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guimod.py
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#CC:\Users\Ben\AppData\Local\Programs\Python\Python37-32\Scripts\pyuic5.exe -x gui.ui -o gui.py
from gui import *
from PyQt5 import QtGui, QtCore
import pyqtgraph as pg
from sampleFunctions import *
from daq import*
from absorber import*
from datalogging import*
from roadload import*
from buck import*
from testmotor import*
from sequence import*
from vesc import *
import sys
import time
import pandas
tStart = time.time();
ts = .005;
app = QtGui.QApplication(sys.argv)
DynoControlPanel = QtGui.QMainWindow()
ui = Ui_DynoControlPanel()
ui.setupUi(DynoControlPanel)
list(map(ui.speedSlider.valueChanged.connect, [ui.sBox.setValue, ui.speedSlider.value]))
list(map(ui.sBox.valueChanged.connect, [ui.speedSlider.setValue, ui.sBox.value]))
dynoDaq = daq(0)
dynoAbsorber = absorber('COM4')
roadload = roadLoad(0, 0, 0)
buckConverter = buck('COM3')
testMotor = testmotor('COM5')
sequence = Sequence()
vsc = Vesc('COM21')
buckConverter.setVoltage(0)
time.sleep(.5);
dynoDaq.zero()
ui.c1Box.setEnabled(False)
ui.c2Box.setEnabled(False)
ui.jBox.setEnabled(False)
ui.speedSlider.setEnabled(False)
ui.sBox.setEnabled(False)
ui.browseButton.setEnabled(False)
ui.startButton.setEnabled(False)
ui.stopButton.setEnabled(False)
ui.csvEdit.setEnabled(False)
ui.vescCommand.setEnabled(False)
tVec = [0]
def loadCSV(filename):
try:
print(filename)
profileData = pandas.read_csv(filename)
print("loaded some data");
profileTime = profileData.ix[:,0]
profileTestCMD = profileData.ix[:,1]
profileSpeed = profileData.ix[:,2]
profileVoltage = profileData.ix[:,3]
profileFlag = profileData.ix[:,4]
profileP1 = profileData.ix[:,5]
profileP2 = profileData.ix[:,6]
sequence.times = profileTime
sequence.speeds = profileSpeed
sequence.cmds = profileTestCMD
sequence.voltages = profileVoltage
sequence.flag = profileFlag
sequence.cmdType = 'can'
sequence.p1 = profileP1
sequence.p2 = profileP2
except:
print('Invalid CSV')
return False
return True
def selectFile():
file_filter = "CSV (*.csv)"
filename = QtGui.QFileDialog.getOpenFileName(filter=file_filter)
filename = filename[0]
if(filename!=""):
if(loadCSV(filename)):
ui.csvEdit.setText(filename)
ui.startButton.setEnabled(True)
ui.stopButton.setEnabled(True)
def startSequence():
sequence.start()
def stopSequence():
sequence.stop()
def setBuckVoltage():
v = ui.buckBox.value()
buckConverter.setVoltage(v)
def setTestMotorPeriod():
period = ui.periodBox.value()
testMotor.setPeriod(period)
def setTestMotorPeriodLim():
pmin = ui.periodMinBox.value()
pmax = ui.periodMaxBox.value()
ui.periodBox.setMaximum(pmax)
ui.periodBox.setMinimum(pmin)
ui.periodMinBox.setMaximum(pmax)
ui.periodMaxBox.setMinimum(pmin)
def setTestMotorVoltage():
voltage = ui.testVSetBox.value()
testMotor.setVoltage(voltage)
def setTestMotorVoltageLim():
vmin = ui.testVMinBox.value()
vmax = ui.testVMaxBox.value()
ui.testVSetBox.setMaximum(vmax)
ui.testVSetBox.setMinimum(vmin)
ui.testVMinBox.setMaximum(vmax)
ui.testVMaxBox.setMinimum(vmin)
def setTestMotorCAN():
torque = ui.canBox.value()
testMotor.setCANCmd(torque, 0, 0)
def setTestMotorCANLim():
tmin = ui.canMinBox.value()
tmax = ui.canMaxBox.value()
ui.canBox.setMaximum(tmax)
ui.canBox.setMinimum(tmin)
ui.canMinBox.setMaximum(tmax)
ui.canMaxBox.setMinimum(tmin)
def setVescCurrent():
torque = ui.vescCommand.value()
vsc.set_current(torque)
def roadLoadUpdate():
roadload.j = ui.jBox.value()
roadload.c1 = ui.c1Box.value()
roadload.c2 = ui.c2Box.value()
t = dynoDaq.Torque
vel = dynoAbsorber.speedcmd
if (vel>0):
c3 = 1
else:
c3 = -1
tnet = t - c3*roadload.c1 - roadload.c2*vel;
acc = tnet/roadload.j
newVel = vel+ ts*acc
if (newVel>600):
newVel = 600
elif (newVel<-600):
newVel = -600
return (newVel)
def enableTMControls():
ui.testVMinBox.setEnabled(True)
ui.testVMaxBox.setEnabled(True)
ui.testVSetBox.setEnabled(True)
ui.periodMinBox.setEnabled(True)
ui.periodMaxBox.setEnabled(True)
ui.periodBox.setEnabled(True)
ui.canMinBox.setEnabled(True)
ui.canMaxBox.setEnabled(True)
ui.canBox.setEnabled(True)
def disableTMControls():
