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motor_debug_new_window.py
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#!/usr/bin/python
# -*- coding: utf-8 -*-
import sys
from PyQt4.QtGui import*
from PyQt4.QtCore import *
app = QApplication(sys.argv) # Creat a new QApplication object. This manages
# the GUI application's control flow and main
# settings.
'''
need to be able to store the flip value (mx_value), string order (mx_num)
'''
class MGui(QWidget):
#base class of all user interface objects.
def __init__(self, parent=None):
super(MGui, self).__init__()
self.motorUI()
MGui.fltV = self.m1_val.value()
MGui.frtV = self.m2_val.value()
MGui.bltV = self.m3_val.value()
MGui.brtV = self.m4_val.value()
MGui.ftV = self.m5_val.value()
MGui.btV = self.m6_val.value()
def motorUI(self):
#labels for name, spinnner for magnitude, spinner for changing order, lineedit for string output, button for switch
name_lbl = QLabel('Name'); name_lbl.setStyleSheet(" font: bold; qproperty-alignment: AlignCenter")
val_lbl = QLabel('Thrust value'); val_lbl.setStyleSheet(" font: bold; qproperty-alignment: AlignCenter")
btn_lbl = QLabel('Flip direction?'); btn_lbl.setStyleSheet(" font: bold; qproperty-alignment: AlignCenter")
fval_lbl = QLabel('Flip Value:'); fval_lbl.setStyleSheet(" font: bold; qproperty-alignment: AlignCenter")
order_lbl = QLabel('Order in string'); order_lbl.setStyleSheet(" font: bold; qproperty-alignment: AlignCenter")
m1_lbl = QLabel('Forward Left Motor')
m2_lbl = QLabel('Forward Right Motor')
m3_lbl = QLabel('Back Left Motor')
m4_lbl = QLabel('Back Right Motor')
m5_lbl = QLabel('Front Motor')
m6_lbl = QLabel('Back Motor')
self.m1_mag = QSpinBox(); self.m1_mag.setRange(-400, 400); self.m1_mag.setValue(0); self.m1_mag.valueChanged.connect(self.stringcode)
self.m2_mag = QSpinBox(); self.m2_mag.setRange(-400, 400); self.m2_mag.setValue(0); self.m2_mag.valueChanged.connect(self.stringcode)
self.m3_mag = QSpinBox(); self.m3_mag.setRange(-400, 400); self.m3_mag.setValue(0); self.m3_mag.valueChanged.connect(self.stringcode)
self.m4_mag = QSpinBox(); self.m4_mag.setRange(-400, 400); self.m4_mag.setValue(0); self.m4_mag.valueChanged.connect(self.stringcode)
self.m5_mag = QSpinBox(); self.m5_mag.setRange(-400, 400); self.m5_mag.setValue(0); self.m5_mag.valueChanged.connect(self.stringcode)
self.m6_mag = QSpinBox(); self.m6_mag.setRange(-400, 400); self.m6_mag.setValue(0); self.m6_mag.valueChanged.connect(self.stringcode)
m1_btn = QPushButton('Flip Direction'); m1_btn.clicked.connect(self.flipflt)
m2_btn = QPushButton('Flip Direction'); m2_btn.clicked.connect(self.flipfrt)
m3_btn = QPushButton('Flip Direction'); m3_btn.clicked.connect(self.flipblt)
m4_btn = QPushButton('Flip Direction'); m4_btn.clicked.connect(self.flipbrt)
m5_btn = QPushButton('Flip Direction'); m5_btn.clicked.connect(self.flipft)
