def buildPlay():
if master.needToBuild:
print 'building'
#if master.setted_frame[0] != 0:
# master.setted_frame.insert(0, 0)
#master.movement['position'][str(0)]['Left_hand'] = [200] * 9
#master.movement['position'][str(0)]['Right_hand'] = [200] * 9
if master.setted_frame[len(master.setted_frame) - 1] != master.movement['frame_number']:
master.setted_frame.append(master.movement['frame_number'])
index = 1
while index < len(master.setted_frame):
start = master.setted_frame[index - 1]
stop = master.setted_frame[index]
# if (not master.movement['position'][str(0)]['Left_hand'])|(not master.movement['position'][str(0)]['Right_hand']):
# master.movement['position'][str(0)]['Left_hand'] = [200]*9
# master.movement['position'][str(0)]['Right_hand'] = [200]*9
for frame in range(start + 1, stop, 1):
master.movement['position'][str(frame)]['Left_hand'] = master.movement['position'][str(start)]['Left_hand']
master.movement['position'][str(frame)]['Right_hand'] = master.movement['position'][str(start)]['Right_hand']
index += 1
print 'Done Building'
print 'Smoothing the motion'
win = find_smth_win()/int(2) if master.autoSmth.get() == 1 else master.smooth.get()
for frame in range(master.movement['frame_number']):
master.movement['position'][str(frame)]['Left_hand'] = np.mean([master.movement['position'][str(frame + i)]['Left_hand'] for i in range(min(master.movement['frame_number'] - frame-1, win)+1)], 0)
master.movement['position'][str(frame)]['Right_hand'] = np.mean([master.movement['position'][str(frame + i)]['Right_hand'] for i in range(min(master.movement['frame_number'] - frame-1, win)+1)], 0)
master.movement['position'][str(frame)]['Left_hand'] = list(np.int_(master.movement['position'][str(frame)]['Left_hand']))
master.movement['position'][str(frame)]['Right_hand'] = list(np.int_(master.movement['position'][str(frame)]['Right_hand']))
print 'Done Smoothing'
master.needToBuild = False
save.config(state=NORMAL)
time.sleep(0.5)
print 'Playing'
goal_position = master.movement["position"]["0"]
tools.go_to_pos(active_motors, motor, goal_position, pub, L, R)
if list(master.emotion_list.curselection()):
if master.emotion_list.get(master.emotion_list.curselection())=='show text':
print 'text'
HEAD_PUB = HEAD_TXT
show.name = master.text.get()
else:
print 'emotion'
HEAD_PUB = HEAD_EMO
show.name = master.emotion_list.get(master.emotion_list.curselection())
show.time = float(master.emotion_time.get())
print show
else:
HEAD_PUB = None
tools.do_seq(active_motors, master.movement["freq"], master.movement["position"],pub, L, R, HEAD_PUB, show)
master.recSlider.set(master.movement["frame_number"])
print 'Done'
def PLAY(self):
print 'Playing'
goal_position = self.movement['position']['0']
tools.go_to_pos(self.movement['actors_NAME'], motor, goal_position,
pub)
tools.do_seq(self.movement['actors_NAME'], self.movement['freq'],
self.movement['position'], pub)
print 'Done'
def close(self):
self.info.set("Closing the Robot")
goal_position = {
"Robot": [0 for name in self.motorsName],
"Right_hand": [200, 200, 100, 100, 200, 100, 100, 100, 100],
"Left_hand": [200, 200, 100, 100, 200, 100, 100, 100, 100]
}
tools.go_to_pos(self.motorsName, motor, goal_position, pub)
tools.releas(self.motorsName, pub)
self.info.set("Robot Closed")
self.master.destroy()
def CLOSE(self):
print 'closing the robot'
goal_position = {
"Robot": [0 for name in self.motorsName],
