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Add RMD motor UI
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‎main.py

+6
Original file line numberDiff line numberDiff line change
@@ -513,6 +513,12 @@ def update_tabs_cb(active):
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self.effects_graph_dlg.setEnabled(True)
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self.actionEffectsMonitor.setEnabled(True)
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self.actionEffects_forces.setEnabled(True)
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elif classe_active["id"] == 0x8B or classe_active["id"] == 0x8C:
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classe = rmd_ui.RmdUI(main=self, unique=classe_active["unique"])
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name_axis = classe_active["name"]
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self.active_classes[name] = classe
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self.add_tab(classe, name_axis)
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self.profile_ui.set_save_btn(True)
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‎res/rmdmotor.ui

+257
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,257 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<ui version="4.0">
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<class>Form</class>
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<widget class="QWidget" name="Form">
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<width>689</width>
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<height>536</height>
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</rect>
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</property>
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<property name="windowTitle">
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<string>Form</string>
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</property>
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<layout class="QGridLayout" name="gridLayout">
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<item row="0" column="1">
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<widget class="QGroupBox" name="groupBox_2">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
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<horstretch>2</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="title">
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<string>Info</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_2">
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<item row="1" column="0">
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<widget class="QLabel" name="label_4">
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<property name="text">
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<string>Model:</string>
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</property>
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</widget>
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</item>
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<item row="0" column="0">
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<widget class="QLabel" name="label_6">
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<property name="text">
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<string>Voltage:</string>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_model">
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<property name="frameShape">
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<enum>QFrame::StyledPanel</enum>
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</property>
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_voltage">
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<property name="frameShape">
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<enum>QFrame::StyledPanel</enum>
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</property>
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<property name="text">
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<string>Not available</string>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QLabel" name="label_7">
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<property name="text">
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<string>Errors:</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_errornames">
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<property name="frameShape">
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<enum>QFrame::StyledPanel</enum>
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</property>
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<property name="text">
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<string>None</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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<item row="4" column="0" colspan="2">
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<widget class="QGroupBox" name="groupBox_3">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
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<horstretch>2</horstretch>
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<verstretch>1</verstretch>
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</sizepolicy>
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</property>
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<property name="title">
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<string>Help</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout">
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<item>
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<widget class="QTextBrowser" name="textBrowser">
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<property name="html">
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<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
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&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
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p, li { white-space: pre-wrap; }
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&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
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&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This controls a MyActuator RMD motor via CAN bus.&lt;/p&gt;
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&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;It is recommended to use not more than 250Hz FFB update rates due to the slow packet rates of the motor driver.&lt;/p&gt;
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&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
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&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; text-decoration: underline;&quot;&gt;Setup:&lt;/span&gt;&lt;/p&gt;
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&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Enable fault status sending and set the CAN id and CAN rate in the motor.&lt;/p&gt;
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&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;1M baud is recommended.&lt;/p&gt;
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&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
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&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; text-decoration: underline;&quot;&gt;Active requests &amp;amp; Interpolation:&lt;/span&gt;&lt;/p&gt;
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&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The motor can either send positions at a fixed 10ms interval (active requests off) or the FFBoard can actively request positions and use the low resolution torque reply status for interpolation.&lt;/p&gt;
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&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
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&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; text-decoration: underline;&quot;&gt;Active requests off (high resolution)&lt;/span&gt;:&lt;/p&gt;
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&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The motor sends the position every 10ms using the active reply function. &lt;/p&gt;
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&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Reduces the overhead and jitter.&lt;br /&gt;Recommended for multi motor systems and shared CAN bus.&lt;/p&gt;
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&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Status info is not available. Active reply mode disables all replies.&lt;/p&gt;
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&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
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&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; text-decoration: underline;&quot;&gt;Active requests on (low resolution)&lt;/span&gt;:&lt;/p&gt;
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&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;FFBoard actively requests positions and uses low resolution 1° torque status replies for interpolation. Status info is available.&lt;/p&gt;
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&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;May cause jitter in time and position, significant bus traffic.&lt;/p&gt;
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&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
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&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; text-decoration: underline;&quot;&gt;Torque:&lt;/span&gt;&lt;/p&gt;
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&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Enter the maximum current of the motor to scale the available range.&lt;/p&gt;
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&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
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&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; text-decoration: underline;&quot;&gt;CAN speeds:&lt;/span&gt;&lt;/p&gt;
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&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;1Mbit/s is recommended and must match the setting in the motor.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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<item row="2" column="1">
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<spacer name="verticalSpacer">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>0</width>
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<height>0</height>
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</size>
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</property>
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</spacer>
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</item>
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<item row="1" column="1">
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<spacer name="verticalSpacer_2">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>0</width>
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<height>0</height>
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</size>
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</property>
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</spacer>
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</item>
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<item row="0" column="0" rowspan="2">
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<widget class="QGroupBox" name="groupBox">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Preferred" vsizetype="Minimum">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="title">
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<string>Settings</string>
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</property>
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<layout class="QFormLayout" name="formLayout">
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<item row="0" column="0">
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<widget class="QLabel" name="label_2">
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<property name="text">
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<string>CAN speed</string>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QLabel" name="label">
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<property name="text">
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<string>Max torque range</string>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_torque">
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<property name="suffix">
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<string>A</string>
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</property>
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<property name="maximum">
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<double>300.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QPushButton" name="pushButton_apply">
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<property name="text">
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<string>Submit</string>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QLabel" name="label_5">
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<property name="text">
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<string>CAN ID</string>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QSpinBox" name="spinBox_id">
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<property name="prefix">
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<string>0x140+</string>
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</property>
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>32</number>
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</property>
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<property name="singleStep">
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<number>1</number>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QPushButton" name="pushButton_cansettings">
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<property name="text">
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<string>Change CAN settings</string>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QCheckBox" name="checkBox_activerequests">
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<property name="toolTip">
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<string>Stores and reloads absolute encoder offset at startup for centering</string>
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</property>
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<property name="text">
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<string>Active requests/High speed position mode</string>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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</layout>
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</widget>
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<resources/>
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<connections/>
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</ui>

