nqrduck/nqrduck-autotm
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Refactoring.

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jupfi 2023-12-08 08:29:57 +01:00
parent f49cb04139
commit 857ff6eb08
1 changed files with 29 additions and 52 deletions
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77
src/nqrduck_autotm/controller.py
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@ -635,64 +635,41 @@ class AutoTMController(ModuleController):
elif stepper == "matching": elif stepper == "matching":
self.module.model.active_stepper = self.module.model.matching_stepper self.module.model.active_stepper = self.module.model.matching_stepper
def on_relative_move(self, steps : str) -> None: def validate_position(self, future_position: int) -> bool:
"""This method is called when the relative move button is pressed. """Validate the stepper's future position."""
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: if future_position < 0:
error = "Could not move stepper. Stepper position cannot be negative" self.module.view.add_error_text("Could not move stepper. Stepper position cannot be negative")
self.module.view.add_info_text(error) return False
return
if future_position > self.module.model.active_stepper.MAX_STEPS: 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_error_text(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 False
return
# We send the command to the atm system, the first m identifies this is a move command return True
def calculate_steps_for_absolute_move(self, target_position: int) -> int:
"""Calculate the number of steps for an absolute move."""
current_position = self.module.model.active_stepper.position
return target_position - current_position
def send_stepper_command(self, steps: int) -> None:
"""Send a command to the stepper motor based on the number of steps."""
motor_identifier = self.module.model.active_stepper.TYPE.lower()[0]
command = f"m{motor_identifier}{steps}" command = f"m{motor_identifier}{steps}"
self.send_command(command) self.send_command(command)
def on_absolute_move(self, steps : str) -> None: def on_relative_move(self, steps: str) -> None:
"""This method is called when the absolute move button is pressed. """This method is called when the relative move button is pressed."""
future_position = self.module.model.active_stepper.position + int(steps)
if self.validate_position(future_position):
self.send_stepper_command(int(steps)) # Convert the steps string to an integer
Args: def on_absolute_move(self, steps: str) -> None:
steps (str): The number of steps to move the stepper. """This method is called when the absolute move button is pressed."""
"""
# 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
future_position = int(steps) future_position = int(steps)
if self.validate_position(future_position):
if future_position < 0: actual_steps = self.calculate_steps_for_absolute_move(future_position)
error = "Could not move stepper. Stepper position cannot be negative" self.send_stepper_command(actual_steps)
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 calculate the number of steps to move
stepper_current_position = self.module.model.active_stepper.position
steps = future_position - stepper_current_position
# 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)