ui.testVMinBox.setEnabled(False)
ui.testVMaxBox.setEnabled(False)
ui.testVSetBox.setEnabled(False)
ui.periodMinBox.setEnabled(False)
ui.periodMaxBox.setEnabled(False)
ui.periodBox.setEnabled(False)
ui.canMinBox.setEnabled(False)
ui.canMaxBox.setEnabled(False)
ui.canBox.setEnabled(False)
def enableVescControls():
ui.vescCommand.setEnabled(True)
def enableRLControls():
ui.jBox.setEnabled(True)
ui.c1Box.setEnabled(True)
ui.c2Box.setEnabled(True)
def disableRLControls():
ui.jBox.setEnabled(False)
ui.c1Box.setEnabled(False)
ui.c2Box.setEnabled(False)
def enableMSControls():
ui.speedSlider.setEnabled(True)
ui.sBox.setEnabled(True)
def disableMSControls():
ui.speedSlider.setEnabled(False)
ui.sBox.setEnabled(False)
def enableProfileControls():
ui.browseButton.setEnabled(True)
ui.csvEdit.setEnabled(True)
ui.startButton.setEnabled(True)
ui.stopButton.setEnabled(True)
def disableProfileControls():
ui.browseButton.setEnabled(False)
ui.csvEdit.setEnabled(False)
ui.startButton.setEnabled(False)
ui.stopButton.setEnabled(False)
def enableBuckControls():
ui.buckBox.setEnabled(True)
ui.iMaxBox.setEnabled(True)
def disableBuckControls():
ui.buckBox.setEnabled(False)
ui.iMaxBox.setEnabled(False)
def disableSelected():
disableRLControls()
disableMSControls()
disableProfileControls()
enableBuckControls()
enableTMControls()
ui.speedSlider.setValue(0)
ui.sBox.setValue(0)
dynoAbsorber.speedcmd = 0
def rlSelected():
enableRLControls()
enableBuckControls()
enableTMControls()
disableMSControls()
disableProfileControls()
ui.sBox.setValue(0)
ui.speedSlider.setValue(0)
#dynoAbsorber.speedcmd = 0
def msSelected():
enableMSControls()
enableBuckControls()
enableTMControls()
disableRLControls()
disableProfileControls()
def profileSelected():
enableProfileControls()
disableRLControls()
disableMSControls()
disableTMControls()
disableBuckControls()
ui.sBox.setValue(0)
ui.speedSlider.setValue(0)
def vescSelected():
enableVescControls()
disableTMControls()
def logSelected():
if ui.logButton.isChecked():
filename = ui.filenameEdit.text()
filename = "Logs/" + filename+".csv"
try:
global writer, logFile
logFile = open(filename, "a")
writer = csv.writer(logFile, delimiter=',')
print("file opened")
except:
print("that's not a file")
else:
try:
logFile.close()
print("file closed")
except:
pass
def updatePlots(plots, xdata, ydata):
for i in range(len(plots)):
plots[i].plot(ydata[i], clear=True)
def setSpeedRef(ref):
dynoAbsorber.setSpeed(ref)
#print(ref)
def sendCmd():
if(ui.disableButton.isChecked()):
dynoAbsorber.disable()
elif (ui.rlButton.isChecked()):
setSpeedRef(roadLoadUpdate())
elif (ui.sButton.isChecked()):
setSpeedRef(ui.speedSlider.value())
elif (ui.profileButton.isChecked()):
if(sequence.enabled):
sequence.update()
setSpeedRef(sequence.speedSet)
buckConverter.setVoltage(sequence.voltageSet)
ui.buckBox.setValue(sequence.voltageSet)
ui.sBox.setValue(sequence.speedSet)
ui.speedSlider.setValue(sequence.speedSet)
if(ui.vsEnable.isChecked()):
vsc.set_torque(sequence.cmdSet)
ui.vescCommand.setValue(sequence.cmdSet)
elif(sequence.cmdType == 'v'):
testMotor.setVoltage(sequence.cmdSet)
ui.testVSetBox.setValue(sequence.cmdSet)
elif(sequence.cmdType == 'dtc'):
testMotor.setPeriod(sequence.cmdSet)
ui.periodBox.setValue(sequence.cmdSet)
elif(sequence.cmdType =='can'):
testMotor.setCANCmd(sequence.cmdSet, sequence.p1Set, sequence.p2Set)
ui.canBox.setValue(sequence.cmdSet)
else:
dynoAbsorber.disable()
if(ui.vescEnable.isChecked()):
setVescCurrent()
def sampleAll():
dynoDaq.sampleAll()
currentTime = time.time()-tStart
tVec.append(currentTime)
dataVec = [currentTime, dynoDaq.TorqueVec[-1], dynoAbsorber.speedVec[-1], dynoDaq.VoltageVec[-1], dynoDaq.CurrentVec[-1], sequence.cmdSet, sequence.p1Set, sequence.p2Set, sequence.flagSet|ui.flagButton.isChecked()]
if(ui.logButton.isChecked()):
writer.writerow(dataVec)
#dynoAbsorber.getSpeed()
#setSpeedRef(ui.speedSlider.value())
sendCmd()
ui.disableButton.setChecked(True)
torquePlot = pg.PlotWidget(title = 'Torque')
speedPlot = pg.PlotWidget(title = 'Speed')
powerPlot = pg.PlotWidget(title = 'Power') #work and electrical?
