QT rotator control interface

This interface allows to control the EPFL LNCO rotator (PLC + DMC-30010).

Control modes

The interface includes 3 control modes:

• Speed : set a desired speed and acceleration/deceleration
• Profile : load a fixed profile and run it
• Profile RT : real-time control (fill the MC buffer in real time) - used for real-time control from external device for example (see unity project)

In addition, for each profile, the interface plots in real time the position (angle) of the rotator, and save the data (motion curve picture (.png) and data (.csv)) after each motion.

Speed mode

1. Set the Speed (desired velocity in degree per second) and Acc (acceleration in degree per second ^2) parameters
2. Click on Start to start the motion
3. Optional: change the Speed and Acc parameters; click on Start to validate the new parameters
4. Click on Stop to stop the motion
5. Click on End Motion And Let The Participant Get Out when finished (to change control mode for example)

Interface on start	Interface when running

Profile mode

1. Click on Load profile to load a profile (a window explorer will open and ask you to select a profile file)
2. Click on Start profile to start the motion
3. Optional: Click on Stop motion to stop the motion while running profile
4. Click on End Motion And Let The Participant Get Out when finished (to change control mode for example)

Interface on start	Interface on profile loaded	Interface when running

Profile RT mode

1. Set the Time interval (time between two command executions) and Max buffer size (size of the buffer containing data) parameters. If you don't know what you're doing, leave the default settings (Time interval = 8ms ; Max buffer size = 10 ).
2. Click on Start to start the motion
3. Optional: change the Desired CD/IT parameter - you can use mouse wheel to update in real time the desired velocity (in degree per second). This parameter can be changed in real time from an external device by connecting to the local network of the rotator (Wifi router name: Rotator) and sending through UDP "udpvelocity _vel" (_vel = the desired velocity (in degree per second)) to 100.0.0.101::42424
4. Click on Stop to stop the motion
5. Click on End Motion And Let The Participant Get Out when finished (to change control mode for example)

Interface on start	Interface when running

Profile RT mode control from an external computer

With this software open on the "Profile RT control" tab, you can control the rotator in real time from an external computer. To do this, you need to connect the external computer to the local network of the rotator (Wifi router name: Rotator).

To send commands to the rotator interface (this software), you need to send UDP messages to 100.1.1.101::42424

• "start" -> start profile rt control
• "stop" -> stop rt control profile
• "udpvelocity _x" ; _x = desired velocity in degree per s
• "custommessage _x" ; _x = direct message to send to the motion controller (see DMC-30010 documentation)

To receive message from the rotator interface (this software), you get UDP messages on 100.1.1.100::42425

• "rotvel _y" ; _y = rotator angle feedback in degree (to animate a Unity scene for example)

For a complete example of control from an external laptop, see the unity project - repo rotator_control_unity_rt - (real time control of the rotator by the user from inside the rotator with an Xbox controller - Unity project).

Contributors

Thanks goes to these wonderful people

• Albert Louis Philippe
• Bruno Herbelin