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improved actuator panel #126

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Merged
tridge merged 2 commits into from
Apr 15, 2026
Merged

improved actuator panel #126

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dcc5b58
actuator_panel: per-channel command_type selector
tridge Apr 13, 2026
b01b16c
actuator_panel: allow IDs up to 255
tridge Apr 15, 2026
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34 changes: 31 additions & 3 deletions dronecan_gui_tool/panels/actuator_panel.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
import dronecan
from functools import partial
from PyQt6.QtWidgets import QVBoxLayout, QHBoxLayout, QWidget, QLabel, QDialog, QSlider, QSpinBox, QDoubleSpinBox, QCheckBox, \
QPlainTextEdit
QPlainTextEdit, QComboBox
from PyQt6.QtCore import QTimer, Qt
from logging import getLogger
from ..widgets import make_icon_button, get_icon, get_monospace_font
Expand All @@ -36,6 +36,9 @@ def __init__(self, parent):
self._slider.setTickInterval(1000)
self._slider.setTickPosition(QSlider.TicksBothSides)
self._slider.valueChanged.connect(lambda: self._spinbox.setValue(self._slider.value()/1000.0))
sp = self._slider.sizePolicy()
sp.setRetainSizeWhenHidden(True)
self._slider.setSizePolicy(sp)

self._spinbox = QDoubleSpinBox(self)
self._spinbox.setMinimum(-1)
Expand All @@ -49,13 +52,18 @@ def __init__(self, parent):

self._actuator_id = QSpinBox(self)
self._actuator_id.setMinimum(0)
self._actuator_id.setMaximum(15)
self._actuator_id.setMaximum(255)
self._actuator_id.setValue(0)
self._actuator_id.setPrefix('ID: ')

self._enabled = QCheckBox('Enabled', self)
self._enabled.setGeometry(0, 0, 10, 10)

self._command_type = QComboBox(self)
for label, value in (('UNITLESS', 0), ('POSITION', 1), ('FORCE', 2), ('SPEED', 3), ('PWM', 4)):
self._command_type.addItem(label, value)
self._command_type.currentIndexChanged.connect(self._on_command_type_changed)

layout = QVBoxLayout(self)
sub_layout = QHBoxLayout(self)
sub_layout.addStretch()
Expand All @@ -65,6 +73,7 @@ def __init__(self, parent):
layout.addWidget(self._spinbox)
layout.addWidget(self._zero_button)
layout.addWidget(self._actuator_id)
layout.addWidget(self._command_type)
layout.addWidget(self._enabled)
self.setLayout(layout)

Expand All @@ -82,6 +91,25 @@ def get_actuator_id(self):
def is_enabled(self):
return self._enabled.isChecked()

def get_command_type(self):
return self._command_type.currentData()

def _on_command_type_changed(self):
is_unitless = self._command_type.currentData() == 0
self._slider.setEnabled(is_unitless)
self._slider.setVisible(is_unitless)
self._zero_button.setEnabled(is_unitless)
if is_unitless:
self._spinbox.setMinimum(-1)
self._spinbox.setMaximum(1)
self._spinbox.setDecimals(3)
self._spinbox.setSingleStep(0.001)
else:
self._spinbox.setDecimals(3)
self._spinbox.setMinimum(-1e6)
self._spinbox.setMaximum(1e6)
self._spinbox.setSingleStep(1)


class ActuatorPanel(QDialog):
DEFAULT_INTERVAL = 0.1
Expand Down Expand Up @@ -161,7 +189,7 @@ def _do_broadcast(self):
msg_cmd = dronecan.uavcan.equipment.actuator.Command()
msg_cmd.actuator_id = sl.get_actuator_id()
msg_cmd.command_value = sl.get_value()
msg_cmd.command_type = 0
msg_cmd.command_type = sl.get_command_type()
msg.commands.append(msg_cmd)

self._node.broadcast(msg)
Expand Down
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