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 PerformanceStepper(COMCUPluginBase, Ui_PerformanceStepper): def __init__(self, *args): COMCUPluginBase.__init__(self, BrickletPerformanceStepper, *args) self.setupUi(self) self.ps = self.device self.update_timer = QTimer(self) self.update_timer.timeout.connect(self.update_data) self.update_counter = 0 # Init register access elements self.parent_items = {} for register_name in registers.keys(): self.parent_items[register_name] = QTreeWidgetItem([register_name]) for pi in self.parent_items.values(): self.tree_widget.addTopLevelItem(pi) self.child_items = [] for name, rows in registers.items(): for row in rows: child = QTreeWidgetItem([row[0], hex(row[1]), row[2], '0', '']) self.child_items.append(child) self.parent_items[name].addChild(child) for pi in self.parent_items.values(): pi.setExpanded(True) self.tree_widget.itemClicked.connect(self.register_item_clicked) self.button_read_registers.clicked.connect(self.read_registers_clicked) self.button_write_register.clicked.connect(self.write_register_clicked) self.enable_checkbox.stateChanged.connect(self.enable_state_changed) self.maximum_motor_current_spinbox.valueChanged.connect( self.maximum_motor_current_changed) self.to_button.clicked.connect(self.to_button_clicked) self.steps_button.clicked.connect(self.steps_button_clicked) # Motion Configuration self.velocity_start_syncer = SliderSpinSyncer( self.velocity_start_slider, self.velocity_start_spinbox, self.motion_changed) self.velocity_stop_syncer = SliderSpinSyncer( self.velocity_stop_slider, self.velocity_stop_spinbox, self.motion_changed) self.velocity_1_syncer = SliderSpinSyncer(self.velocity_1_slider, self.velocity_1_spinbox, self.motion_changed) self.velocity_max_syncer = SliderSpinSyncer(self.velocity_max_slider, self.velocity_max_spinbox, self.motion_changed) self.acceleration_1_syncer = SliderSpinSyncer( self.acceleration_1_slider, self.acceleration_1_spinbox, self.motion_changed) self.acceleration_max_syncer = SliderSpinSyncer( self.acceleration_max_slider, self.acceleration_max_spinbox, self.motion_changed) self.deceleration_max_syncer = SliderSpinSyncer( self.deceleration_max_slider, self.deceleration_max_spinbox, self.motion_changed) self.deceleration_1_syncer = SliderSpinSyncer( self.deceleration_1_slider, self.deceleration_1_spinbox, self.motion_changed) self.ramp_zero_wait_syncer = SliderSpinSyncer( self.ramp_zero_wait_slider, self.ramp_zero_wait_spinbox, self.motion_changed) # 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.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.high_velocity_fullstep_checkbox.stateChanged.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.offset_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.enable_autogradient_checkbox.stateChanged.connect( self.stealth_configuration_changed) self.freewheel_mode_combo.currentIndexChanged.connect( self.stealth_configuration_changed) self.regulation_loop_gradient_spin.valueChanged.connect( self.stealth_configuration_changed) self.amplitude_limit_spin.valueChanged.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) # Short Configuration self.disable_short_to_voltage_protection_checkbox.stateChanged.connect( self.short_configuration_changed) self.disable_short_to_ground_protection_checkbox.stateChanged.connect( self.short_configuration_changed) self.short_to_voltage_level_spin.valueChanged.connect( self.short_configuration_changed) self.short_to_ground_level_spin.valueChanged.connect( self.short_configuration_changed) self.spike_filter_bandwidth_combo.currentIndexChanged.connect( self.short_configuration_changed) self.short_detection_delay_checkbox.stateChanged.connect( self.short_configuration_changed) self.filter_time_combo.currentIndexChanged.connect( self.short_configuration_changed) def motion_changed(self, _): ramping_mode = self.ramping_mode_combobox.currentIndex() velocity_start = self.velocity_start_slider.value() acceleration_1 = self.acceleration_1_slider.value() velocity_1 = self.velocity_1_slider.value() acceleration_max = self.acceleration_max_slider.value() velocity_max = self.velocity_max_slider.value() deceleration_max = self.deceleration_max_slider.value() deceleration_1 = self.deceleration_1_slider.value() velocity_stop = self.velocity_stop_slider.value() ramp_zero_wait = self.ramp_zero_wait_slider.value() motion_configuration = (ramping_mode, velocity_start, acceleration_1, velocity_1, acceleration_max, velocity_max, deceleration_max, deceleration_1, velocity_stop, ramp_zero_wait) self.ps.set_motion_configuration(*motion_configuration) def register_item_clicked(self, item, column): try: reg = int(item.text(1), 16) value = int(item.text(3)) self.spinbox_write_register.setValue(reg) self.spinbox_write_value.setValue(value) except: pass def read_registers_clicked(self): for child in self.child_items: reg = int(child.text(1), 0) ret = self.ps.read_register(reg) child.setText(3, str(ret.value)) def write_register_clicked(self): reg = self.spinbox_write_register.value() value = self.spinbox_write_value.value() ret = self.ps.write_register(reg, value) def start(self): async_call(self.ps.get_motion_configuration, None, self.get_motion_configuration_async, self.increase_error_count) async_call(self.ps.get_step_configuration, None, self.get_step_configuration_async, self.increase_error_count) async_call(self.ps.get_motor_current, None, self.get_motor_current_async, self.increase_error_count) async_call(self.ps.get_enabled, None, self.get_enabled_async, self.increase_error_count) async_call(self.ps.get_step_configuration, None, self.get_step_configuration_async, self.increase_error_count) async_call(self.ps.get_basic_configuration, None, self.get_basic_configuration_async, self.increase_error_count) async_call(self.ps.get_spreadcycle_configuration, None, self.get_spreadcycle_configuration_async, self.increase_error_count) async_call(self.ps.get_stealth_configuration, None, self.get_stealth_configuration_async, self.increase_error_count) async_call(self.ps.get_coolstep_configuration, None, self.get_coolstep_configuration_async, self.increase_error_count) async_call(self.ps.get_short_configuration, None, self.get_short_configuration_async, self.increase_error_count) self.update_timer.start(100) def stop(self): self.update_timer.stop() def destroy(self): pass @staticmethod def has_device_identifier(device_identifier): return device_identifier == BrickletPerformanceStepper.DEVICE_IDENTIFIER def update_data(self): async_call(self.ps.get_remaining_steps, None, self.get_remaining_steps_async, self.increase_error_count) async_call(self.ps.get_current_position, None, self.get_current_position_async, self.increase_error_count) async_call(self.ps.get_current_velocity, None, self.get_current_velocity_async, self.increase_error_count) self.update_counter += 1 if self.update_counter % 10 == 0: async_call(self.ps.get_input_voltage, None, self.get_input_voltage_async, self.increase_error_count) async_call(self.ps.get_driver_status, None, self.get_driver_status_async, self.increase_error_count) async_call(self.ps.get_temperature, None, self.get_temperature_async, self.increase_error_count) def to_button_clicked(self): drive_to = self.to_spin.value() try: self.ps.set_target_position(drive_to) except ip_connection.Error: return def steps_button_clicked(self): drive_steps = self.steps_spin.value() try: self.ps.set_steps(drive_steps) except ip_connection.Error: return def enable_state_changed(self, state): self.ps.set_enabled(state == Qt.Checked) def maximum_motor_current_changed(self, value): try: self.ps.set_motor_current(value) except ip_connection.Error: return def step_configuration_changed(self, _): step_resolution = self.step_resolution_dropbox.currentIndex() interpolation = self.interpolate_checkbox.isChecked() try: self.ps.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.ps.