General Ethernet Connection Guidelines

To connect to the Raspberry Pi from your computer, please ensure that OpenSSH and an X11 server are installed on your system.

After plugging in the Ethernet cable, open a terminal and run the following command:

ssh -Y erie@192.168.100.1

After entering the user password we provided, you will be able to connect to the Raspberry Pi.

To launch the Tonometry control GUI, run the following command:

tonometry-gui

The tonometry-gui alias encapsulates the following sequence of commands:

tonometry-gui='conda activate tonometry && (pgrep pigpiod > /dev/null || sudo pigpiod) && python /home/erie/Tonometry/device_controller/deviceController2.py'

Specifically, this alias:

1. Activates the tonometry Conda environment
2. Checks whether the pigpiod daemon is running and starts it if necessary
3. Executes the Tonometry device controller GUI script

Tonometry Gantry/Weights Controller

Python tooling to drive the tonometry gantry and weights using a Motoron controller, encoder, and ADS1115/LVDT input. It includes a GUI for operation.

Layout

• device_controller/controller_app/ – core package: config, hardware wrappers, PD weights controller, Tk UI.
• device_controller/deviceController2.py – GUI entrypoint.
• calibration.json – persisted targets and gain settings (written by the GUI).
• logs/ – CSV logs captured by the GUI and autotuner.

Requirements

• Python 3.x with pigpiod running for encoder support.
• Motoron I2C library available (repo vendor copy at motoron-python is added to sys.path by the app).
• ADS1115/LVDT input if present (dfrobot_ads1115_fast).

Running the GUI

From repo root:

python device_controller/deviceController2.py

Workflow:

1. Zero the encoder in the UI before moving.
2. Set weights top/bottom targets, tolerance, and speed as needed; edit PID profiles and Min Output in calibration.json.
3. Jog manually with “▲/▼ Hold” buttons; run sequences via the sequence panel (cycles + dwell).
4. Start/stop logging to write CSVs to logs/.(data_type: time, LVDT_voltage, LVDT_mm, State(moving_top, moving_bottom, stay_top, stay_bottom))
5. E-STOP latches a coast; Reset E-STOP to resume.

Notes:

• After editing config, restart the GUI and re-zero before moving.

Configuration

Defaults live in device_controller/controller_app/config.py and are overridden by calibration.json when present. The GUI “Save Targets” button writes targets back to calibration.json; edit PID profiles in that file directly.

Key settings:

• weights_pid: kp, ki, and kd apply to weights other than 800 g; gains_800g contains the gains for exactly 800 g. Edit these profiles in calibration.json and restart the GUI. This section also contains deadband_counts, min_output, and moving gravity compensation settings.

• weights_encoder: top_counts, bottom_counts, tolerance_counts, default_travel_counts, and command limits: pid_lift_speed_pct (30% for non-800 g) and pid_lift_speed_pct_800g (50% for exactly 800 g). With the current 800 g startup weight, the GUI slider shows 50%.

• Bottom protection to avoid unspooling:

  • bottom_slow_speed_pct: temporary speed when driving to bottom.
  • bottom_retension_counts: lift after hitting bottom (0 to disable).
  • bottom_retension_speed_pct: speed for that lift.

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