m6_btn = QPushButton('Flip Direction'); m6_btn.clicked.connect(self.flipbt)
self.m1_val = QSpinBox(); self.m1_val.setValue(1); self.m1_val.setRange(-1, 1)
self.m2_val = QSpinBox(); self.m2_val.setValue(1); self.m2_val.setRange(-1, 1)
self.m3_val = QSpinBox(); self.m3_val.setValue(1); self.m3_val.setRange(-1, 1)
self.m4_val = QSpinBox(); self.m4_val.setValue(1); self.m4_val.setRange(-1, 1)
self.m5_val = QSpinBox(); self.m5_val.setValue(1); self.m5_val.setRange(-1, 1)
self.m6_val = QSpinBox(); self.m6_val.setValue(1); self.m6_val.setRange(-1, 1)
self.m1_num = QSpinBox(); self.m1_num.setRange(1, 6); self.m1_num.setValue(1)
self.m2_num = QSpinBox(); self.m2_num.setRange(1, 6); self.m2_num.setValue(2)
self.m3_num = QSpinBox(); self.m3_num.setRange(1, 6); self.m3_num.setValue(3)
self.m4_num = QSpinBox(); self.m4_num.setRange(1, 6); self.m4_num.setValue(4)
self.m5_num = QSpinBox(); self.m5_num.setRange(1, 6); self.m5_num.setValue(5)
self.m6_num = QSpinBox(); self.m6_num.setRange(1, 6); self.m6_num.setValue(6)
self.str_disp = QTextEdit('blank')
str_disp_btn = QPushButton('Display String Order'); str_disp_btn.clicked.connect(self.stringcode)
grid = QGridLayout() #Create layout container
grid.addWidget(name_lbl, 1, 1)
grid.addWidget(val_lbl, 1, 2)
grid.addWidget(btn_lbl, 1, 3)
grid.addWidget(fval_lbl, 1, 4)
grid.addWidget(order_lbl, 1, 5)
grid.addWidget(m1_lbl, 2, 1)
grid.addWidget(self.m1_mag, 2, 2)
grid.addWidget(m1_btn, 2, 3)
grid.addWidget(self.m1_val, 2, 4)
grid.addWidget(self.m1_num, 2, 5)
grid.addWidget(m2_lbl, 3, 1)
grid.addWidget(self.m2_mag, 3, 2)
grid.addWidget(m2_btn, 3, 3)
grid.addWidget(self.m2_val, 3, 4)
grid.addWidget(self.m2_num, 3, 5)
grid.addWidget(m3_lbl, 4, 1)
grid.addWidget(self.m3_mag, 4, 2)
grid.addWidget(m3_btn, 4, 3)
grid.addWidget(self.m3_val, 4, 4)
grid.addWidget(self.m3_num, 4, 5)
grid.addWidget(m4_lbl, 5, 1)
grid.addWidget(self.m4_mag, 5, 2)
grid.addWidget(m4_btn, 5, 3)
grid.addWidget(self.m4_val, 5, 4)
grid.addWidget(self.m4_num, 5, 5)
grid.addWidget(m5_lbl, 6, 1)
grid.addWidget(self.m5_mag, 6, 2)
grid.addWidget(m5_btn, 6, 3)
grid.addWidget(self.m5_val, 6, 4)
grid.addWidget(self.m5_num, 6, 5)
grid.addWidget(m6_lbl, 7, 1)
grid.addWidget(self.m6_mag, 7, 2)
grid.addWidget(m6_btn, 7, 3)
grid.addWidget(self.m6_val, 7, 4)
grid.addWidget(self.m6_num, 7, 5)
grid.addWidget(str_disp_btn, 9, 1)
grid.addWidget(self.str_disp, 9, 2, 1, 4)
self.setLayout(grid) #Set the layout
self.setGeometry(10, 100, 900, 300)
self.setWindowTitle('Debug Motors')
self.show()
def flipflt(self): #flip motor direction
if (self.m1_val.value() == 1):
self.m1_val.setValue(-1)
elif (self.m1_val.value() == -1):
self.m1_val.setValue(1)
def flipfrt(self): #flip motor direction
if (self.m2_val.value() == 1):
self.m2_val.setValue(-1)
elif (self.m2_val.value() == -1):
self.m2_val.setValue(1)
def flipblt(self): #flip motor direction
if (self.m3_val.value() == 1):
self.m3_val.setValue(-1)
