Implemented absolute stepper movement.

src/nqrduck_autotm/controller.py

@@ -664,4 +664,35 @@ class AutoTMController(ModuleController):
         command = f"m{motor_identifier}{steps}"
         self.send_command(command)
 
+    def on_absolute_move(self, steps : str) -> None:
+        """This method is called when the absolute 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 
+        future_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 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)
+
 

src/nqrduck_autotm/resources/autotm_widget.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>1280</width>
-    <height>1011</height>
+    <height>1089</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -95,7 +95,7 @@
        <item row="1" column="1">
         <widget class="QDoubleSpinBox" name="stopfrequencyBox">
          <property name="value">
-          <double>80.200000000000003</double>
+          <double>80.099999999999994</double>
          </property>
         </widget>
        </item>
@@ -182,7 +182,11 @@
             </widget>
            </item>
            <item row="6" column="1">
-            <widget class="QSpinBox" name="absoluteposBox"/>
+            <widget class="QSpinBox" name="absoluteposBox">
+             <property name="maximum">
+              <number>1000000</number>
+             </property>
+            </widget>
            </item>
            <item row="1" column="1">
             <widget class="QComboBox" name="stepperselectBox">
@@ -229,10 +233,10 @@
            <item row="3" column="1">
             <widget class="QSpinBox" name="stepsizeBox">
              <property name="minimum">
-              <number>-1000</number>
+              <number>0</number>
              </property>
              <property name="maximum">
-              <number>1000</number>
+              <number>50000</number>
              </property>
              <property name="value">
               <number>500</number>
@@ -309,7 +313,7 @@
         <attribute name="title">
          <string>Electrical</string>
         </attribute>
-        <layout class="QGridLayout" name="gridLayout_3" rowstretch="0,0,0,0,0,0,0,0,0,0,0,0">
+        <layout class="QGridLayout" name="gridLayout_3" rowstretch="0,0,0,0,0,0,0,0,0,0">
          <item row="8" column="0" colspan="2">
           <widget class="QPushButton" name="generateLUTButton">
            <property name="text">
@@ -515,7 +519,7 @@
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>285</width>
+          <width>291</width>
           <height>83</height>
          </rect>
         </property>

src/nqrduck_autotm/widget.py

@@ -12,7 +12,7 @@ from PyQt6 import QtCore, QtGui, QtWidgets
 class Ui_Form(object):
     def setupUi(self, Form):
         Form.setObjectName("Form")
-        Form.resize(1280, 1011)
+        Form.resize(1280, 1089)
         sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.Preferred, QtWidgets.QSizePolicy.Policy.Preferred)
         sizePolicy.setHorizontalStretch(0)
         sizePolicy.setVerticalStretch(0)
@@ -61,7 +61,7 @@ class Ui_Form(object):
         self.gridLayout_8 = QtWidgets.QGridLayout()
         self.gridLayout_8.setObjectName("gridLayout_8")
         self.stopfrequencyBox = QtWidgets.QDoubleSpinBox(parent=Form)
-        self.stopfrequencyBox.setProperty("value", 80.2)
+        self.stopfrequencyBox.setProperty("value", 80.1)
         self.stopfrequencyBox.setObjectName("stopfrequencyBox")
         self.gridLayout_8.addWidget(self.stopfrequencyBox, 1, 1, 1, 1)
         self.label_13 = QtWidgets.QLabel(parent=Form)
@@ -108,6 +108,7 @@ class Ui_Form(object):
         self.label_16.setObjectName("label_16")
         self.gridLayout_4.addWidget(self.label_16, 0, 0, 1, 3)
         self.absoluteposBox = QtWidgets.QSpinBox(parent=self.mechTab)
+        self.absoluteposBox.setMaximum(1000000)
         self.absoluteposBox.setObjectName("absoluteposBox")
         self.gridLayout_4.addWidget(self.absoluteposBox, 6, 1, 1, 1)
         self.stepperselectBox = QtWidgets.QComboBox(parent=self.mechTab)
@@ -128,8 +129,8 @@ class Ui_Form(object):
         self.label_20.setObjectName("label_20")
         self.gridLayout_4.addWidget(self.label_20, 6, 0, 1, 1)
         self.stepsizeBox = QtWidgets.QSpinBox(parent=self.mechTab)
-        self.stepsizeBox.setMinimum(-1000)
+        self.stepsizeBox.setMinimum(0)
-        self.stepsizeBox.setMaximum(1000)
+        self.stepsizeBox.setMaximum(50000)
         self.stepsizeBox.setProperty("value", 500)
         self.stepsizeBox.setObjectName("stepsizeBox")
         self.gridLayout_4.addWidget(self.stepsizeBox, 3, 1, 1, 1)
@@ -264,7 +265,7 @@ class Ui_Form(object):
         self.scrollArea.setWidgetResizable(True)
         self.scrollArea.setObjectName("scrollArea")
         self.scrollAreaWidgetContents = QtWidgets.QWidget()
-        self.scrollAreaWidgetContents.setGeometry(QtCore.QRect(0, 0, 285, 83))
+        self.scrollAreaWidgetContents.setGeometry(QtCore.QRect(0, 0, 291, 83))
         self.scrollAreaWidgetContents.setObjectName("scrollAreaWidgetContents")
         self.scrollArea.setWidget(self.scrollAreaWidgetContents)
         self.verticalLayout_2.addWidget(self.scrollArea)