fix: cleanup

rotary_controller_python/components/coordbar.py

@@ -3,7 +3,7 @@
 from kivy.factory import Factory
 from kivy.lang import Builder
 from kivy.logger import Logger
-from kivy.properties import ObjectProperty
+from kivy.properties import ObjectProperty, NumericProperty
 from kivy.uix.boxlayout import BoxLayout
 
 from rotary_controller_python.dispatchers.scale import ScaleDispatcher
@@ -17,9 +17,17 @@
 
 
 class CoordBar(BoxLayout):
+    input_index: NumericProperty(0)
     servo: ServoDispatcher = ObjectProperty(None)
     scale: ScaleDispatcher = ObjectProperty(None)
 
+    def __init__(self, **kv):
+        super().__init__(**kv)
+        self.scale.bind(position=self.on_scale)
+
     def update_position(self):
         if not self.scale.spindleMode:
             Factory.Keypad().show_with_callback(self.scale.set_current_position, self.scale.scaledPosition)
+
+    def on_scale(self, instance, value):
+        pass

rotary_controller_python/components/forms/number_item.py

@@ -29,4 +29,4 @@ def validate(self, value):
             log.error(e.__str__())
 
     def on_value(self, instance, value):
-        self.validate(value)
+        self.validate(value)

rotary_controller_python/components/home/home_page.py

@@ -30,20 +30,16 @@
 class HomePage(BoxLayout):
     device = ObjectProperty()
     bars_container = ObjectProperty()
-    servo = ObjectProperty()
-    scales: List[ScaleDispatcher] = ListProperty([])
 
     def __init__(self, **kv):
+        self.app = App.get_running_app()
         super().__init__(**kv)
         self.bars_container.add_widget(StatusBar())
         servo_bar = ServoBar(servo=self.servo)
 
         coord_bars = []
         for i in range(4):
-            bar = CoordBar(
-                servo=self.servo,
-                scale=self.scales[i],
-            )
+            bar = CoordBar(input_index=1)
             coord_bars.append(bar)
             self.bars_container.add_widget(bar)
 

rotary_controller_python/components/home/home_toolbar.kv

@@ -4,18 +4,14 @@
 #: import ToolbarButton components.toolbars.toolbar_button
 #: import SetupPopup components.setup.setup_popup
 #: import ScenePopup components.plot.scene_popup
+#: import JogPopup components.jog.jog_popup
 
 <HomeToolbar>:
   size_hint_x: None
   size_hint_y: 1
   width: 80
   orientation: "vertical"
 
-  ToolbarButton:
-    # TOOL
-    text: "T{:d}".format(int(app.tool))
-    on_release: Factory.Keypad().show(app, 'tool')
-
   ToolbarButton:
     # IN/MM
     text: app.formats.current_format
@@ -31,6 +27,11 @@
     text: "\ue2ca"
     on_release: Factory.ScenePopup().open()
 
+  ToolbarButton:
+    # TOOL
+    text: "JOG".format(int(app.tool))
+    on_release: Factory.JogPopup().open()
+
   ToolbarButton:
     font_name: "fonts/Font Awesome 6 Free-Solid-900.otf"
     text: "\uf085"

rotary_controller_python/components/jog/jog_popup.kv

@@ -0,0 +1,50 @@
+#: import SetupScreenManager components.setup.setup_screen_manager
+#: import NumberItem components.forms.number_item
+
+<JogPopup>:
+  title: "Jog Mode"
+  size_hint: 1, 1
+  auto_dismiss: False
+#  BoxLayout:
+#    orientation: "horizontal"
+  BoxLayout:
+#    size_hint_x: None
+#    width: 64
+    orientation: "vertical"
+    NumberItem:
+      name: "Desired Speed"
+      value: root.desired_speed
+      on_value: root.desired_speed = self.value
+    NumberItem:
+      name: "Current Position"
+      value: app.servo.scaledPosition
+      disabled: True
+    NumberItem:
+      name: "Current Speed"
+      value: app.servo.speed
+      disabled: True
+#      on_release: root.screen_manager.current = "scale_0"
+    NumberItem:
+      name: "Current Acceleration"
+      value: app.servo.acceleration
+      disabled: True
+    Widget:
+      size_hint_y: 1
+    BoxLayout:
+      size_hint_y: None
+      size_hint_x: 1
+      height: 64
+      orientation: "horizontal"
+      Button:
+        background_color: [0.2, 1, 0.2, 1]
+        text: "Start"
+        on_release: root.enable_jog = True
+#        on_release: root.screen_manager.current = "scale_1"
+      Button:
+        background_color: [1, 0.2, 0.2, 1]
+        text: "Stop"
+        on_release: root.enable_jog = False
+#        on_release: root.screen_manager.current = "scale_2"
+      Button:
+        text: "Exit"
+        on_release: root.dismiss()

rotary_controller_python/components/jog/jog_popup.py

@@ -0,0 +1,40 @@
+import os
+
+from kivy.app import App
+from kivy.lang import Builder
+from kivy.logger import Logger
+from kivy.properties import NumericProperty, BooleanProperty
+from kivy.uix.popup import Popup
+
+
+log = Logger.getChild(__name__)
+kv_file = os.path.join(os.path.dirname(__file__), __file__.replace(".py", ".kv"))
+if os.path.exists(kv_file):
+    log.info(f"Loading KV file: {kv_file}")
+    Builder.load_file(kv_file)
+
+
+class JogPopup(Popup):
+    desired_speed = NumericProperty(0)
+    enable_jog = BooleanProperty(False)
+
+    def __init__(self, **kv):
+        self.app = App.get_running_app()
+        super().__init__(*kv)
+        self.app.bind(update_tick=self.update_tick)
+
+    def update_tick(self, *args, **kv):
+        if self.enable_jog:
+            self.app.servo.jogSpeed = self.desired_speed
+            self.app.servo.servoEnable = 2
+        else:
+            self.app.servo.jogSpeed = 0
+
+    def update_desired_speed(self, *args, **kv):
+        value = args[1]
+        self.desired_speed = value
+
+    def on_dismiss(self):
+        self.app.servo.jogSpeed = 0
+        self.app.servo.servoEnable = 0
+        log.info("Close jog page")

rotary_controller_python/components/servobar.kv

@@ -40,7 +40,7 @@
     ProgressBar:
       size_hint_y: 0.20
       max: int(root.servo.maxSpeed)
-      value: int(root.servo.speed)
+      value: int(abs(root.servo.speed))
 
   BoxLayout:
     orientation: "vertical"

rotary_controller_python/utils/devices.py

@@ -11,15 +11,6 @@
 SCALES_COUNT = 4
 
 
-# class Index(BaseDevice):
-#     definition = """
-# typedef struct {
-#   int32_t divisions;
-#   int32_t index;
-# } index_t;
-# """
-
-
 class Servo(BaseDevice):
     definition = """
 typedef struct {