"Right_hand": [200, 200, 100, 100, 200, 100, 100, 100, 100],
"Left_hand": [200, 200, 100, 100, 200, 100, 100, 100, 100]
}
tools.go_to_pos(self.motorsName, motor, goal_position, pub)
tools.releas(self.motorsName, pub)
print 'Robot Closed'
self.master.destroy()
def play(self):
self.info.set("Playing")
goal_position = self.sign["position"]["0"]
tools.go_to_pos(self.motorsName, motor, goal_position, pub)
for frame in range(len(self.sign["position"])):
id = 0
for name in self.sign["actors_NAME"]:
MOTOR.compliant = False
MOTOR.goal_position = self.sign["position"][str(
frame)]["Robot"][id]
id += 1
pub[name].publish(MOTOR)
time.sleep(
float(self.time.get()) / float(self.sign["frame_number"]))
self.info.set("Done")
def closecall():
if save['state']==NORMAL:
decision = tkMessageBox.askyesnocancel('CLOSE', "Do you want to save sign: ", parent=master)
if decision:
savecall()
elif decision is None:
return
print 'closing the robot'
tools.multi_servo_set([200, 200, 100, 100, 200, 100, 100, 100, 100], [200, 200, 100, 100, 200, 100, 100, 100, 100], L, R)
goal_position = {"Robot": [0 for name in dead_motors],
"Right_hand": [200, 200, 100, 100, 200, 100, 100, 100, 100],
"Left_hand": [200, 200, 100, 100, 200, 100, 100, 100, 100]}
tools.go_to_pos(dead_motors, motor, goal_position, pub)
goal_position = {"Robot": [0 for name in active_motors],
"Right_hand": [200, 200, 100, 100, 200, 100, 100, 100, 100],
"Left_hand": [200, 200, 100, 100, 200, 100, 100, 100, 100]}
tools.go_to_pos(active_motors, motor, goal_position, pub)
tools.releas(active_motors, pub, L, R)
print 'Robot Closed'
master.destroy()
def do_sign(buffer):
time.sleep(5)
start = time.time()
print "reseting positions"
tools.reset(torso + head, present_pos, pub)
robot_stat = 'ready'
right_hand = [200, 200, 100, 100, 200, 100, 100, 100, 100]
left_hand = [200, 200, 100, 100, 200, 100, 100, 100, 100]
old_motors = []
print "BEGIN"
while True:
if buffer:
start = time.time()
if robot_stat == 'sleep':
tools.reset(torso, present_pos, pub)
robot_stat = 'ready'
try:
SIGN = buffer.pop(0)
print 'Doing sign: ' + SIGN
with open("/home/odroid/catkin_ws/src/robot_body/recording/data_base/" + SIGN + ".json", "r") as sign:
movement = json.load(sign)
except Exception, err:
print 'Robot can not do sign, error is '
print err
show.name = SIGN
show.time = 3
HEAD_TXT.publish(show)
time.sleep(3)
continue
playingPub.publish(1)
names = movement["actors_NAME"]
frames = movement["frame_number"]
freq = float(movement["freq"])
emotion = movement["emotion_name"]
text = movement["text"]
time_to_show = [3]#movement["emotion_time"]
word_to_speak = movement["speak"]
sign = movement["position"]
motor_to_release = [mtr for mtr in old_motors if (mtr not in names) & (mtr not in torso)]
if motor_to_release:
goal_position = {"Robot": sign['0']['Robot']+[0 for name in motor_to_release],
"Right_hand": [200, 200, 100, 100, 200, 100, 100, 100, 100] if [mtr for mtr in motor_to_release if mtr in right_hand_motors]
else sign['0']['Right_hand'],
"Left_hand": [200, 200, 100, 100, 200, 100, 100, 100, 100] if [mtr for mtr in motor_to_release if mtr in left_hand_motors]
else sign['0']['Left_hand']}
else:
goal_position = sign['0']
tools.go_to_pos(names+motor_to_release, present_pos, goal_position, pub, L, R, left_hand, right_hand)
tools.releas(motor_to_release, pub, present_pos)
if emotion != '':
HEAD_PUB = HEAD_EMO
show.name = emotion
elif text != '':
