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feat: motor move to absolute (X,Y) coordinates

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This commit is contained in:
wyzula-jan
2023-08-21 11:55:49 +02:00
parent 2d1665c76b
commit cbe27e46cf
2 changed files with 63 additions and 0 deletions
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37
bec_widgets/examples/motor_movement/motor_controller.ui
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@ -138,6 +138,43 @@
</item> </item>
</layout> </layout>
</item> </item>
<item>
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="1">
<widget class="QLabel" name="label_6">
<property name="text">
<string>X</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_7">
<property name="text">
<string>Y</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QPushButton" name="pushButton_go_absolute">
<property name="text">
<string>Go</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QSpinBox" name="spinBox_absolute_x"/>
</item>
<item row="1" column="2">
<widget class="QSpinBox" name="spinBox_absolute_y"/>
</item>
</layout>
</item>
<item> <item>
<widget class="QPushButton" name="pushButton_stop"> <widget class="QPushButton" name="pushButton_stop">
<property name="text"> <property name="text">

26
bec_widgets/examples/motor_movement/motor_example.py
View File

@ -12,6 +12,7 @@ import pyqtgraph as pg
class MotorApp(QWidget): class MotorApp(QWidget):
motor_position = pyqtSignal(float) # TODO hook to motor position update motor_position = pyqtSignal(float) # TODO hook to motor position update
motor_update = pyqtSignal() motor_update = pyqtSignal()
motor_position_xy = pyqtSignal(list)
def __init__(self): def __init__(self):
super().__init__() super().__init__()
@ -72,6 +73,13 @@ class MotorApp(QWidget):
self.checkBox_enableArrows.stateChanged.connect(self.update_arrow_key_shortcuts) self.checkBox_enableArrows.stateChanged.connect(self.update_arrow_key_shortcuts)
self.update_arrow_key_shortcuts() self.update_arrow_key_shortcuts()
# Move to absolute coordinates
self.pushButton_go_absolute.clicked.connect(
lambda: self.move_motor_coordinates(
[self.spinBox_absolute_x.value(), self.spinBox_absolute_y.value()]
)
)
# SpinBoxes - Motor Limits #TODO make spinboxes own limits updated, currently is [-1000, 1000] # SpinBoxes - Motor Limits #TODO make spinboxes own limits updated, currently is [-1000, 1000]
# manually set limits before readout #TODO will be removed when spinboxes have own limits # manually set limits before readout #TODO will be removed when spinboxes have own limits
# dev.samx.low_limit = -100 # dev.samx.low_limit = -100
@ -100,6 +108,7 @@ class MotorApp(QWidget):
# Map # Map
self.motor_position.connect(lambda x: self.update_image_map(*self.get_xy())) self.motor_position.connect(lambda x: self.update_image_map(*self.get_xy()))
self.motor_update.connect(lambda: self.update_image_map(*self.get_xy()))
self.motor_position.connect(lambda x: print(f"motor position updated: {x}")) self.motor_position.connect(lambda x: print(f"motor position updated: {x}"))
self.motor_update.connect( self.motor_update.connect(
@ -207,6 +216,8 @@ class MotorApp(QWidget):
while status.status not in ["COMPLETED", "STOPPED"]: while status.status not in ["COMPLETED", "STOPPED"]:
print(status.status) print(status.status)
motor_position = motor.position()
self.motor_position.emit(motor_position)
# return status # return status
except Exception as e: except Exception as e:
@ -217,6 +228,21 @@ class MotorApp(QWidget):
self.motor_position.emit(motor_position) self.motor_position.emit(motor_position)
self.motor_update.emit() self.motor_update.emit()
def move_motor_coordinates(self, coor: list) -> None:
try:
status = scans.mv(dev.samx, coor[0], dev.samy, coor[1], relative=False)
while status.status not in ["COMPLETED", "STOPPED"]:
print(status.status)
except Exception as e:
print(e)
# motor_position = self.get_xy()
# self.motor_position_xy.emit(motor_position)
self.motor_update.emit()
def get_xy(self): # TODO decide if useful def get_xy(self): # TODO decide if useful
"""Get current motor position""" """Get current motor position"""
x = dev.samx.position() x = dev.samx.position()