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() 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() high_velocity_fullstep = self.high_velocity_fullstep_checkbox.isChecked( ) fast_decay_without_comparator = self.fast_decay_without_comparator_checkbox.isChecked( ) try: self.ps.set_spreadcycle_configuration( slow_decay_duration, high_velocity_fullstep, 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() offset = self.offset_spin.value() gradient = self.gradient_spin.value() enable_autoscale = self.enable_autoscale_checkbox.isChecked() enable_autogradient = self.enable_autogradient_checkbox.isChecked() freewheel_mode = self.freewheel_mode_combo.currentIndex() regulation_loop_gradient = self.regulation_loop_gradient_spin.value() amplitude_limit = self.amplitude_limit_spin.value() try: self.ps.set_stealth_configuration(enable_stealth, offset, gradient, enable_autoscale, enable_autogradient, freewheel_mode, regulation_loop_gradient, amplitude_limit) 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.ps.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 short_configuration_changed(self, _): disable_short_to_voltage_protection = self.disable_short_to_voltage_protection_checkbox.isChecked( ) disable_short_to_ground_protection = self.disable_short_to_ground_protection_checkbox.isChecked( ) short_to_voltage_level = self.short_to_voltage_level_spin.value() short_to_ground_level = self.short_to_ground_level_spin.value() spike_filter_bandwidth = self.spike_filter_bandwidth_combo.currentIndex( ) short_detection_delay = self.short_detection_delay_checkbox.isChecked() filter_time = self.filter_time_combo.currentIndex() try: self.ps.set_short_configuration( disable_short_to_voltage_protection, disable_short_to_ground_protection, short_to_voltage_level, short_to_ground_level, spike_filter_bandwidth, short_detection_delay, filter_time) except ip_connection.Error: return def get_remaining_steps_async(self, remaining_steps): self.remaining_steps_label.setText(str(remaining_steps)) def get_current_position_async(self, current_position): self.position_label.setText(str(current_position)) def get_current_velocity_async(self, current_velocity): self.velocity_label.setText(str(current_velocity)) def get_input_voltage_async(self, input_voltage): self.input_voltage_label.setText('{0:.1f}V'.format(input_voltage / 1000)) def get_temperature_async(self, temperature): self.status_temperature.setText('{0:.1f}°C'.format(temperature / 10)) def get_driver_status_async(self, driver_status): if driver_status.open_load == 0: self.status_open_load.setText('No') elif driver_status.open_load == 1: self.status_open_load.setText('Phase A') elif driver_status.open_load == 2: self.status_open_load.setText('Phase B') elif driver_status.open_load == 3: self.status_open_load.setText('Phase A and B') else: self.status_open_load.setText('Unknown') if driver_status.short_to_ground == 0: self.status_short_to_ground.setText('No') elif driver_status.short_to_ground == 1: self.status_short_to_ground.setText('Phase A') elif driver_status.short_to_ground == 2: self.status_short_to_ground.setText('Phase B') elif driver_status.short_to_ground == 3: self.status_short_to_ground.setText('Phase A and B') else: self.status_short_to_ground.setText('Unknown') if driver_status.over_temperature == 0: self.status_over_temperature.setText('No') elif driver_status.over_temperature == 1: self.status_over_temperature.setText( '<font color=yellow>Warning</font>') elif driver_status.over_temperature == 2: self.status_over_temperature.setText( '<font color=red>Limit</font>') if driver_status.motor_stalled: self.status_motor_stalled.setText('Yes') else: self.status_motor_stalled.setText('No') self.status_actual_motor_current.setText( str(driver_status.actual_motor_current)) if driver_status.full_step_active: self.status_full_step_active.setText('Yes') else: self.status_full_step_active.setText('No') self.status_stallguard_result.setText( str(driver_status.stallguard_result)) self.status_stealth_voltage_amplitude.setText( str(driver_status.stealth_voltage_amplitude)) def get_enabled_async(self, enabled): old_state = self.enable_checkbox.blockSignals(True) self.enable_checkbox.setChecked(enabled) self.enable_checkbox.blockSignals(old_state) def get_motor_current_async(self, value): old_state = self.maximum_motor_current_spinbox.blockSignals(True) self.maximum_motor_current_spinbox.setValue(value) self.maximum_motor_current_spinbox.blockSignals(old_state) def get_step_configuration_async(self, conf): old_state = self.step_resolution_dropbox.blockSignals(True) self.step_resolution_dropbox.setCurrentIndex(conf.step_resolution) self.step_resolution_dropbox.blockSignals(old_state) old_state = self.interpolate_checkbox.blockSignals(True) self.interpolate_checkbox.setChecked(conf.interpolation) self.interpolate_checkbox.blockSignals(old_state) def get_motion_configuration_async(self, conf): self.velocity_start_syncer.set_value(conf.velocity_start) self.acceleration_1_syncer.set_value(conf.acceleration_1) self.velocity_1_syncer.set_value(conf.velocity_1) self.acceleration_max_syncer.set_value(conf.acceleration_max) self.velocity_max_syncer.set_value(conf.velocity_max) self.deceleration_max_syncer.set_value(conf.deceleration_max) self.deceleration_1_syncer.set_value(conf.deceleration_1) self.velocity_stop_syncer.set_value(conf.velocity_stop) self.ramp_zero_wait_syncer.set_value(conf.ramp_zero_wait) self.ramping_mode_combobox.setCurrentIndex(conf.ramping_mode) def get_basic_configuration_async(self, conf): old_state = self.standstill_current_spin.blockSignals(True) self.standstill_current_spin.setValue(conf.standstill_current) self.standstill_current_spin.blockSignals(old_state) old_state = self.motor_run_current_spin.blockSignals(True) self.motor_run_current_spin.setValue(conf.motor_run_current) self.motor_run_current_spin.blockSignals(old_state) old_state = self.standstill_delay_time_spin.blockSignals(True) self.standstill_delay_time_spin.setValue(conf.standstill_delay_time) self.standstill_delay_time_spin.blockSignals(old_state) old_state = self.power_down_time_spin.blockSignals(True) self.power_down_time_spin.setValue(conf.power_down_time) self.power_down_time_spin.blockSignals(old_state) old_state = self.stealth_threshold_spin.blockSignals(True) self.stealth_threshold_spin.setValue(conf.stealth_threshold) self.stealth_threshold_spin.blockSignals(old_state) old_state = self.coolstep_threashold_spin.blockSignals(True) self.coolstep_threashold_spin.setValue(conf.coolstep_threshold) self.coolstep_threashold_spin.blockSignals(old_state) old_state = self.classic_threshold_spin.blockSignals(True) self.classic_threshold_spin.setValue(conf.classic_threshold) self.classic_threshold_spin.blockSignals(old_state) old_state = 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(old_state) def get_spreadcycle_configuration_async(self, conf): old_state = self.slow_decay_duration_spin.blockSignals(True) self.slow_decay_duration_spin.setValue(conf.slow_decay_duration) self.slow_decay_duration_spin.blockSignals(old_state) old_state = self.fast_decay_duration_spin.blockSignals(True) self.fast_decay_duration_spin.setValue(conf.fast_decay_duration) self.fast_decay_duration_spin.blockSignals(old_state) old_state = self.hysteresis_start_value_spin.blockSignals(True) self.hysteresis_start_value_spin.setValue(conf.hysteresis_start_value) self.hysteresis_start_value_spin.blockSignals(old_state) old_state = self.hysteresis_end_value_spin.blockSignals(True) self.hysteresis_end_value_spin.setValue(conf.hysteresis_end_value) self.hysteresis_end_value_spin.blockSignals(old_state) old_state = self.sine_wave_offset_spin.blockSignals(True) self.sine_wave_offset_spin.setValue(conf.sine_wave_offset) self.sine_wave_offset_spin.blockSignals(old_state) old_state = self.chopper_mode_combo.blockSignals(True) self.chopper_mode_combo.setCurrentIndex(conf.chopper_mode) self.chopper_mode_combo.blockSignals(old_state) old_state = self.standstill_current_spin.blockSignals(True) self.comparator_blank_time_combo.setCurrentIndex( conf.comparator_blank_time) self.standstill_current_spin.blockSignals(old_state) old_state = self.high_velocity_fullstep_checkbox.blockSignals(True) self.high_velocity_fullstep_checkbox.setChecked( conf.high_velocity_fullstep) self.high_velocity_fullstep_checkbox.blockSignals(old_state) old_state = 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(old_state) def get_stealth_configuration_async(self, conf): old_state = self.enable_stealth_checkbox.blockSignals(True) self.enable_stealth_checkbox.setChecked(conf.enable_stealth) self.enable_stealth_checkbox.blockSignals(old_state) old_state = self.offset_spin.blockSignals(True) self.offset_spin.setValue(conf.offset) self.offset_spin.blockSignals(old_state) old_state = self.gradient_spin.blockSignals(True) self.gradient_spin.setValue(conf.gradient) self.gradient_spin.blockSignals(old_state) old_state = self.enable_autoscale_checkbox.blockSignals(True) self.enable_autoscale_checkbox.setChecked(conf.enable_autoscale) self.enable_autoscale_checkbox.blockSignals(old_state) old_state = self.enable_autogradient_checkbox.blockSignals(True) self.enable_autogradient_checkbox.setChecked(conf.enable_autogradient) self.enable_autogradient_checkbox.blockSignals(old_state) old_state = self.freewheel_mode_combo.blockSignals(True) self.freewheel_mode_combo.setCurrentIndex(conf.freewheel_mode) self.freewheel_mode_combo.blockSignals(old_state) old_state = self.regulation_loop_gradient_spin.blockSignals(True) self.regulation_loop_gradient_spin.setValue( conf.regulation_loop_gradient) self.regulation_loop_gradient_spin.blockSignals(old_state) old_state = self.amplitude_limit_spin.blockSignals(True) self.amplitude_limit_spin.setValue(conf.amplitude_limit) self.amplitude_limit_spin.blockSignals(old_state) def get_coolstep_configuration_async(self, conf): old_state = self.minimum_stallguard_value_spin.blockSignals(True) self.minimum_stallguard_value_spin.setValue( conf.minimum_stallguard_value) self.minimum_stallguard_value_spin.blockSignals(old_state) old_state = self.maximum_stallguard_value_spin.blockSignals(True) self.maximum_stallguard_value_spin.setValue( conf.maximum_stallguard_value) self.maximum_stallguard_value_spin.blockSignals(old_state) old_state = 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(old_state) old_state = 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(old_state) old_state = self.minimum_current_combo.blockSignals(True) self.minimum_current_combo.setCurrentIndex(conf.minimum_current) self.minimum_current_combo.blockSignals(old_state) old_state = self.stallguard_threshold_value_spin.blockSignals(True) self.stallguard_threshold_value_spin.setValue( conf.stallguard_threshold_value) self.stallguard_threshold_value_spin.blockSignals(old_state) old_state = self.stallguard_mode_combo.blockSignals(True) self.stallguard_mode_combo.setCurrentIndex(conf.stallguard_mode) self.stallguard_mode_combo.blockSignals(old_state) def get_short_configuration_async(self, conf): old_state = self.disable_short_to_voltage_protection_checkbox.blockSignals( True) self.disable_short_to_voltage_protection_checkbox.setChecked( conf.disable_short_to_voltage_protection) self.disable_short_to_voltage_protection_checkbox.blockSignals( old_state) old_state = 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( old_state) old_state = self.short_to_voltage_level_spin.blockSignals(True) self.short_to_voltage_level_spin.setValue(conf.short_to_voltage_level) self.short_to_voltage_level_spin.blockSignals(old_state) old_state = self.short_to_ground_level_spin.blockSignals(True) self.short_to_ground_level_spin.setValue(conf.short_to_ground_level) self.short_to_ground_level_spin.blockSignals(old_state) old_state = self.spike_filter_bandwidth_combo.blockSignals(True) self.spike_filter_bandwidth_combo.setCurrentIndex( conf.spike_filter_bandwidth) self.spike_filter_bandwidth_combo.blockSignals(old_state) old_state = self.short_detection_delay_checkbox.blockSignals(True) self.short_detection_delay_checkbox.setChecked( conf.short_detection_delay) self.short_detection_delay_checkbox.blockSignals(old_state) old_state = self.filter_time_combo.blockSignals(True) self.filter_time_combo.setCurrentIndex(conf.filter_time) self.filter_time_combo.blockSignals(old_state)