HEAD_PUB = HEAD_TXT
show.name = text
else:
HEAD_PUB = None
print "time: " + str(time_to_show)
if time_to_show:
show.time = time_to_show[0]
SPEAKER.publish(word_to_speak)
tools.do_seq(names, freq, sign, pub, L, R, HEAD_PUB, show)
right_hand = sign[str(frames - 1)]["Right_hand"]
left_hand = sign[str(frames - 1)]["Left_hand"]
old_motors = names
playingPub.publish(0)
if not buffer:
goal_position = {'Robot': [0 for name in names],
'Right_hand': [200, 200, 100, 100, 200, 100, 100, 100, 100],
'Left_hand': [200, 200, 100, 100, 200, 100, 100, 100, 100]}
tools.go_to_pos(names, present_pos, goal_position, pub, L, R, left_hand, right_hand)
right_hand = [200, 200, 100, 100, 200, 100, 100, 100, 100]
left_hand = [200, 200, 100, 100, 200, 100, 100, 100, 100]
tools.releas([name for name in names if name not in torso], pub, None, L, R)
old_motors = []
else:
if (time.time() - start > time_to_sleep) & (robot_stat == 'ready'):
tools.releas([name for name in list if present_pos[name].compliant == False], pub, present_pos, L, R)
robot_stat = 'sleep'
print 'robot going to sleep'
time.sleep(1)
def __init__(master, movement, motor, pub):
master.geometry('575x405')
master.title('SETTING THE HAND')
title = Frame(master)
title.grid(row=0, column=0, columnspan=3, sticky=W+E+N+S)
lefthand = LabelFrame(master, text="Left hand", bg = "red")
lefthand.grid(row=1, column=0)
righthand = LabelFrame(master, text="Right hand", bg = "green")
righthand.grid(row=1, column=2)
medButt = LabelFrame(master, text="Hands sets",bg = "blue")
medButt.grid(row=1, column=1)
buttfram = LabelFrame(master, text="Tools", bg="blue")
buttfram.grid(row=2, column=0, columnspan=3, sticky=W+E+N+S)
master.closing = False
master.movement = movement
active_motors = master.movement['actors_NAME']
dead_motors = [name for name in motor if name not in active_motors]
print('Starting the ROBOT')
goal_position = {"Robot": [0 for name in dead_motors],
"Right_hand": [200, 200, 100, 100, 200, 100, 100, 100, 100],
"Left_hand": [200, 200, 100, 100, 200, 100, 100, 100, 100]}
tools.go_to_pos(dead_motors, motor, goal_position, pub)
goal_position = master.movement['position']['0']
tools.go_to_pos(active_motors, motor, goal_position, pub)
print('Robot Started')
#//////////////////////////////////////////////////////////////////////////LEFT ARM////////////////////////////////////////////////////////////////////////
def LgetValue1(event):
tools.left_servo_set(1, master.Lwrist_V.get(), L)
master.Lwrist_V = Scale(lefthand, from_=300, to =100, orient = VERTICAL, length = 100, showvalue=0, command = LgetValue1)
master.Lwrist_V.set(200)
master.Lwrist_V.grid(row=2, column=0, rowspan=3, sticky=E)
def LgetValue2(event):
tools.left_servo_set(2, master.Lwrist_H.get(), L)
master.Lwrist_H = Scale(lefthand, from_=300, to =100, orient = HORIZONTAL, length = 100, showvalue=0, command = LgetValue2)
master.Lwrist_H.set(200)
master.Lwrist_H.grid(row=4, column=1, columnspan=3, sticky=SW)
def LgetValue3(event):
tools.left_servo_set(3, master.Lthump_J.get(), L)
master.Lthump_J = Scale(lefthand, from_=300, to =100, orient = HORIZONTAL, length = 75, showvalue=0, command = LgetValue3)
master.Lthump_J.set(100)
master.Lthump_J.grid(row=2, column=3, columnspan=2, sticky=NE)
def LgetValue4(event):
tools.left_servo_set(4, master.Lthump.get(), L)
master.Lthump = Scale(lefthand, from_=100, to =300, orient = VERTICAL, length = 100, showvalue=0, command = LgetValue4)
