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pid_para_converter.py
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#!/usr/bin/python3
# -*- coding: utf-8 -*-
"""This is a petite GUI for convert the PID parameters, working with two versions:
1) Kp proprotional gain, Ki integral gain, Kd derivative gain.
2) Ti integral time in min, Td derivative time in min.
Ki = Kp / Ti (s) Kd = Kp * Td (s)
Author: Yang Wang @ U of Waterloo Maglev lab
Created: Mon 13 Jun 2022 01:37:24 PM EDT
Modification: N/A
Version: final"""
from PyQt5 import QtCore, QtWidgets
class UiDialog():
"""
This is the ui dialog for the GUI
"""
def __init__(self):
self.__kp = 250
self.__ki = 260
self.__kd = 90
self.__ti = 0.01
self.__td = 0.01
self._kp = 0.0
self._ki = 0.0
self._kd = 0.0
self._ti = 0.0
self._td = 0.0
self._updateornot = False
def setup_ui(self, Dialog):
Dialog.setObjectName("Dialog")
Dialog.resize(440, 500)
self.kp_box = QtWidgets.QDoubleSpinBox(Dialog)
self.kp_box.setGeometry(QtCore.QRect(50, 60, 80, 40))
self.kp_box.setObjectName("kp_box")
self.kp_box.valueChanged.connect(self.kp)
self.kp_box.setRange(0, 5000)
self.kp_box.setValue(self.__kp)
self.ki_box = QtWidgets.QDoubleSpinBox(Dialog)
self.ki_box.setGeometry(QtCore.QRect(182, 60, 80, 40))
self.ki_box.setObjectName("ki_box")
self.ki_box.valueChanged.connect(self.ki)
self.ki_box.setRange(0, 100000)
self.ki_box.setSingleStep(1)
self.ki_box.setValue(self.__ki)
self.kd_box = QtWidgets.QDoubleSpinBox(Dialog)
self.kd_box.setGeometry(QtCore.QRect(310, 60, 80, 40))
self.kd_box.setObjectName("kd_box")
self.kd_box.valueChanged.connect(self.kd)
self.kd_box.setRange(0, 1000)
self.kd_box.setValue(self.__kd)
self.ti_box = QtWidgets.QDoubleSpinBox(Dialog)
self.ti_box.setGeometry(QtCore.QRect(50, 160, 100, 40))
self.ti_box.setObjectName("ti_box")
self.ti_box.valueChanged.connect(self.ti)
self.ti_box.setRange(0, 3)
self.ti_box.setSingleStep(0.0005)
self.ti_box.setDecimals(5)
self.ti_box.setValue(self.__ti)
self.td_box = QtWidgets.QDoubleSpinBox(Dialog)
self.td_box.setGeometry(QtCore.QRect(290, 160, 100, 40))
self.td_box.setObjectName("td_box")
self.td_box.valueChanged.connect(self.td)
self.td_box.setRange(0, 3)
self.td_box.setSingleStep(0.0005)
self.td_box.setDecimals(5)
self.td_box.setValue(self.__td)
self.label = QtWidgets.QLabel(Dialog)
self.label.setGeometry(QtCore.QRect(50, 40, 85, 20))
self.label.setObjectName("label")
self.label_1 = QtWidgets.QLabel(Dialog)
self.label_1.setGeometry(QtCore.QRect(182, 40, 85, 20))
self.label_1.setObjectName("label_1")
self.label_2 = QtWidgets.QLabel(Dialog)
self.label_2.setGeometry(QtCore.QRect(310, 40, 85, 20))
self.label_2.setObjectName("label_2")
self.label_3 = QtWidgets.QLabel(Dialog)
self.label_3.setGeometry(QtCore.QRect(60, 140, 85, 20))
self.label_3.setObjectName("label_4")
self.label_4 = QtWidgets.QLabel(Dialog)
self.label_4.setGeometry(QtCore.QRect(300, 140, 85, 20))
self.label_4.setObjectName("label_4")
self.author_tag = QtWidgets.QLabel(Dialog)
self.author_tag.setGeometry(QtCore.QRect(320, 440, 130, 50))
self.author_tag.setObjectName("author_tag")
self.find_kid_cmd = QtWidgets.QPushButton(Dialog)
self.find_kid_cmd.setGeometry(QtCore.QRect(60, 380, 120, 35))
self.find_kid_cmd.setObjectName("find_kid")
self.find_kid_cmd.setDefault(False)
self.find_kid_cmd.setAutoDefault(False)
self.find_kid_cmd.clicked.connect(self.find_kid)
self.find_tid_cmd = QtWidgets.QPushButton(Dialog)
self.find_tid_cmd.setGeometry(QtCore.QRect(260, 380, 120, 35))
self.find_tid_cmd.setObjectName("find_tid")
self.find_tid_cmd.setDefault(False)
self.find_tid_cmd.setAutoDefault(False)
self.find_tid_cmd.clicked.connect(self.find_tid)
self.update_data_cmd = QtWidgets.QPushButton(Dialog)
self.update_data_cmd.setGeometry(QtCore.QRect(160, 430, 120, 35))
self.update_data_cmd.setObjectName("set_enable")
self.update_data_cmd.setDefault(False)
self.update_data_cmd.setAutoDefault(False)
self.update_data_cmd.clicked.connect(self.set_enable)
self.retranslateUi(Dialog)
QtCore.QMetaObject.connectSlotsByName(Dialog)
def kp(self):
self._kp = self.kp_box.value()
# print(f"The new Kp gain is set to {self.kp_box.value()}")
def ki(self):
self._ki = self.ki_box.value()
# print(f"The new Ki gain is set to {self.ki_box.value()}")
def kd(self):
self._kd = self.kd_box.value()
# print(f"The new Kd gain is set to {self.kd_box.value()}")
def ti(self):
self._ti = self.ti_box.value()
# print(f"The new Ti time is set to {self.ti_box.value()}")
def td(self):
self._td = self.td_box.value()
# print(f"The new Td time is set to {self.td_box.value()}")
def find_kid(self):
"""return the Ki and Kd based on Ti and Td inputs."""
