Key_Down:
print('0z')
class Zaber_lin_stage(Instrument):
'''
None
'''
def __init__(self, name, device_number=1):
'''
None
'''
logging.info(__name__ +
' : Initializing instrument Zaber Linear Stage')
Instrument.__init__(self, name, tags=['physical'])
self.add_parameter('position',
units='',
type=types.IntType,
flags=Instrument.FLAG_GETSET +
Instrument.FLAG_GET_AFTER_SET)
self.add_parameter('device_number',
flags=Instrument.FLAG_GET,
type=types.StringType)
self._device_number = device_number
self.step_to_mm = 0.047625e-3
self.client = AsciiDevice(AsciiSerial("COM4"), device_number)
def poll_until_idle(self):
reply = self.client.poll_until_idle()
def home(self):
reply = self.client.home()
def move_rel(self, distance, blocking=True):
reply = self.client.move_rel(distance, blocking)
def move_rel_mm(self, distance, blocking=True):
reply = self.client.move_rel(int(distance / self.step_to_mm), blocking)
def move_abs(self, position, blocking=True):
reply = self.client.move_abs(position, blocking)
def move_abs_mm(self, position, blocking=True):
reply = self.client.move_abs(int(position / self.step_to_mm), blocking)
def move_vel(self, speed, blocking=False):
reply = self.client.move_vel(speed, blocking)
def move_vel_distance(self, vel, distance):
x0 = self.client.get_position()
speed = int(vel / self.step_to_mm)
d = int(distance / self.step_to_mm)
reply = self.client.move_vel(vel)
while (1):
x = self.client.get_position()
if (abs(x - x0) > d):
self.client.stop()
breaktnm
def stop(self):
reply = self.client.stop()
def current_status(self):
reply = self.client.get_status()
def current_position(self):
reply = self.client.get_position()
return reply