master.Lthump.set(100)
master.Lthump.grid(row=0, column=4, rowspan=2, sticky=SE)
def LgetValue5(event):
tools.left_servo_set(5, master.LOpen.get(), L)
master.LOpen = Scale(lefthand, from_=300, to =100, orient = HORIZONTAL, length = 125, showvalue=0, command = LgetValue5)
master.LOpen.set(200)
master.LOpen.grid(row=1, column=0, columnspan=4, sticky=W)
def LgetValue6(event):
tools.left_servo_set(6, master.Lindex.get(), L)
master.Lindex = Scale(lefthand, from_=100, to =300, orient = VERTICAL, length = 100, showvalue=0, command = LgetValue6)
master.Lindex.set(100)
master.Lindex.grid(row=0, column=3)
def LgetValue7(event):
tools.left_servo_set(7, master.Lmajor.get(), L)
master.Lmajor = Scale(lefthand, from_=100, to =300, orient = VERTICAL, length = 100, showvalue=0, command = LgetValue7)
master.Lmajor.set(100)
master.Lmajor.grid(row=0, column=2)
def LgetValue8(event):
tools.left_servo_set(8, master.Lring.get(), L)
master.Lring = Scale(lefthand, from_=100, to =300, orient = VERTICAL, length = 100, showvalue=0, command = LgetValue8)
master.Lring.set(100)
master.Lring.grid(row=0, column=1)
def LgetValue9(event):
tools.left_servo_set(9, master.Lauri.get(), L)
master.Lauri = Scale(lefthand, from_=100, to =300, orient = VERTICAL, length = 100, showvalue=0, command = LgetValue9)
master.Lauri.set(100)
master.Lauri.grid(row=0, column=0)
#//////////////////////////////////////////////////////////////////////////LEFT ARM////////////////////////////////////////////////////////////////////////
#//////////////////////////////////////////////////////////////////////////RIGHT ARM////////////////////////////////////////////////////////////////////////
def RgetValue1(event):
tools.right_servo_set(1, master.Rwrist_V.get(), R)
master.Rwrist_V = Scale(righthand, from_=100, to =300, orient=VERTICAL, length=100, showvalue=0, command=RgetValue1)
master.Rwrist_V.set(200)
master.Rwrist_V.grid(row=2, column=4, rowspan=3, sticky=W)
def RgetValue2(event):
tools.right_servo_set(2, master.Rwrist_H.get(), R)
master.Rwrist_H = Scale(righthand, from_=100, to =300, orient=HORIZONTAL, length=100, showvalue=0, command=RgetValue2)
master.Rwrist_H.set(200)
master.Rwrist_H.grid(row=4, column=1, columnspan=3, sticky=SE)
def RgetValue3(event):
tools.right_servo_set(3, master.Rthump_J.get(), R)
master.Rthump_J = Scale(righthand, from_=100, to =300, orient=HORIZONTAL, length=75, showvalue=0, command=RgetValue3)
master.Rthump_J.set(100)
master.Rthump_J.grid(row=2, column=0, columnspan=2, sticky=NW)
def RgetValue4(event):
tools.right_servo_set(4, master.Rthump.get(), R)
master.Rthump = Scale(righthand, from_=100, to =300, orient=VERTICAL, length=100, showvalue=0, command=RgetValue4)
master.Rthump.set(100)
master.Rthump.grid(row=0, column=0, rowspan=2, sticky=SW)
def RgetValue5(event):
tools.right_servo_set(5, master.ROpen.get(), R)
master.ROpen = Scale(righthand, from_=100, to =300, orient=HORIZONTAL, length=125, showvalue=0, command=RgetValue5)
master.ROpen.set(200)
master.ROpen.grid(row=1, column=1, columnspan=4, sticky=E)
def RgetValue6(event):
tools.right_servo_set(6, master.Rindex.get(), R)
master.Rindex = Scale(righthand, from_=100, to =300, orient=VERTICAL, length=100, showvalue=0, command=RgetValue6)
master.Rindex.set(100)
master.Rindex.grid(row=0, column=1)
def RgetValue7(event):
tools.right_servo_set(7, master.Rmajor.get(), R)
