{
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    {
      "cell_type": "code",
      "execution_count": null,
      "metadata": {
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      "outputs": [],
      "source": [
        "%matplotlib inline"
      ]
    },
    {
      "cell_type": "markdown",
      "metadata": {},
      "source": [
        "# Motor axis controller\n"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": null,
      "metadata": {
        "collapsed": false
      },
      "outputs": [],
      "source": [
        "from itom import ui\nfrom itom import actuator\nfrom itom import version as itomVersion\n\ngui = ui(\"demoMotorAxisController.ui\", ui.TYPEWINDOW)\n# please notice, that some signals/slots are already connected via Designer!\n\nc = gui.controller\nmotor = actuator(\"DummyMotor\", 4)\nc[\"actuator\"] = motor\nc[\"numAxis\"] = 4  # the first 4 axes from the motor are considered in this case.\nc[\n    \"defaultAxisUnit\"\n] = \"UnitMum\"  # available: UnitNm (0), UnitMum (1), UnitMm (2), UnitCm (3), UnitM (4) or UnitDeg (5)\nc[\n    \"defaultAxisType\"\n] = \"TypeLinear\"  # available: TypeRotational (0), TypeLinear (1)\nc[\"defaultRelativeStepSize\"] = 0.010  # always in mm or deg\nc[\"axisNames\"] = (\"x\", \"y\", \"z\", \"alpha\")\nc[\"defaultDecimals\"] = 2\n\nqtVersion = itomVersion(1)[\"itom\"][\"QT_Version\"]\n\n# the fourth axis is a rotational axis:\nif qtVersion >= \"5.5.0\":\n    c.call(\"setAxisType\", 3, \"TypeRotational\")\n    c.call(\"setAxisUnit\", 3, \"UnitDeg\")\nelse:\n    # before Qt 5.5.0, slots with enumeration data types can only be called with their integer value\n    c.call(\"setAxisType\", 3, 0)  # TypeRotational\n    c.call(\"setAxisUnit\", 3, 5)  # UnitDeg\n\ngui.show()"
      ]
    }
  ],
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