/
axes.py
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/
axes.py
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from PyQt5.QtWidgets import QMessageBox
from libmesact import utilities
from libmesact import dialogs
def copy_scale(parent):
if parent.lin_scale_joint_cb.currentData():
if len(parent.lin_scale_le.text()) > 0:
getattr(parent, f'{parent.lin_scale_joint_cb.currentData()}').setText(parent.lin_scale_le.text())
else:
msg = ('Scale must not be blank')
dialogs.errorMsgOk(msg, 'Error')
else:
msg = ('Select a Joint to copy to')
dialogs.errorMsgOk(msg, 'Error')
def copy_angular_scale(parent):
if parent.angluar_scale_joint_cb.currentData():
if len(parent.angular_scale_le.text()) > 0:
getattr(parent, f'{parent.angluar_scale_joint_cb.currentData()}').setText(parent.angular_scale_le.text())
else:
msg = ('Scale must not be blank')
dialogs.errorMsgOk(msg, 'Error')
else:
msg = ('Select a Joint to copy to')
dialogs.errorMsgOk(msg, 'Error')
def axisChanged(parent):
connector = parent.sender().objectName()[:3]
joint = parent.sender().objectName()[-1]
linear_axes = ['X', 'Y', 'Z', 'U', 'V', 'W']
angular_axes = ['A', 'B', 'C']
if parent.sender().currentData():
axis = parent.sender().currentText()
if axis in linear_axes:
getattr(parent, f'{connector}axisType_{joint}').setText('LINEAR')
parent.minAngJogVelDSB.setEnabled(False)
parent.defAngJogVelDSB.setEnabled(False)
parent.maxAngJogVelDSB.setEnabled(False)
elif axis in angular_axes:
getattr(parent, f'{connector}axisType_{joint}').setText('ANGULAR')
parent.minAngJogVelDSB.setEnabled(True)
parent.defAngJogVelDSB.setEnabled(True)
parent.maxAngJogVelDSB.setEnabled(True)
parent.angluar_scale_joint_cb.clear()
parent.angluar_scale_joint_cb.addItem('Select', False)
else:
getattr(parent, f'{connector}axisType_{joint}').setText('')
parent.minAngJogVelDSB.setEnabled(False)
parent.defAngJogVelDSB.setEnabled(False)
parent.maxAngJogVelDSB.setEnabled(False)
else:
getattr(parent, f'{connector}axisType_{joint}').setText('')
# update coordinates label
coordList = []
for i in range(3):
for j in range(6):
axis_letter = getattr(parent, f'c{i}_axis_{j}').currentText()
if axis_letter != 'Select':
coordList.append(axis_letter)
parent.coordinatesLB.setText(''.join(coordList))
if coordList:
parent.copy_linear_scale_pb.setEnabled(True)
parent.copy_angluar_scale_pb.setEnabled(True)
else:
parent.copy_linear_scale_pb.setEnabled(False)
parent.copy_angluar_scale_pb.setEnabled(False)
parent.lin_scale_joint_cb.clear()
parent.angluar_scale_joint_cb.clear()
# setup scale axes and joints
if set(linear_axes)&set(coordList):
parent.lin_scale_joint_cb.clear()
parent.lin_scale_joint_cb.addItem('Select', False)
for i in range(3):
for j in range(6):
axis_letter = getattr(parent, f'c{i}_axis_{j}').currentText()
if axis_letter in linear_axes:
parent.lin_scale_joint_cb.addItem(f'Axis {axis_letter} Joint {j} ', f'c{i}_scale_{j}')
else:
parent.lin_scale_joint_cb.clear()
if set(angular_axes)&set(coordList):
parent.angluar_scale_joint_cb.clear()
parent.angluar_scale_joint_cb.addItem('Select', False)
for i in range(3):
for j in range(6):
axis_letter = getattr(parent, f'c{i}_axis_{j}').currentText()
if axis_letter in angular_axes:
parent.angluar_scale_joint_cb.addItem(f'Axis {axis_letter} Joint {j} ', f'c{i}_scale_{j}')
else:
parent.angluar_scale_joint_cb.clear()
def updateAxisInfo(parent):
card = parent.sender().objectName()[:2]
joint = parent.sender().objectName()[-1]
scale = getattr(parent, f'{card}_scale_' + joint).text()
if scale and utilities.is_number(scale):
scale = float(scale)
else:
return
maxVelocity = getattr(parent, f'{card}_max_vel_' + joint).text()
if maxVelocity and utilities.is_number(maxVelocity):
maxVelocity = float(maxVelocity)
else:
return
maxAccel = getattr(parent, f'{card}_max_accel_' + joint).text()
if maxAccel and utilities.is_number(maxAccel):
maxAccel = float(maxAccel)
else:
return
if parent.linearUnitsCB.currentData():
accelTime = maxVelocity / maxAccel
getattr(parent, f'{card}_timeJoint_' + joint).setText(f'{accelTime:.3f} seconds')
accelDistance = accelTime * 0.5 * maxVelocity
getattr(parent, f'{card}_distanceJoint_' + joint).setText(f'{accelDistance:.3f} {parent.linearUnitsCB.currentData()}')
stepRate = scale * maxVelocity
getattr(parent, f'{card}_stepRateJoint_' + joint).setText(f'{abs(stepRate):.0f} Hz')