if self._updateornot:
if self._ti == 0:
self._ki = 0
else:
self._ki = self._kp / self._ti / 60.0
self._kd = self._kp * self._td * 60
self.ki_box.setValue(self._ki)
self.kd_box.setValue(self._kd)
print("Press \"Enable Buttons\" again to enable \"Find Ki Kd\" button!")
self.find_kid_cmd.setEnabled(False)
self.find_tid_cmd.setEnabled(False)
self.find_kid_cmd.setStyleSheet("background-color : rgb(169, 169, 169)")
self.find_tid_cmd.setStyleSheet("background-color : rgb(169, 169, 169)")
def find_tid(self):
"""return the Ti and Td based on Ki and Kd inputs."""
if self._updateornot:
if self._ki == 0:
self._ti = 0
else:
self._ti = self._kp / self._ki / 60.0
self._td = self._kd / self._kp / 60.0
self.ti_box.setValue(self._ti)
self.td_box.setValue(self._td)
self._updateornot = False
print("Press \"Enable Buttons\" again to enable \"Find Ti Td\" button!")
self.find_kid_cmd.setEnabled(False)
self.find_tid_cmd.setEnabled(False)
self.find_kid_cmd.setStyleSheet("background-color : rgb(169, 169, 169)")
self.find_tid_cmd.setStyleSheet("background-color : rgb(169, 169, 169)")
def set_enable(self):
self._updateornot = True
self.find_kid_cmd.setStyleSheet("background-color : rgb(27, 232, 136)")
self.find_tid_cmd.setStyleSheet("background-color : rgb(27, 232, 136)")
self.find_kid_cmd.setEnabled(True)
self.find_tid_cmd.setEnabled(True)
def retranslateUi(self, Dialog):
_translate = QtCore.QCoreApplication.translate
Dialog.setWindowTitle(_translate(
"Dialog", "PID Parameter Converter Tool"))
# Dialog.setStyleSheet() # use this to setup background of GUI
self.label.setText(_translate("Dialog", "Kp in N/m"))
self.label_1.setText(_translate("Dialog", "Ki in N/(m*s)"))
self.label_2.setText(_translate("Dialog", "Kd in N*s/m"))
self.label_3.setText(_translate("Dialog", "Ti in min"))
self.label_4.setText(_translate("Dialog", "Td in min"))
self.author_tag.setText(_translate("Dialog", "Created:\nBob(Yang) W.\n@ U of Waterloo"))
self.update_data_cmd.setText(_translate("Dialog", "Enable Buttons"))
self.find_kid_cmd.setText(_translate("Dialog", "Find Ki and Kd"))
self.find_tid_cmd.setText(_translate("Dialog", "Find Ti and Td"))
self.update_data_cmd.setStyleSheet("background-color : rgb(27, 232, 136)")
self.find_kid_cmd.setStyleSheet("background-color : rgb(169, 169, 169)")
self.find_tid_cmd.setStyleSheet("background-color : rgb(169, 169, 169)")
self.find_kid_cmd.setEnabled(False)
self.find_tid_cmd.setEnabled(False)
self.label.setStyleSheet("color : blue")
self.label_1.setStyleSheet("color : blue")
self.label_2.setStyleSheet("color : blue")
self.label_3.setStyleSheet("color : red")
self.label_4.setStyleSheet("color : red")
self.author_tag.setStyleSheet("color : black")
self.author_tag.setWordWrap(True)
if __name__ == "__main__":
import sys
app = QtWidgets.QApplication(sys.argv)
diag = QtWidgets.QDialog()
gallery = UiDialog()
gallery.setup_ui(diag)
diag.show()
sys.exit(app.exec_())