ui.PlotLayout.addWidget(torquePlot) # plot goes on right side, spanning 3 rows
ui.PlotLayout.addWidget(speedPlot)
ui.PlotLayout.addWidget(powerPlot)
ui.rlButton.toggled.connect(lambda:rlSelected())
ui.sButton.toggled.connect(lambda:msSelected())
ui.disableButton.toggled.connect(lambda:disableSelected())
ui.profileButton.toggled.connect(lambda:profileSelected())
ui.logButton.toggled.connect(lambda:logSelected())
ui.buckBox.valueChanged.connect(lambda:setBuckVoltage())
ui.browseButton.clicked.connect(lambda:selectFile())
ui.periodBox.valueChanged.connect(lambda:setTestMotorPeriod())
ui.testVSetBox.valueChanged.connect(lambda:setTestMotorVoltage())
ui.testVMaxBox.valueChanged.connect(lambda:setTestMotorVoltageLim())
ui.testVMinBox.valueChanged.connect(lambda:setTestMotorVoltageLim())
ui.periodMaxBox.valueChanged.connect(lambda:setTestMotorPeriodLim())
ui.periodMinBox.valueChanged.connect(lambda:setTestMotorPeriodLim())
ui.canBox.valueChanged.connect(lambda:setTestMotorCAN())
ui.canMinBox.valueChanged.connect(lambda:setTestMotorCANLim())
ui.canMaxBox.valueChanged.connect(lambda:setTestMotorCANLim())
ui.startButton.clicked.connect(lambda:startSequence())
ui.stopButton.clicked.connect(lambda:stopSequence())
ui.vescCommand.valueChanged.connect(lambda:setVescCurrent())
ui.vescEnable.toggled.connect(lambda:vescSelected())
def refresh():
#dynoDaq.sampleAll()
torqueVec = dynoDaq.TorqueVec[-4000:-1]
speedVec = dynoAbsorber.speedVec[-4000:-1]
voltageVec = dynoDaq.VoltageVec[-4000:-1]
currentVec = dynoDaq.CurrentVec[-4000:-1]
ePowerVec = [v*i for v, i in zip(voltageVec, currentVec)]
powerVec = [t*s for t, s in zip(torqueVec, speedVec)]
timeVec = tVec[-4000:-1]
torquePlot.plot(timeVec, torqueVec, clear=True)
speedPlot.plot(timeVec, speedVec, clear=True)
#powerPlot.plot(timeVec, voltageVec, clear=True)
ep = pg.PlotCurveItem(timeVec, ePowerVec)
mp = pg.PlotCurveItem(timeVec, powerVec)
ep.setPen({'color':"FF0"})
powerPlot.clear()
powerPlot.addItem(ep, clear=True)
powerPlot.addItem(mp)
ui.torqueText.setText('%.3f'%(torqueVec[-1]))
ui.speedText.setText('%.3f'%(speedVec[-1]))
ui.voltageText.setText('%.3f'%(voltageVec[-1]))
ui.currentText.setText('%.3f'%(currentVec[-1]))
ui.mpText.setText('%.3f'%(torqueVec[-1]*speedVec[-1]))
ui.epText.setText('%.3f'%(currentVec[-1]*voltageVec[-1]))
#updatePlots([torquePlot, speedPlot, powerPlot], [torqueVec, speedVec , voltageVec])
sampleTimer = QtCore.QTimer()
sampleTimer.timeout.connect(lambda:sampleAll())
sampleTimer.start(1000*ts)
plotTimer = QtCore.QTimer()
plotTimer.timeout.connect(lambda:refresh())
plotTimer.start(100)
DynoControlPanel.show()
sys.exit(app.exec_())