def pidSetDefault(parent):
connector = parent.sender().objectName()[:2]
joint = parent.sender().objectName()[-1]
if not parent.linearUnitsCB.currentData():
QMessageBox.warning(parent,'Warning', 'Settings Tab\nLinear Units\nmust be selected', QMessageBox.Ok)
return
if joint == 's':
getattr(parent, 'p_s').setValue(0)
getattr(parent, 'i_s').setValue(0)
getattr(parent, 'd_s').setValue(0)
getattr(parent, 'ff0_s').setValue(1)
getattr(parent, 'ff1_s').setValue(0)
getattr(parent, 'ff2_s').setValue(0)
getattr(parent, 'bias_s').setValue(0)
getattr(parent, 'maxOutput_s').setValue(parent.spindleMaxRpm.value())
getattr(parent, 'maxError_s').setValue(0)
getattr(parent, 'deadband_s').setValue(0)
return
p = int(1000/(parent.servoPeriodSB.value()/1000000))
getattr(parent, f'{connector}_p_{joint}').setText(f'{p}')
getattr(parent, f'{connector}_i_{joint}').setText('0')
getattr(parent, f'{connector}_d_{joint}').setText('0')
getattr(parent, f'{connector}_ff0_{joint}').setText('0')
getattr(parent, f'{connector}_ff1_{joint}').setText('1')
getattr(parent, f'{connector}_ff2_{joint}').setText('0')
getattr(parent, f'{connector}_bias_{joint}').setText('0')
getattr(parent, f'{connector}_maxOutput_{joint}').setText('0')
if parent.linearUnitsCB.itemData(parent.linearUnitsCB.currentIndex()) == 'inch':
maxError = '0.0005'
else:
maxError = '0.0127'
getattr(parent, f'{connector}_maxError_{joint}').setText(maxError)
getattr(parent, f'{connector}_deadband_{joint}').setText('0')
def ferrorSetDefault(parent):
if not parent.linearUnitsCB.currentData():
QMessageBox.warning(parent,'Warning', 'Machine Tab\nLinear Units\nmust be selected', QMessageBox.Ok)
return
connector = parent.sender().objectName()[:2]
joint = parent.sender().objectName()[-1]
if parent.linearUnitsCB.currentData() == 'inch':
getattr(parent, f'{connector}_max_ferror_{joint}').setText(' 0.002')
getattr(parent, f'{connector}_min_ferror_{joint}').setText(' 0.001')
else:
getattr(parent, f'{connector}_max_ferror_{joint}').setText(' 0.005')
getattr(parent, f'{connector}_min_ferror_{joint}').setText(' 0.0025')
def analogSetDefault(parent):
connector = parent.sender().objectName()[:2]
joint = parent.sender().objectName()[-1]
getattr(parent, f'{connector}_analogMinLimit_{joint}').setText('-10')
getattr(parent, f'{connector}_analogMaxLimit_{joint}').setText('10')
getattr(parent, f'{connector}_analogScaleMax_{joint}').setText('10')
def driveChanged(parent):
timing = parent.sender().currentData()
connector = parent.sender().objectName()[:3]
joint = f'_{parent.sender().objectName()[-1]}'
if parent.sender().objectName() == 'spindleDriveCB':
connector = 'spindle'
joint = ''
if timing:
parent.sender().setEditable(False)
getattr(parent, f'{connector}StepTime{joint}').setText(timing[0])
getattr(parent, f'{connector}StepSpace{joint}').setText(timing[1])
getattr(parent, f'{connector}DirSetup{joint}').setText(timing[2])
getattr(parent, f'{connector}DirHold{joint}').setText(timing[3])
getattr(parent, f'{connector}StepTime{joint}').setEnabled(False)
getattr(parent, f'{connector}StepSpace{joint}').setEnabled(False)
getattr(parent, f'{connector}DirSetup{joint}').setEnabled(False)
getattr(parent, f'{connector}DirHold{joint}').setEnabled(False)
else:
parent.sender().setEditable(True)
getattr(parent, f'{connector}StepTime{joint}').setEnabled(True)
getattr(parent, f'{connector}StepSpace{joint}').setEnabled(True)
getattr(parent, f'{connector}DirSetup{joint}').setEnabled(True)
getattr(parent, f'{connector}DirHold{joint}').setEnabled(True)
def spindleTypeChanged(parent):
connector = parent.sender().objectName()[1:2]
if parent.sender().currentData():
getattr(parent, f'c{connector}_spindle_pwm_freq').setEnabled(True)
getattr(parent, f'c{connector}_spindle_encoder').setEnabled(True)
else:
getattr(parent, f'c{connector}_spindle_pwm_freq').setEnabled(False)
getattr(parent, f'c{connector}_spindle_encoder').setCurrentIndex(0)
getattr(parent, f'c{connector}_spindle_encoder').setEnabled(False)
getattr(parent, f'c{connector}_spindle_scale').setEnabled(False)
def spindleEncoderChanged(parent):
connector = parent.sender().objectName()[1:2]
if parent.sender().currentData():
getattr(parent, f'c{connector}_spindle_scale').setEnabled(True)
else:
getattr(parent, f'c{connector}_spindle_scale').setEnabled(False)