master.Rmajor = Scale(righthand, from_=100, to =300, orient=VERTICAL, length=100, showvalue=0, command=RgetValue7)
master.Rmajor.set(100)
master.Rmajor.grid(row=0, column=2)
def RgetValue8(event):
tools.right_servo_set(8, master.Rring.get(), R)
master.Rring = Scale(righthand, from_=100, to =300, orient=VERTICAL, length=100, showvalue=0, command=RgetValue8)
master.Rring.set(100)
master.Rring.grid(row=0, column=3)
def RgetValue9(event):
tools.right_servo_set(9, master.Rauri.get(), R)
master.Rauri = Scale(righthand, from_=100, to =300, orient=VERTICAL, length=100, showvalue=0, command=RgetValue9)
master.Rauri.set(100)
master.Rauri.grid(row=0, column=4)
#//////////////////////////////////////////////////////////////////////////RIGHT ARM////////////////////////////////////////////////////////////////////////
def setframe(event):
master.frm = master.recSlider.get()
tools.do_seq(active_motors, 100, {'0':master.movement['position'][str(master.frm)]}, pub)
if master.Lrec.get() == 0:
tools.multi_servo_set(master.movement['position'][str(master.frm)]['Left_hand'], None, L)
if master.Rrec.get() == 0:
tools.multi_servo_set(None, master.movement['position'][str(master.frm)]['Right_hand'], None, R)
def DelBefor():
if tkMessageBox.askyesno(title='Warning', message='Warning: Do you want to delete the sequanses Befor the the frame ' + str(master.frm) + '?', parent=master):
mov = {} #master.movement['position']
newfrm=0
for frm in range(master.frm, master.movement['frame_number'], 1):
mov[str(newfrm)] = master.movement['position'][str(frm)]
newfrm +=1
master.movement.pop('position')
master.movement['position'] = mov
#master.movement['position'] = master.movement['position'][str(0):str(master.frm)]
master.movement['frame_number']=newfrm
master.recSlider.config(to=master.movement['frame_number'] - 1)
master.recSlider.set(0)
save.config(state=NORMAL)
def DelAfter():
if tkMessageBox.askyesno(title='Warning', message='Warning: Do you want to delete the sequanses After the the frame '+ str(master.frm) + '?', parent=master):
for frm in range(master.frm, master.movement['frame_number'], 1):
master.movement['position'].pop(str(frm))
master.movement['frame_number'] = master.frm
master.recSlider.config(to=master.movement['frame_number'] - 1)
save.config(state=NORMAL)
def closecall():
if save['state']==NORMAL:
decision = tkMessageBox.askyesnocancel('CLOSE', "Do you want to save sign: ", parent=master)
if decision:
savecall()
elif decision is None:
return
print 'closing the robot'
tools.multi_servo_set([200, 200, 100, 100, 200, 100, 100, 100, 100], [200, 200, 100, 100, 200, 100, 100, 100, 100], L, R)
goal_position = {"Robot": [0 for name in dead_motors],
"Right_hand": [200, 200, 100, 100, 200, 100, 100, 100, 100],
"Left_hand": [200, 200, 100, 100, 200, 100, 100, 100, 100]}
tools.go_to_pos(dead_motors, motor, goal_position, pub)
goal_position = {"Robot": [0 for name in active_motors],
"Right_hand": [200, 200, 100, 100, 200, 100, 100, 100, 100],
"Left_hand": [200, 200, 100, 100, 200, 100, 100, 100, 100]}
tools.go_to_pos(active_motors, motor, goal_position, pub)
tools.releas(active_motors, pub)
tools.multi_servo_set([0] * 9, [0] * 9, L, R)
print 'Robot Closed'
master.destroy()
def savecall():
print 'saving movement'
saveFile = tkFileDialog.asksaveasfilename(defaultextension="json", initialdir="/home/odroid/catkin_ws/src/robot_body/recording/data_base", parent=master)
if not saveFile:
return None
