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→Laptop Code for Robot/Laptop Base Communication
import PySimpleGUI as sg
import PySimpleGUI as sg
import socket
import socket
def worker_thread1(thread_name, gui_queue):
def worker_thread1(thread_name, gui_queue):
"""
"""
#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
def worker_thread2(thread_name, run_freq, gui_queue):
def worker_thread2(thread_name, run_freq, gui_queue):
gui_queue.put('{} - {}'.format(thread_name))
gui_queue.put('{} - {}'.format(thread_name))
sg.InputText(size=(5, 0), justification="center", key='-Bearing-'),],
sg.InputText(size=(5, 0), justification="center", key='-Bearing-'),],
[sg.Text('Speed:',font=('Mono 9'), justification="Left", size=(8, 1)),
[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.Slider(range=(1,255),enable_events=False, key='-velocity-', default_value=128, 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',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])),],
sg.Button('Execute Move with Spin',size=(30,1),font=('Mono 9'), button_color=(sg.YELLOWS[0], sg.GREENS[0])),],
elif event == 'Magnetic':
elif event == 'Magnetic':
message_to_bot = "MAG"
message_to_bot = "MAG"
client.send(message_to_bot.encode())
elif event == '-velocity-':
#this reads the speed, then sends the speed message
print("Speed Adjustment")
elif event == '<<Input CCW':
#this reads the number of degrees to rotate and gets the speed, then sends the messages
message_to_bot = "SPD" + str(int((values['-velocity-']))).rstrip()
client.send(message_to_bot.encode())
message_to_bot = "ROT" + values['-Rotate-'].rstrip()
client.send(message_to_bot.encode())
elif event == 'Input CW>>':
#this reads the number of degrees to rotate and gets the speed, then sends the messages
message_to_bot = "SPD" + str(int((values['-velocity-']))).rstrip()
client.send(message_to_bot.encode())
message_to_bot = "ROT-" + values['-Rotate-'].rstrip()
client.send(message_to_bot.encode())
elif event == '<<CCW':
#this code does the jitter test in the CCW direction
message_to_bot = "SPD" + str(int((values['-velocity-']))).rstrip()
client.send(message_to_bot.encode())
message_to_bot = "TST1"
client.send(message_to_bot.encode())
elif event == 'CW>>':
#this code does the jitter test in the CW direction
message_to_bot = "SPD" + str(int((values['-velocity-']))).rstrip()
client.send(message_to_bot.encode())
client.send(message_to_bot.encode())
message_to_bot = "TST2"
message_to_bot = "TST"
client.send(message_to_bot.encode())
client.send(message_to_bot.encode())
elif event == 'S2S-F2B':
#this code does the jitter test in the F/R S/S directions
message_to_bot = "SPD" + str(int((values['-velocity-']))).rstrip()
client.send(message_to_bot.encode())
message_to_bot = "TST3"
client.send(message_to_bot.encode())
elif event == 'Send Command':
elif event == 'Send Command':
message_to_bot = values['-QUERY-'].rstrip()
message_to_bot = values['-QUERY-'].rstrip()
client.close()
client.close()
print ("You ended the Robot Server Session")
print ("You ended the Robot Server Session")
</source>
</source>