12.1.10.8.9. Motor axis controller

from itom import ui
from itom import actuator
from itom import version as itomVersion

gui = ui("demoMotorAxisController.ui", ui.TYPEWINDOW)
# please notice, that some signals/slots are already connected via Designer!

c = gui.controller
motor = actuator("DummyMotor", 4)
c["actuator"] = motor
c["numAxis"] = 4  # the first 4 axes from the motor are considered in this case.
c[
    "defaultAxisUnit"
] = "UnitMum"  # available: UnitNm (0), UnitMum (1), UnitMm (2), UnitCm (3), UnitM (4) or UnitDeg (5)
c[
    "defaultAxisType"
] = "TypeLinear"  # available: TypeRotational (0), TypeLinear (1)
c["defaultRelativeStepSize"] = 0.010  # always in mm or deg
c["axisNames"] = ("x", "y", "z", "alpha")
c["defaultDecimals"] = 2

qtVersion = itomVersion(1)["itom"]["QT_Version"]

# the fourth axis is a rotational axis:
if qtVersion >= "5.5.0":
    c.call("setAxisType", 3, "TypeRotational")
    c.call("setAxisUnit", 3, "UnitDeg")
else:
    # before Qt 5.5.0, slots with enumeration data types can only be called with their integer value
    c.call("setAxisType", 3, 0)  # TypeRotational
    c.call("setAxisUnit", 3, 5)  # UnitDeg

gui.show()