if list(master.emotion_list.curselection()):
if master.emotion_list.get(master.emotion_list.curselection())=='show text':
master.movement['text']=master.text.get()
else:
master.movement['emotion_name']=master.emotion_list.get(master.emotion_list.curselection())
master.movement['emotion_time']=master.emotion_time.get()
with open(saveFile, "w") as record:
json.dump(master.movement, record)
print 'saved'
def setcall():
print 'seting'
master.lefthandpos = [master.Lwrist_V.get(), master.Lwrist_H.get(), master.Lthump_J.get(), master.Lthump.get(), master.LOpen.get(),
master.Lindex.get(), master.Lmajor.get(), master.Lring.get(), master.Lauri.get()]
master.righthandpos = [master.Rwrist_V.get(), master.Rwrist_H.get(), master.Rthump_J.get(), master.Rthump.get(), master.ROpen.get(),
master.Rindex.get(), master.Rmajor.get(), master.Rring.get(), master.Rauri.get()]
master.movement['position'][str(master.frm)]['Left_hand'] = master.lefthandpos
master.movement['position'][str(master.frm)]['Right_hand'] = master.righthandpos
if master.frm not in master.setted_frame:
master.setted_frame.append(master.frm)
list(set(master.setted_frame)) # sort the list
if ~master.needToBuild:
master.needToBuild = True
clear.config(state=NORMAL)
print 'done'
def find_smth_win():
winSize = master.setted_frame[len(master.setted_frame)-1] - master.setted_frame[0]
for i in range(len(master.setted_frame)-1):
winSize = min(master.setted_frame[i+1]-master.setted_frame[i], winSize)
return winSize;
def buildPlay():
if master.needToBuild:
print 'building'
#if master.setted_frame[0] != 0:
# master.setted_frame.insert(0, 0)
#master.movement['position'][str(0)]['Left_hand'] = [200] * 9
#master.movement['position'][str(0)]['Right_hand'] = [200] * 9
if master.setted_frame[len(master.setted_frame) - 1] != master.movement['frame_number']:
master.setted_frame.append(master.movement['frame_number'])
index = 1
while index < len(master.setted_frame):
start = master.setted_frame[index - 1]
stop = master.setted_frame[index]
# if (not master.movement['position'][str(0)]['Left_hand'])|(not master.movement['position'][str(0)]['Right_hand']):
# master.movement['position'][str(0)]['Left_hand'] = [200]*9
# master.movement['position'][str(0)]['Right_hand'] = [200]*9
for frame in range(start + 1, stop, 1):
master.movement['position'][str(frame)]['Left_hand'] = master.movement['position'][str(start)]['Left_hand']
master.movement['position'][str(frame)]['Right_hand'] = master.movement['position'][str(start)]['Right_hand']
index += 1
print 'Done Building'
print 'Smoothing the motion'
win = find_smth_win()/int(2) if master.autoSmth.get() == 1 else master.smooth.get()
for frame in range(master.movement['frame_number']):
master.movement['position'][str(frame)]['Left_hand'] = np.mean([master.movement['position'][str(frame + i)]['Left_hand'] for i in range(min(master.movement['frame_number'] - frame-1, win)+1)], 0)
master.movement['position'][str(frame)]['Right_hand'] = np.mean([master.movement['position'][str(frame + i)]['Right_hand'] for i in range(min(master.movement['frame_number'] - frame-1, win)+1)], 0)
master.movement['position'][str(frame)]['Left_hand'] = list(np.int_(master.movement['position'][str(frame)]['Left_hand']))
master.movement['position'][str(frame)]['Right_hand'] = list(np.int_(master.movement['position'][str(frame)]['Right_hand']))
print 'Done Smoothing'
master.needToBuild = False
