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feat: map of motor position

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wyzula-jan
2023-08-18 11:30:31 +02:00
parent 947ba9f8b7
commit e6952a6d13
2 changed files with 177 additions and 126 deletions
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254
bec_widgets/examples/motor_movement/motor_controller.ui
View File

@ -13,139 +13,143 @@
<property name="windowTitle">
<string>Motor Controller</string>
</property>
<layout class="QGridLayout" name="gridLayout_3" columnstretch="1,1,1" columnminimumwidth="0,0,0">
<item row="4" column="2">
<widget class="QGroupBox" name="groupBox">
<property name="enabled">
<bool>false</bool>
</property>
<property name="title">
<string>Motor Limits</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="2">
<widget class="QLabel" name="label">
<property name="text">
<string>+ samy</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QSpinBox" name="spinBox_samxN"/>
</item>
<item row="2" column="2">
<widget class="QPushButton" name="pushButton">
<property name="text">
<string>Update</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QSpinBox" name="spinBox_samyN"/>
</item>
<item row="4" column="2">
<widget class="QLabel" name="label_2">
<property name="text">
<string>- samy</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QSpinBox" name="spinBox_samyP"/>
</item>
<item row="2" column="3">
<widget class="QSpinBox" name="spinBox_samxP"/>
</item>
<item row="1" column="3">
<widget class="QLabel" name="label_3">
<property name="text">
<string>- samx</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_4">
<property name="text">
<string>- samx</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="4" column="0">
<widget class="GraphicsLayoutWidget" name="glw">
<property name="enabled">
<bool>false</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QGroupBox" name="motorControl">
<property name="title">
<string>Motor Controls</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="1" column="1">
<widget class="QSpinBox" name="spinBox_step">
<property name="value">
<number>5</number>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QToolButton" name="toolButton_left">
<property name="text">
<string>...</string>
</property>
<property name="arrowType">
<enum>Qt::LeftArrow</enum>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QToolButton" name="toolButton_up">
<property name="text">
<string>...</string>
</property>
<property name="arrowType">
<enum>Qt::UpArrow</enum>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QToolButton" name="toolButton_down">
<property name="text">
<string>...</string>
</property>
<property name="arrowType">
<enum>Qt::DownArrow</enum>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QToolButton" name="toolButton_right">
<property name="text">
<string>...</string>
</property>
<property name="arrowType">
<enum>Qt::RightArrow</enum>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="0" column="1">
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="label_status">
<property name="text">
<string>Motor Status</string>
<string>Motor Position</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout" stretch="1,1,1">
<item>
<widget class="GraphicsLayoutWidget" name="glw">
<property name="enabled">
<bool>false</bool>
</property>
</widget>
</item>
<item>
<widget class="QGroupBox" name="motorControl">
<property name="title">
<string>Motor Controls</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="1" column="1">
<widget class="QSpinBox" name="spinBox_step">
<property name="value">
<number>5</number>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QToolButton" name="toolButton_left">
<property name="text">
<string>...</string>
</property>
<property name="arrowType">
<enum>Qt::LeftArrow</enum>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QToolButton" name="toolButton_up">
<property name="text">
<string>...</string>
</property>
<property name="arrowType">
<enum>Qt::UpArrow</enum>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QToolButton" name="toolButton_down">
<property name="text">
<string>...</string>
</property>
<property name="arrowType">
<enum>Qt::DownArrow</enum>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QToolButton" name="toolButton_right">
<property name="text">
<string>...</string>
</property>
<property name="arrowType">
<enum>Qt::RightArrow</enum>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox">
<property name="enabled">
<bool>false</bool>
</property>
<property name="title">
<string>Motor Limits</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="4" column="2">
<widget class="QLabel" name="label_2">
<property name="text">
<string>- samy</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label">
<property name="text">
<string>+ samy</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_4">
<property name="text">
<string>- samx</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QSpinBox" name="spinBox_samxN"/>
</item>
<item row="1" column="2">
<widget class="QSpinBox" name="spinBox_samyP"/>
</item>
<item row="2" column="3">
<widget class="QSpinBox" name="spinBox_samxP"/>
</item>
<item row="1" column="3">
<widget class="QLabel" name="label_3">
<property name="text">
<string>- samx</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QSpinBox" name="spinBox_samyN"/>
</item>
<item row="2" column="2">
<widget class="QPushButton" name="pushButton">
<property name="text">
<string>Update</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<customwidgets>

49
bec_widgets/examples/motor_movement/motor_example.py
View File

@ -1,5 +1,6 @@
import os
import numpy as np
from PyQt5.QtCore import pyqtSignal
from PyQt5.QtWidgets import QApplication, QWidget
from pyqtgraph.Qt import QtCore, QtWidgets, uic
@ -8,6 +9,7 @@ import pyqtgraph as pg
class MotorApp(QWidget):
motor_position = pyqtSignal(float) # TODO hook to motor position update
motor_update = pyqtSignal()
def __init__(self):
super().__init__()
@ -29,6 +31,10 @@ class MotorApp(QWidget):
self.image_map = pg.ImageItem()
self.plot_map.addItem(self.image_map)
self.image_map_data = np.zeros((100, 100), dtype=np.float32)
x, y = self.get_xy() # Assuming get_xy returns the motor position
self.update_image_map(x, y)
self.image_map.setImage(self.image_map_data.T) # Set the image
##########################
# Signals
##########################
@ -46,11 +52,52 @@ class MotorApp(QWidget):
lambda: self.move_motor(dev.samy, -self.spinBox_step.value())
)
# Map
self.motor_position.connect(lambda x: self.update_image_map(*self.get_xy()))
# make keybindings for motor movement
self.toolButton_right.setShortcut("Right")
self.toolButton_left.setShortcut("Left")
self.toolButton_up.setShortcut("Up")
self.toolButton_down.setShortcut("Down")
# self.toolButton_left.clicked.connect(lambda: print(self.client))
self.motor_position.connect(lambda x: print(f"motor position updated: {x}"))
self.motor_update.connect(
lambda: self.label_status.setText(
f"Motor position: ({dev.samx.position():.2f}, {dev.samy.position():.2f})"
)
)
def move_motor(self, motor, value: float) -> None:
scans.mv(motor, value, relative=True)
self.motor_position.emit(motor.position)
motor_position = motor.position()
self.motor_position.emit(motor_position)
self.motor_update.emit()
def get_xy(self): # TODO decide if useful
"""Get current motor position"""
x = dev.samx.position()
y = dev.samy.position()
return x, y
def update_image_map(self, x, y):
"""Update the image map with the new motor position"""
# Reduce the brightness of all pixels by a fixed fraction (e.g., 5%)
self.image_map_data *= 0.8
# Modify this mapping as needed
pixel_x = int(x)
pixel_y = int(y)
# Set the bright pixel at the new position
self.image_map_data[pixel_x, pixel_y] = 255
# Update the display
self.image_map.setImage(self.image_map_data)
if __name__ == "__main__":