‎rmd_ui.py

+102
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,102 @@
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from PyQt6.QtWidgets import QMainWindow
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from PyQt6.QtWidgets import QDialog
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from PyQt6.QtWidgets import QWidget
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from PyQt6.QtWidgets import QMessageBox,QVBoxLayout,QCheckBox,QButtonGroup
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from PyQt6 import uic
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from helper import res_path,classlistToIds
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from PyQt6.QtCore import QTimer
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import main
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from base_ui import WidgetUI
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from base_ui import CommunicationHandler
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import portconf_ui
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class RmdUI(WidgetUI,CommunicationHandler):
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ERRORS = {"Stall" : 0x02,"Undervoltage" : 0x04, "Overvoltage" : 0x08,"Overcurrent" : 0x10, "Overpower" : 0x40,"Write err" : 0x80,"Overspeed" : 0x100,"Overtemperature": 0x10000,"Calibration error" : 0x2000}
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16+
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def __init__(self, main=None, unique=None):
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WidgetUI.__init__(self, main,'rmdmotor.ui')
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CommunicationHandler.__init__(self)
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self.main = main #type: main.MainUi
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self.timer = QTimer(self)
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self.canOptions = portconf_ui.CanOptionsDialog(0,"CAN",main)
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self.pushButton_apply.clicked.connect(self.apply)
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self.pushButton_cansettings.clicked.connect(self.canOptions.exec)
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self.timer.timeout.connect(self.updateTimer)
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self.prefix = unique
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self.connected = False
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self.activepos = True
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self.register_callback("rmd","canid",self.spinBox_id.setValue,self.prefix,int)
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self.register_callback("rmd","maxtorque",self.updateTorque,self.prefix,int)
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self.register_callback("rmd","vbus",self.voltageCb,self.prefix,int)
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self.register_callback("rmd","errors",lambda v : self.showErrors(v),self.prefix,int)
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self.register_callback("rmd","model",self.modelcb,self.prefix,str)
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self.register_callback("rmd","requestpos",self.requestposcb,self.prefix,int)
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self.init_ui()
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# Tab is currently shown
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def showEvent(self,event):
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self.init_ui()
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self.timer.start(1000)
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# Tab is hidden
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def hideEvent(self,event):
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self.timer.stop()
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def init_ui(self):
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commands = ["canid","maxtorque","requestpos","model"]
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self.send_commands("rmd",commands,self.prefix)
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def modelcb(self,v):
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self.label_model.setText(v)
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def requestposcb(self,v):
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self.checkBox_activerequests.setChecked(v != 0)
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self.activepos = v != 0
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def updateTorque(self,torque):
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self.doubleSpinBox_torque.setValue(torque/100)
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def voltageCb(self,v):
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if not self.activepos:
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self.label_voltage.setText("Not available")
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return
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self.label_voltage.setText("{}V".format(v/10))
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def showErrors(self,codes):
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errs = []
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if(codes == 0):
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errs = ["None"]
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for name,i in (self.ERRORS.items()):
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if(codes & i != 0):
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errs.append(name)
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if len(errs) == 0:
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errs = [str(codes)]
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errString = "\n".join(errs)
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self.label_errornames.setText(f"{errString} ({codes})")
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def updateTimer(self):
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if self.activepos:
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self.send_commands("rmd",["vbus","errors"],self.prefix)
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else:
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self.send_commands("rmd",["errors"],self.prefix)
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def apply(self):
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canId = str(self.spinBox_id.value())
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torqueScaler = str(int(self.doubleSpinBox_torque.value() * 100))
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self.send_value("rmd","canid",canId,instance=self.prefix)
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self.send_value("rmd","maxtorque",torqueScaler,instance=self.prefix)
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self.send_value("rmd","requestpos",1 if self.checkBox_activerequests.isChecked() else 0,instance=self.prefix)
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self.activepos = self.checkBox_activerequests.isChecked()
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if not self.activepos:
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self.voltageCb(0)
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self.init_ui() # Update UI
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