save.config(state=NORMAL)
time.sleep(0.5)
print 'Playing'
goal_position = master.movement["position"]["0"]
tools.go_to_pos(active_motors, motor, goal_position, pub, L, R)
if list(master.emotion_list.curselection()):
if master.emotion_list.get(master.emotion_list.curselection())=='show text':
print 'text'
HEAD_PUB = HEAD_TXT
show.name = master.text.get()
else:
print 'emotion'
HEAD_PUB = HEAD_EMO
show.name = master.emotion_list.get(master.emotion_list.curselection())
show.time = float(master.emotion_time.get())
print show
else:
HEAD_PUB = None
tools.do_seq(active_motors, master.movement["freq"], master.movement["position"],pub, L, R, HEAD_PUB, show)
master.recSlider.set(master.movement["frame_number"])
print 'Done'
def clearcall():
master.setted_frame = []
master.needToBuild = False
def setauto():
master.smooth.config(state=NORMAL) if master.autoSmth.get() == 0 else master.smooth.config(state=DISABLED)
def saveL():
lefthandpos = [master.Lwrist_V.get(), master.Lwrist_H.get(), master.Lthump_J.get(), master.Lthump.get(),
master.LOpen.get(), master.Lindex.get(), master.Lmajor.get(), master.Lring.get(), master.Lauri.get()]
name = tkSimpleDialog.askstring('Left Hand set name', 'Please enter the name of the Left hand set', parent=master)
if name:
handSetting["Left"][name] = lefthandpos
L_handSets.insert(len(handSetting["Left"]), name)
else:
print "you Should enter the mane of the hand set"
with open("/home/odroid/catkin_ws/src/robot_body/recording/handSetting.json", "w") as h:
json.dump(handSetting, h)
def saveR():
righthandpos = [master.Rwrist_V.get(), master.Rwrist_H.get(), master.Rthump_J.get(), master.Rthump.get(),
master.ROpen.get(), master.Rindex.get(), master.Rmajor.get(), master.Rring.get(), master.Rauri.get()]
name = tkSimpleDialog.askstring('Right Hand set name', 'Please enter the name of the Right hand set', parent=master)
if name:
handSetting["Right"][name] = righthandpos
R_handSets.insert(len(handSetting["Right"]), name)
else:
print "you Should enter the mane of the hand set"
with open("/home/odroid/catkin_ws/src/robot_body/recording/handSetting.json", "w") as h:
json.dump(handSetting, h)
def Lrel():
tools.multi_servo_set([50] * 9, None, L)
def Rrel():
tools.multi_servo_set(None, [50] * 9, None, R)
close = Button(buttfram, text='Close', width=5, command=closecall)
close.grid(row=4, column=7, sticky=E)
rel = Button(lefthand, text="Rel",width = 0, command = Lrel)
rel.grid(row=3, column=1)
LSET = Button(lefthand, text=">>", width=0, command=saveL)
LSET.grid(row=3, column=3)
master.Lrec = IntVar(lefthand,value=1)
recL = Checkbutton(lefthand, variable=master.Lrec)
recL.grid(row=3, column=2)
rer = Button(righthand, text="Rel", width=0, command= Rrel)
rer.grid(row=3, column=3)
RSET = Button(righthand, text="<<", width=0, command=saveR)
RSET.grid(row=3, column=1)
master.Rrec = IntVar(righthand, value=1)
recR = Checkbutton(righthand, variable=master.Rrec)
recR.grid(row=3, column=2)
L_handSets = Listbox(medButt, height=10, width=10)
L_handSets.grid(row=2, column=0, columnspan=2)
R_handSets = Listbox(medButt, height=10, width=10)
R_handSets.grid(row=2, column=2, columnspan=2)
try:
with open("/home/odroid/catkin_ws/src/robot_body/recording/handSetting.json", "r") as f:
handSetting = json.load(f)
for name, pos in handSetting["Left"].items():
L_handSets.insert(END, (name))
for name, pos in handSetting["Right"].items():
R_handSets.insert(END, (name))