class PerformanceDC(COMCUPluginBase, Ui_PerformanceDC): def __init__(self, *args): COMCUPluginBase.__init__(self, BrickletPerformanceDC, *args) self.setupUi(self) self.dc = self.device 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_stop_rising_check.stateChanged.connect( lambda: self.gpio_action_changed(0)) self.gpio0_stop_falling_check.stateChanged.connect( lambda: self.gpio_action_changed(0)) self.gpio0_brake_rising_check.stateChanged.connect( lambda: self.gpio_action_changed(0)) self.gpio0_brake_falling_check.stateChanged.connect( lambda: self.gpio_action_changed(0)) self.gpio1_stop_rising_check.stateChanged.connect( lambda: self.gpio_action_changed(1)) self.gpio1_stop_falling_check.stateChanged.connect( lambda: self.gpio_action_changed(1)) self.gpio1_brake_rising_check.stateChanged.connect( lambda: self.gpio_action_changed(1)) self.gpio1_brake_falling_check.stateChanged.connect( lambda: 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.dc.get_power_statistics, None, self.get_power_statistics_async, self.increase_error_count) self.cbe_current_velocity = CallbackEmulator( self.dc.get_current_velocity, None, self.get_current_velocity_async, self.increase_error_count) self.cbe_gpio_state = CallbackEmulator(self.dc.get_gpio_state, None, self.get_gpio_state_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) 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) 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 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: self.gpio0_stop_rising_check.setChecked( (action & self.dc.GPIO_ACTION_NORMAL_STOP_RISING_EDGE) != 0) self.gpio0_stop_falling_check.setChecked( (action & self.dc.GPIO_ACTION_NORMAL_STOP_FALLING_EDGE) != 0) self.gpio0_brake_rising_check.setChecked( (action & self.dc.GPIO_ACTION_FULL_BRAKE_RISING_EDGE) != 0) self.gpio0_brake_falling_check.setChecked( (action & self.dc.GPIO_ACTION_FULL_BRAKE_FALLING_EDGE) != 0) elif channel == 1: self.gpio1_stop_rising_check.setChecked( (action & self.dc.GPIO_ACTION_NORMAL_STOP_RISING_EDGE) != 0) self.gpio1_stop_falling_check.setChecked( (action & self.dc.GPIO_ACTION_NORMAL_STOP_FALLING_EDGE) != 0) self.gpio1_brake_rising_check.setChecked( (action & self.dc.GPIO_ACTION_FULL_BRAKE_RISING_EDGE) != 0) self.gpio1_brake_falling_check.setChecked( (action & self.dc.GPIO_ACTION_FULL_BRAKE_FALLING_EDGE) != 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): action = 0 if channel == 0: if self.gpio0_stop_rising_check.isChecked(): action = action | self.dc.GPIO_ACTION_NORMAL_STOP_RISING_EDGE if self.gpio0_stop_falling_check.isChecked(): action = action | self.dc.GPIO_ACTION_NORMAL_STOP_FALLING_EDGE if self.gpio0_brake_rising_check.isChecked(): action = action | self.dc.GPIO_ACTION_FULL_BRAKE_RISING_EDGE if self.gpio0_brake_falling_check.isChecked(): action = action | self.dc.GPIO_ACTION_FULL_BRAKE_FALLING_EDGE elif channel == 1: if self.gpio1_stop_rising_check.isChecked(): action = action | self.dc.GPIO_ACTION_NORMAL_STOP_RISING_EDGE if self.gpio1_stop_falling_check.isChecked(): action = action | self.dc.GPIO_ACTION_NORMAL_STOP_FALLING_EDGE if self.gpio1_brake_rising_check.isChecked(): action = action | self.dc.GPIO_ACTION_FULL_BRAKE_RISING_EDGE if self.gpio1_brake_falling_check.isChecked(): action = action | self.dc.GPIO_ACTION_FULL_BRAKE_FALLING_EDGE # TODO: Retain callback configuration 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)
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)