Implemented relative stepper movement.

src/nqrduck_autotm/controller.py

@@ -634,6 +634,34 @@ class AutoTMController(ModuleController):
             self.module.model.active_stepper = self.module.model.tuning_stepper
         elif stepper == "matching":
             self.module.model.active_stepper = self.module.model.matching_stepper
+
+    def on_relative_move(self, steps : str) -> None:
+        """This method is called when the relative move button is pressed.
         
+        Args:
+            steps (str): The number of steps to move the stepper.
+        """
+
+        # First char is the stepper identifier, m for matching and t for tuning
+        motor_identifier = self.module.model.active_stepper.TYPE.lower()[0]
+        
+        # We check if the steps are valid
+        stepper_current_position = self.module.model.active_stepper.position
+        
+        future_position = stepper_current_position + int(steps)
+
+        if future_position < 0:
+            error = "Could not move stepper. Stepper position cannot be negative"
+            self.module.view.add_info_text(error)
+            return
+        
+        if future_position > self.module.model.active_stepper.MAX_STEPS:
+            error = f"Could not move stepper. Stepper position cannot be larger than {self.module.model.active_stepper.MAX_STEPS}"
+            self.module.view.add_info_text(error)
+            return
+        
+        # We send the command to the atm system, the first m identifies this is a move command
+        command = f"m{motor_identifier}{steps}"
+        self.send_command(command)
 
 

src/nqrduck_autotm/model.py

@@ -223,6 +223,14 @@ class Stepper:
         self.homed = False
         self.position = 0
 
+class TuningStepper(Stepper):
+    TYPE = "Tuning"
+    MAX_STEPS = 1e6
+
+class MatchingStepper(Stepper):
+    TYPE = "Matching"
+    MAX_STEPS = 1e6
+
 class ElectricalLookupTable(LookupTable):
     TYPE = "Electrical"
 
@@ -280,8 +288,8 @@ class AutoTMModel(ModuleModel):
         self.calibration = None
         self.serial = None
 
-        self.tuning_stepper = Stepper()
-        self.matching_stepper = Stepper()
+        self.tuning_stepper = TuningStepper()
+        self.matching_stepper = MatchingStepper()
         self.active_stepper = self.tuning_stepper
 
     @property

src/nqrduck_autotm/view.py

@@ -116,6 +116,10 @@ class AutoTMView(ModuleView):
 
         # Stepper selection
         self._ui_form.stepperselectBox.currentIndexChanged.connect(lambda: self.module.controller.on_stepper_changed(self._ui_form.stepperselectBox.currentText()))
+        self._ui_form.increaseButton.clicked.connect(lambda: self.module.controller.on_relative_move(self._ui_form.stepsizeBox.text()))
+        self._ui_form.decreaseButton.clicked.connect(lambda: self.module.controller.on_relative_move("-" + self._ui_form.stepsizeBox.text()))
+
+        self._ui_form.absoluteGoButton.clicked.connect(lambda: self.module.controller.on_absolute_move(self._ui_form.absoluteposBox.text()))
 
         # Active  stepper changed
         self.module.model.active_stepper_changed.connect(self.on_active_stepper_changed)