try to simplify motor pack updates

unofficial-rev-port · Jun 21, 2024 · 47274dc · 47274dc
1 parent b8f0f38
commit 47274dc
Showing 1 changed file with 12 additions and 33 deletions.
diff --git a/REVHubInterface/__main__.py b/REVHubInterface/__main__.py
@@ -449,7 +449,7 @@ def update_ms0(self, event):
 
     def update_ms1(self, event):
         self.ms_1_callback()
-
+1
 
 class dc_motor():
     def __init__(self, root, speed_slider_callback, speed_button_callback, java_button_callback):
@@ -515,8 +515,6 @@ def __init__(self, root, java_button_callback):
         self.root.grid_rowconfigure(0, weight=1)
         self.Frame_5 = tkinter.ttk.Frame(root)
         self.pid_pack = tkinter.ttk.Labelframe(self.Frame_5)
-        self.ZeroButton = tkinter.ttk.Button(self.pid_pack)
-        self.Speed_slider = tkinter.ttk.Scale(self.pid_pack)
         self.pid_values = tkinter.ttk.Label(self.pid_pack)
         self.Java_label = tkinter.ttk.Label(self.pid_pack)
         self.Speed_button = tkinter.ttk.Button(self.pid_pack)
@@ -688,54 +686,35 @@ def send_all_KA(self):
                 module.getStatus()
 
     def speedMotorSlider(self, speed, moduleNumber, motorNumber, *args):
-        self.Motor_packs[moduleNumber * 4 + motorNumber].Java_entry.delete(0, END)
-        self.Motor_packs[moduleNumber * 4 + motorNumber].Java_entry.insert(0, '%.2f' % (float(speed) / 32000))
-        self.REVModules[moduleNumber].motors[motorNumber].disablePIDs()
-        self.REVModules[moduleNumber].motors[motorNumber].setPower(float(speed))
-        self.REVModules[moduleNumber].motors[motorNumber].enable()
-        self.repetitiveFunctions = [
-            (lambda: self.send_all_KA())]
-        self.repetitiveFunctions.append((lambda: self.updateMotorLabels(motorNumber, moduleNumber)))
-        return True
+        self.updateMotorPower(motorNumber, moduleNumber, float(speed))
 
     def zeroMotorSpeed(self, motorNumber, moduleNumber, *args):
-        speed = 0
-        self.Motor_packs[moduleNumber * 4 + motorNumber].Speed_slider.set(speed)
-        self.Motor_packs[moduleNumber * 4 + motorNumber].Java_entry.delete(0, END)
-        self.Motor_packs[moduleNumber * 4 + motorNumber].Java_entry.insert(0, '%.2f' % float(speed / 32000))
-        self.REVModules[moduleNumber].motors[motorNumber].disablePIDs()
-        self.REVModules[moduleNumber].motors[motorNumber].setPower(float(speed))
-        self.REVModules[moduleNumber].motors[motorNumber].enable()
-        self.repetitiveFunctions = [
-            (lambda: self.send_all_KA())]
-        self.repetitiveFunctions.append((lambda: self.updateMotorLabels(motorNumber, moduleNumber)))
-        return True
+        self.updateMotorPower(motorNumber, moduleNumber, 0)
 
     def javaMotorEntry(self, motorNumber, moduleNumber, *args):
         try:
             speed = float(self.Motor_packs[moduleNumber * 4 + motorNumber].Java_entry.get())
         except ValueError:
             print('Invalid speed entered: ' + self.Motor_packs[moduleNumber * 4 + motorNumber].Java_entry.get())
             return False
-
+        self.updateMotorPower(motorNumber, moduleNumber, speed)
+
+    def updateMotorPower(self, motorNumber, moduleNumber, speed, *args):
         self.Motor_packs[moduleNumber * 4 + motorNumber].Speed_slider.set(speed * 32000)
-        self.REVModules[moduleNumber].motors[motorNumber].setMode(0, 1)
-        self.REVModules[moduleNumber].motors[motorNumber].disablePIDs()
-        self.REVModules[moduleNumber].motors[motorNumber].setPower(float(speed * 32000))
-        self.REVModules[moduleNumber].motors[motorNumber].enable()
-        self.repetitiveFunctions = [
-            (lambda: self.send_all_KA())]
+        self.Motor_packs[moduleNumber * 4 + motorNumber].Java_entry.delete(0, END)
+        self.Motor_packs[moduleNumber * 4 + motorNumber].Java_entry.insert(0, '%.2f' % (float(speed)))
+        self.REVModules[moduleNumber].motors[motorNumber].setPower(speed)
+        self.repetitiveFunctions = [(lambda: self.send_all_KA())]
         self.repetitiveFunctions.append((lambda: self.updateMotorLabels(motorNumber, moduleNumber)))
         return True
-    
+
     def javaTargetEntry(self, motorNumber, moduleNumber, *args):
         self.zeroMotorSpeed(motorNumber, moduleNumber)
         target = int(self.pid_packs[moduleNumber * 4 + motorNumber].Java_entry.get())
         self.REVModules[moduleNumber].motors[motorNumber].setTargetPosition(target, 1)
         self.REVModules[moduleNumber].motors[motorNumber].setMode(2, 2)
         self.REVModules[moduleNumber].motors[motorNumber].setTargetVelocity(32000)
         self.REVModules[moduleNumber].motors[motorNumber].enable()
-
         self.repetitiveFunctions = [(lambda: self.send_all_KA())]
         self.repetitiveFunctions.append((lambda: self.updateMotorLabels(motorNumber, moduleNumber)))
         return True
@@ -1021,7 +1000,7 @@ def on_connect_button_callback(self):
                 frame.grid(row=motorNumber, column=moduleNumber, sticky=(N, S, E, W))
                 self.Motor_packs.append(
                     dc_motor(frame, partial(self.speedMotorSlider, motorNumber=motorNumber, moduleNumber=moduleNumber),
-                             partial(self.speedMotorEntry, motorNumber=motorNumber, moduleNumber=moduleNumber),
+                             partial(self.zeroMotorSpeed, motorNumber=motorNumber, moduleNumber=moduleNumber),
                              partial(self.javaMotorEntry, motorNumber=motorNumber, moduleNumber=moduleNumber)))
                 self.Motor_packs[-1].Motor_pack.config(
                     text='Module: ' + str(moduleNumber) + ' Motors: ' + str(motorNumber))