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Holonomic Robotic Platform (view source)

Revision as of 05:28, 26 February 2020

4,099 bytes added ,  05:28, 26 February 2020
m
→‎Laptop Code for Robot/Laptop Base Communication
Line 130: Line 130:  
import socket
 
import socket
   −
GRAPH_SIZE = (700,300)
+
GRAPH_SIZE = (500,400)
 
GRAPH_STEP_SIZE = 1
 
GRAPH_STEP_SIZE = 1
    
sg.change_look_and_feel('GreenMono') # give our window a spiffy set of colors
 
sg.change_look_and_feel('GreenMono') # give our window a spiffy set of colors
 +
# ------ GetFile Window Definition ------ #
 +
 +
# ------ Menu Definition ------ #
 +
menu_def = [['&File', ['&Open Text File to Transmit', '---', 'Properties', '---','H&alt Everything']],
 +
            ['&Help', '&About...'], ]
 +
# ------ Column Definition ------ #
 +
col1 = [   
 +
            [sg.Text('Bot Message response', size=(30, 1))],
 +
            [sg.Output(size=(40, 20), font=('Mono 8'))],
 +
            [sg.Text('Bot Command Single Entry', size=(30, 1))],
 +
            [sg.InputText(size=(30, 0), key='-QUERY-')],
 +
            [sg.Button('Send Command',size=(20,1), button_color=(sg.YELLOWS[0], sg.GREENS[0]), bind_return_key=True)],
 +
            ]   
 +
col2 = [   
 +
            [sg.Text('Bot Jitter Test',font=('Mono 9'), justification="center", size=(48, 1))],
 +
            [sg.Button('<<CCW',size=(10,1),font=('Mono 9'), button_color=(sg.YELLOWS[0], sg.GREENS[0])),
 +
            sg.Button('S2S-F2B',size=(10,1),font=('Mono 9'), button_color=(sg.YELLOWS[0], sg.GREENS[0])),
 +
            sg.Button('Combo',size=(10,1),font=('Mono 9'), button_color=(sg.YELLOWS[0], sg.GREENS[0])),
 +
            sg.Button('CW>>',size=(10,1),font=('Mono 9'), button_color=(sg.YELLOWS[0], sg.GREENS[0]))],
 +
           
 +
            [sg.Text('Bot Rotation',font=('Mono 9'), justification="center", size=(48, 1))],
 +
            [sg.Button('<<180 CCW',size=(10,1),font=('Mono 9'), button_color=(sg.YELLOWS[0], sg.GREENS[0])),
 +
            sg.Button('<180 CCW',size=(10,1),font=('Mono 9'), button_color=(sg.YELLOWS[0], sg.GREENS[0])),
 +
            sg.Button('180 CW>',size=(10,1),font=('Mono 9'), button_color=(sg.YELLOWS[0], sg.GREENS[0])),
 +
            sg.Button('180 CW>>',size=(10,1),font=('Mono 9'), button_color=(sg.YELLOWS[0], sg.GREENS[0])),],
 +
           
 +
            [sg.Button('<<Input CCW',size=(15,1),font=('Mono 9'), button_color=(sg.YELLOWS[0], sg.GREENS[0])),
 +
            sg.InputText(size=(11, 0), justification="center", key='-Rotate-'),
 +
            sg.Button('Input CW>>',size=(15,1),font=('Mono 9'), button_color=(sg.YELLOWS[0], sg.GREENS[0])),
 +
            ],
 +
           
 +
            [sg.Text('IMU',font=('Mono 9'), justification="center", size=(48, 1))],
 +
            [sg.Button('Zero to North',size=(16,1),font=('Mono 9'), button_color=(sg.YELLOWS[0], sg.GREENS[0])),
 +
            sg.Button('South',size=(8,1),font=('Mono 9'), button_color=(sg.YELLOWS[0], sg.GREENS[0])),
 +
            sg.Button('East',size=(8,1),font=('Mono 9'), button_color=(sg.YELLOWS[0], sg.GREENS[0])), 
 +
            sg.Button('West',size=(8,1),font=('Mono 9'), button_color=(sg.YELLOWS[0], sg.GREENS[0])),], 
 +
           
