void mtsMicronTrackerControllerQtComponent::MTCTrackQSlot(bool toggled)
{
MTC.Capture(mtsBool(toggled));
MTC.Track(mtsBool(toggled));
if (toggled) {
Timer->start(20);
} else {
Timer->stop();
}
}
void mtsPIDQtWidget::Init()
{
PID.PositionJointGetParam.Position().SetSize(NumberOfAxis);
PID.PositionJointGetDesired.SetSize(NumberOfAxis);
PID.VelocityJointGetParam.Velocity().SetSize(NumberOfAxis);
PID.EffortJoint.SetSize(NumberOfAxis);
DesiredPosition.SetSize(NumberOfAxis);
DesiredPosition.SetAll(0.0);
DesiredEffort.SetSize(NumberOfAxis);
DesiredEffort.SetAll(0.0);
UnitFactor.SetSize(NumberOfAxis);
UnitFactor.SetAll(1.0);
DirectControl = false;
PlotIndex = 0;
logsEnabled = false;
logEntryIndex = 0;
// Setup cisst interface
mtsInterfaceRequired * interfaceRequired = AddInterfaceRequired("Controller");
if (interfaceRequired) {
interfaceRequired->AddFunction("ResetController", PID.ResetController);
interfaceRequired->AddFunction("Enable", PID.Enable);
interfaceRequired->AddFunction("EnableIO", PID.EnableIO);
interfaceRequired->AddFunction("EnableLogs", PID.EnableLogs);
interfaceRequired->AddFunction("EnableTorqueMode", PID.EnableTorqueMode);
interfaceRequired->AddFunction("SetPositionJoint", PID.SetPositionJoint);
interfaceRequired->AddFunction("SetTorqueJoint", PID.SetEffortJoint);
interfaceRequired->AddFunction("GetPositionJoint", PID.GetPositionJoint);
interfaceRequired->AddFunction("GetVelocityJoint", PID.GetVelocityJoint);
interfaceRequired->AddFunction("GetPositionJointDesired", PID.GetPositionJointDesired);
interfaceRequired->AddFunction("GetEffortJointDesired", PID.GetEffortJointDesired);
interfaceRequired->AddFunction("GetPeriodStatistics", PID.GetPeriodStatistics);
interfaceRequired->AddFunction("GetJointType", PID.GetJointType);
interfaceRequired->AddFunction("GetPGain", PID.GetPGain);
interfaceRequired->AddFunction("GetDGain", PID.GetDGain);
interfaceRequired->AddFunction("GetIGain", PID.GetIGain);
interfaceRequired->AddFunction("SetPGain", PID.SetPGain);
interfaceRequired->AddFunction("SetDGain", PID.SetDGain);
interfaceRequired->AddFunction("SetIGain", PID.SetIGain);
// Events
interfaceRequired->AddEventHandlerWrite(&mtsPIDQtWidget::JointLimitEventHandler, this, "JointLimit");
interfaceRequired->AddEventHandlerWrite(&mtsPIDQtWidget::ErrorEventHandler, this, "Error");
interfaceRequired->AddEventHandlerWrite(&mtsPIDQtWidget::EnableEventHandler, this, "Enabled");
}
if(usingSimulink) {
mtsInterfaceRequired * simulinkQtInterfaceRequired = AddInterfaceRequired("SimulinkQtInterfacePIDCommand");
if (simulinkQtInterfaceRequired) {
simulinkQtInterfaceRequired->AddFunction("EnableSimulinkWidgetFromPID", SimulinkQtWidget.EnableWidget);
simulinkQtInterfaceRequired->AddFunction("EnableSimulinkFromPID", SimulinkQtWidget.Enable);
simulinkQtInterfaceRequired->AddFunction("EnableSimulinkLogsFromPID", SimulinkQtWidget.EnableLogs);
//the below means COMMENCED, as in, is Simulink in control?
simulinkQtInterfaceRequired->AddFunction("IsSimulinkEnabled", SimulinkQtWidget.IsEnabled);
}
mtsInterfaceProvided * simulinkQtInterfaceProvided = AddInterfaceProvided("SimulinkQtInterfaceSimulinkCommand");
if (simulinkQtInterfaceProvided) {
simulinkQtInterfaceProvided->AddCommandWrite(&mtsPIDQtWidget::EnablePIDFromSimulinkQt , this, "EnablePIDFromSimulink", mtsBool());
simulinkQtInterfaceProvided->AddCommandWrite(&mtsPIDQtWidget::EnableLogsFromSimulinkQt , this, "EnablePIDLogsFromSimulink", mtsBool());
}
}
setupUi();
startTimer(TimerPeriodInMilliseconds); // ms
}