elif (self.m3_val.value() == -1):
self.m3_val.setValue(1)
def flipbrt(self): #flip motor direction
if (self.m4_val.value() == 1):
self.m4_val.setValue(-1)
elif (self.m4_val.value() == -1):
self.m4_val.setValue(1)
def flipft(self): #flip motor direction
if (self.m5_val.value() == 1):
self.m5_val.setValue(-1)
elif (self.m5_val.value() == -1):
self.m5_val.setValue(1)
def flipbt(self): #flip motor direction
if (self.m6_val.value() == 1):
self.m6_val.setValue(-1)
elif (self.m6_val.value() == -1):
self.m6_val.setValue(1)
def stringcode(self):
MGui.fltV = self.m1_val.value()
MGui.frtV = self.m2_val.value()
MGui.bltV = self.m3_val.value()
MGui.brtV = self.m4_val.value()
MGui.ftV = self.m5_val.value()
MGui.btV = self.m6_val.value()
self.flMag = self.m1_mag.value()
self.frMag = self.m2_mag.value()
self.blMag = self.m3_mag.value()
self.brMag = self.m4_mag.value()
self.fMag = self.m5_mag.value()
self.bMag = self.m6_mag.value()
self.power = 0.4
self.fwd_factor = 400 * self.power
self.side_factor = 400 * self.power
self.yaw_factor = 200
self.fwd_left_thruster = int(
1500 - (MGui.fltV)*(self.flMag))
self.fwd_right_thruster = int(
1500 + (MGui.frtV)*(self.frMag))
self.bck_left_thruster = int(
1500 - (MGui.bltV)*(self.blMag))
self.bck_right_thruster = int(
1500 + (MGui.brtV)*(self.brMag))
# To go up/down
self.front_thruster = int(1500 + (MGui.ftV)*self.fMag)
self.back_thruster = int(1500 + (MGui.btV)*self.bMag)
self.stringThrust = [self.fwd_left_thruster, self.fwd_right_thruster, self.bck_left_thruster,
self.bck_right_thruster, self.front_thruster, self.back_thruster]
self.stringName = ['fwd_left_t', 'fwd_right_t', 'back_left_t', 'back_right_t', 'front_t', 'back_t']
self.stringOrder = [self.m1_num.value()-1, self.m2_num.value()-1, self.m3_num.value()-1,
self.m4_num.value()-1, self.m5_num.value()-1, self.m6_num.value()-1]
self.stringFlip = [MGui.fltV, MGui.frtV, MGui.bltV, MGui.brtV, MGui.ftV, MGui.btV]
self.stringThrust_s = [self.stringThrust[i] for i in self.stringOrder]
self.stringName_s = [self.stringName[i] for i in self.stringOrder]
self.stringFlip_s = [self.stringFlip[i] for i in self.stringOrder]
self.stringToDisplay = (str(self.stringName_s)+ '\n' + str(self.stringThrust_s) + '\n' + str(self.stringFlip_s))
print(self.stringThrust_s)
self.str_disp.setText(self.stringToDisplay)
class Gui(QWidget):
#base class of all user interface objects.
def __init__(self):
super(Gui, self).__init__()
self.initUI()
#self.motorWindow = MGui(self)
def initUI(self):
mtr_button = QPushButton('motor debug')
mtr_button.clicked.connect(self.motorGUI)
grid = QGridLayout() #Create layout container
grid.addWidget(mtr_button, 1, 1)
self.setLayout(grid) #Set the layout
self.setGeometry(10, 100, 600, 300)
self.setWindowTitle('Test')
self.show()
def motorGUI(self):
self.motorWindow = MGui(self)
def main():
ex = Gui()
sys.exit(app.exec_())
if __name__ == '__main__':
main()