def Conectar(self):
if self.emparejado is False:
self.conexion.setText('Conectando...')
self.conexion.setStyleSheet('QPushButton {background-color: #09E6E6; color: #000000;}')
self.comunicacion = Comunicador_Robot()
if self.comunicacion.CONNECTED:
self.emparejado = True
self.conexion.setText('Conectado!')
self.conexion.setStyleSheet('QPushButton {background-color: #78E609; color: #000000;}')
class Control(QtGui.QWidget):
def __init__(self):
QtGui.QWidget.__init__(self)
self.setupUi(self)
self.show()
def setupUi(self, Form):
Form.setObjectName(_fromUtf8("Control Robot"))
Form.resize(668, 431)
self.dial = QtGui.QDial(Form)
self.dial.setGeometry(QtCore.QRect(20, 40, 351, 231))
self.dial.setObjectName(_fromUtf8("dial"))
self.verticalSlider = QtGui.QSlider(Form)
self.verticalSlider.setGeometry(QtCore.QRect(480, 80, 121, 221))
self.verticalSlider.setOrientation(QtCore.Qt.Vertical)
self.verticalSlider.setObjectName(_fromUtf8("verticalSlider"))
self.conexion = QtGui.QPushButton(Form)
self.conexion.setGeometry(QtCore.QRect(5, 5, 100, 50))
self.conexion.setText('Conectar')
self.conexion.setStyleSheet('QPushButton {background-color: #E60909; color: #FFFFFF;}')
self.cambio_direccion = QtGui.QPushButton(Form)
self.cambio_direccion.setGeometry(QtCore.QRect(165, 260, 70, 50))
self.cambio_direccion.setObjectName(_fromUtf8("cambio_direccion"))
self.cambio_direccion.setText('Retroceder')
self.cambio_direccion.setStyleSheet('QPushButton {background-color: #0965E6; color: #FFFFFF;}')
self.lcdNumber = QtGui.QLCDNumber(Form)
self.lcdNumber.setGeometry(QtCore.QRect(480, 320, 101, 51))
self.lcdNumber.setObjectName(_fromUtf8("lcdNumber"))
self.lcdNumber_2 = QtGui.QLCDNumber(Form)
self.lcdNumber_2.setGeometry(QtCore.QRect(80, 320, 101, 51))
self.lcdNumber_2.setObjectName(_fromUtf8("lcdNumber_2"))
self.lcdNumber_3 = QtGui.QLCDNumber(Form)
self.lcdNumber_3.setGeometry(QtCore.QRect(220, 320, 101, 51))
self.lcdNumber_3.setObjectName(_fromUtf8("lcdNumber_3"))
self.label = QtGui.QLabel(Form)
self.label.setGeometry(QtCore.QRect(80, 370, 91, 21))
self.label.setObjectName(_fromUtf8("label"))
self.label_2 = QtGui.QLabel(Form)
self.label_2.setGeometry(QtCore.QRect(220, 370, 91, 21))
self.label_2.setObjectName(_fromUtf8("label_2"))
self.line = QtGui.QFrame(Form)
self.line.setGeometry(QtCore.QRect(390, 30, 21, 391))
self.line.setFrameShape(QtGui.QFrame.VLine)
self.line.setFrameShadow(QtGui.QFrame.Sunken)
self.line.setObjectName(_fromUtf8("line"))
''''p = self.palette()
p.setColor(self.backgroundRole(), QtCore.Qt.darkCyan)
self.setPalette(p)'''
self.retranslateUi(Form)
QtCore.QMetaObject.connectSlotsByName(Form)
def retranslateUi(self, Form):
Form.setWindowTitle(_translate("Control Robot", "Control Robot", None))
self.label.setText(_translate("Form", "Motor Izquierdo", None))
self.label_2.setText(_translate("Form", "Motor Derecho", None))
self.direccion = 'Avanzar'
self.dial.valueChanged.connect(self.motores)
self.verticalSlider.valueChanged.connect(self.pwm)
self.c = 0
self.cambio_direccion.pressed.connect(self.cambio)
self.conexion.pressed.connect(self.Conectar)
self.motor1 = 0
self.motor2 = 0
self.PWM = 0
self.emparejado = False
def Conectar(self):
if self.emparejado is False:
self.conexion.setText('Conectando...')
self.conexion.setStyleSheet('QPushButton {background-color: #09E6E6; color: #000000;}')
self.comunicacion = Comunicador_Robot()
if self.comunicacion.CONNECTED:
self.emparejado = True
self.conexion.setText('Conectado!')
self.conexion.setStyleSheet('QPushButton {background-color: #78E609; color: #000000;}')
def motores(self, arg):
if 47 <= arg <= 53:
self.motor1 = 100
self.motor2 = 100
self.lcdNumber_2.display(self.motor1)
self.lcdNumber_3.display(self.motor2)
if 21 < arg < 47:
self.motor1 = int(92 * (arg - 22) / 22)
self.motor2 = 100
self.lcdNumber_2.display(self.motor1)
self.lcdNumber_3.display(self.motor2)
if 53 < arg < 79:
self.motor1 = 100
self.motor2 = int(92 * (78 - arg) / 22)
self.lcdNumber_2.display(100)
self.lcdNumber_3.display(self.motor2)
if 0 <= arg <= 21:
if arg == 0:
self.lcdNumber_2.display(-100)
else:
self.lcdNumber_2.display(int(94 * (arg - 22) / 21))
self.lcdNumber_3.display(100)
print('in1:L, in2:H, in3:H,in4:L')
if 78 <= arg <= 99:
self.motor1 = 100
self.lcdNumber_2.display(self.motor1)
if arg == 99:
self.motor2 = -100
self.lcdNumber_3.display(self.motor2)
else:
self.motor2 = int(94 * (78 - arg) / 21)
self.lcdNumber_3.display(self.motor2)
print('in1:H, in2:L, in3:L,in4:H')
if self.emparejado:
self.Send_Data()
def pwm(self, arg):
self.PWM = int(arg * (254 / 99))
self.lcdNumber.display(self.PWM)
if self.emparejado:
self.Send_Data()
def cambio(self):
if self.emparejado:
if self.c == 0:
print('Retroceso activado')
self.direccion = 1
self.cambio_direccion.setText('Avanzar')
self.cambio_direccion.setStyleSheet('QPushButton {background-color: #7809E6; color: #FFFFFF;}')
self.verticalSlider.setValue(0)
self.c += 1
elif self.c == 1:
print('Avanzar activado')
self.direccion = 0
self.cambio_direccion.setText('Retroceder')
self.cambio_direccion.setStyleSheet('QPushButton {background-color: #0965E6; color: #FFFFFF;}')
self.verticalSlider.setValue(0)
self.c = 0
self.Send_Data()
def Send_Data(self):
potenciaA = int((self.motor1 / 100) * self.PWM)
potenciaB = int((self.motor2 / 100) * self.PWM)
data = potenciaA, potenciaB, self.direccion
self.comunicacion.escuchar_enviar(data)
from Comunicador import Comunicador_Robot
comunicacion = Comunicador_Robot()
if comunicacion.CONNECTED:
while True:
r = input('Ingresa Tupla:').strip()
comunicacion.escuchar_enviar(r)