 +
            [sg.Text('Linear Movement',font=('Mono 9'), justification="center", size=(48, 1))],
 +
            [sg.Text('Bot Angle:',font=('Mono 9'), justification="Left", size=(10, 1)),
 +
            sg.InputText(size=(5, 0), justification="center", key='-BotAngle-'),
 +
            sg.Text('Line of Bearing:',font=('Mono 9'), justification="Left", size=(15, 1)),
 +
            sg.InputText(size=(5, 0), justification="center", key='-Bearing-'),],
 +
            [sg.Text('Speed:',font=('Mono 9'), justification="Left", size=(8, 1)),
 +
            sg.Slider(range=(1,255),key='speed', default_value=127, size=(22,15), orientation='horizontal', font=('Helvetica', 12)),],
 +
            [sg.Button('Execute Move',size=(15,1),font=('Mono 9'), button_color=(sg.YELLOWS[0], sg.GREENS[0])),
 +
            sg.Button('Execute Move with Spin',size=(30,1),font=('Mono 9'), button_color=(sg.YELLOWS[0], sg.GREENS[0])),],
 +
            ]   
 +
col3 = [
 +
            [sg.Graph(GRAPH_SIZE, (0,0), GRAPH_SIZE, key='-GRAPH-', background_color='lightblue')
 +
            ],
 +
       
 +
            ]
 +
layout = [
 +
          [sg.Menu(menu_def, tearoff=True)],
 +
          [sg.Column(col1, pad=((1,1),(1,1)), justification="left", background_color = None),
 +
          sg.Column(col2, pad=((1,1),(1,1)), justification="left", background_color = None),
 +
          sg.Column(col3, pad=((1,1),(1,1)), justification="left", background_color = None),
 +
          ]]
   −
layout = [[sg.Text('Robot Message response', size=(30, 1))],
  −
          [sg.Output(size=(30, 20), font=('Mono 9')),
  −
          sg.Graph(GRAPH_SIZE, (0,0), GRAPH_SIZE, key='-GRAPH-', background_color='lightblue')],
  −
          [sg.Text('Robot Command Entry', size=(30, 1))],
  −
          [sg.InputText(size=(30, 0), key='-QUERY-'),
  −
          sg.Button('Send Command',size=(20,1), button_color=(sg.YELLOWS[0], sg.GREENS[0]), bind_return_key=True)],
  −
          [sg.Button('Halt Everything',size=(20,1), button_color=(sg.YELLOWS[0], sg.GREENS[0]))]]
     −
main_window = sg.Window('Robot Window Control', layout, font=('Helvetica', ' 11'), default_button_element_size=(8, 2))
+
main_window = sg.Window('Crawler Bot Window Control', layout, font=('Helvetica', ' 11'), default_button_element_size=(8, 2))
   −
#start executing here
+
#start executing main here ---------------------------------------
 
if __name__ == '__main__':
 
if __name__ == '__main__':
−
 
+
    #sg.Popup('Data!')
 
     message_from_bot = ''
 
     message_from_bot = ''
−
     client = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+
     #client = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
−
     client.connect(('192.168.1.132', 13000))
+
     #client.connect(('192.168.1.132', 13000))
 
     escape = True
 
     escape = True
 
      
 
      
 
     while escape == True:
 
     while escape == True:
 
         message_from_bot =''
 
         message_from_bot =''
 +
#----------------process all the window events --------------------------
 
         event, value = main_window.read()
 
         event, value = main_window.read()
 +
        if event == 'Open Text File to Transmit':
 +
            text = sg.PopupGetFile("Open the file to transmit",
 +
            save_as=False,
 +
            file_types=(('ALL Files', '*.*'),),
 +
            no_window=False,
 +
            location=(None, None),
 +
            initial_folder=None)
 +
            #transmit line by line to the bot
 +
            print ("Transmitting Message")
 +
            #client.send(message_to_bot.encode())
 
         if event == 'Halt Everything':
 
         if event == 'Halt Everything':
 
             message_to_bot = "SRS"
 
             message_to_bot = "SRS"
−
             client.send(message_to_bot.encode())
+
             #client.send(message_to_bot.encode())
 
             break
 
             break
 
         if event == 'Send Command':
 
         if event == 'Send Command':
 
             message_to_bot = value['-QUERY-'].rstrip()
 
             message_to_bot = value['-QUERY-'].rstrip()
−
             client.send(message_to_bot.encode())
+
             #client.send(message_to_bot.encode())
−
 
+
#-------------------------------------------------------------------------
−
         message_from_bot = (client.recv(4096)).decode()
+
         #message_from_bot = (client.recv(4096)).decode()
 
         print (message_from_bot)
 
         print (message_from_bot)
 
         if message_from_bot == "RxAck:Engaging Robot Shutdown" : escape = False  
 
         if message_from_bot == "RxAck:Engaging Robot Shutdown" : escape = False  
 
          
 
          
 
     main_window.close()
 
     main_window.close()
−
     client.close()
+
     #client.close()
 
     print ("You ended the Robot Server Session")
 
     print ("You ended the Robot Server Session")
 
</source>
 
</source>
Joelmartin
Bots, Bureaucrats, contributor, Interface administrators, lookupuser, Administrators
4,000

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Retrieved from "http://OCRobotx.org/mediawiki/index.php/Special:MobileDiff/12168"

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