except Exception, err:
print err
def __init__(self, master, motors):
self.motorsName = motors
self.deadmotors = [x for x in motor_names if x not in self.motorsName]
self.master = master
self.master.geometry('250x200')
self.master.title('POS_BY_POS RECORDING')
self.tl = Label(master, text="Time:")
self.tl.grid(row=0, column=0)
self.time = StringVar(value=1)
self.timeEntry = Entry(master, width=3, textvariable=self.time)
self.timeEntry.grid(row=0, column=1)
self.setpos = Button(master,
text="Set pos",
width=5,
command=self.setcall)
self.setpos.grid(row=1, column=0, columnspan=2)
self.build = Button(master, text="Build", width=5, command=self.build)
self.build.grid(row=2, column=0, columnspan=2)
self.build.config(state=DISABLED)
self.play = Button(master, text="Play", width=5, command=self.play)
self.play.grid(row=3, column=0, columnspan=2)
self.play.config(state=DISABLED)
self.save = Button(master, text="Save", width=5, command=self.save)
self.save.grid(row=4, column=0, columnspan=2)
self.save.config(state=DISABLED)
self.info = StringVar()
self.show = Label(master, textvariable=self.info)
self.show.grid(row=5, column=0, columnspan=4)
self.set_hand = Button(master,
text="Config fingers",
width=8,
command=self.Handset)
self.set_hand.grid(row=5, column=4)
self.set_hand.config(state=DISABLED)
self.close = Button(master, text="Close", width=8, command=self.close)
self.close.grid(row=6, column=4)
self.sl = Label(master, text="Settings")
self.sl.grid(row=0, column=2, columnspan=2)
self.sets = Listbox(master, height=5, width=8)
self.sets.grid(row=1, column=2, rowspan=3, columnspan=2)
self.mtr_l = Label(master, text="Motors to block")
self.mtr_l.grid(row=0, column=4)
self.activemotors = Listbox(master,
height=7,
width=12,
selectmode=MULTIPLE)
self.activemotors.grid(row=1, column=4, rowspan=4)
self.activemotors.bind('<<ListboxSelect>>', self.selection)
self.edit = Button(master, text="Edit", width=1, command=self.edit)
self.edit.grid(row=4, column=2)
self.edit.config(state=DISABLED)
self.delete = Button(master, text="Del", width=1, command=self.delete)
self.delete.grid(row=4, column=3)
self.delete.config(state=DISABLED)
#print self.motorsName
#print self.deadmotors
for name in self.motorsName:
self.activemotors.insert(END, str(name))
self.settings = {}
self.sign = {}
print('Starting the ROBOT')
#present_position = [motor[name].present_position for name in self.motorsName]
goal_position = {
"Robot": [0 for name in self.deadmotors],
"Right_hand": [200, 200, 100, 100, 200, 100, 100, 100, 100],
"Left_hand": [200, 200, 100, 100, 200, 100, 100, 100, 100]
}
tools.go_to_pos(self.deadmotors, motor, goal_position, pub)
tools.releas(self.motorsName, pub, motor)
print('Robot started')
self.info.set("Robot is Ready")
def __init__(self, master, motors):
self.motorsName = motors
self.deadmotors = [x for x in motor_names if x not in self.motorsName]
self.master = master
self.master.geometry('540x220')
self.master.title('AUTO RECORDING')
self.freqLb = Label(master, text="freq").grid(row=0, column=0)
self.Frq = StringVar(self.master, value='50')
self.freq = Entry(master, width=10,
textvariable=self.Frq).grid(row=0, column=1)
self.strTm = Label(master, text="Time to start").grid(row=1, column=1)
self.StrTm = StringVar(self.master, value='2')
self.startTime = Entry(master, width=10,
textvariable=self.StrTm).grid(row=1,
column=2,
sticky=W)
self.stpTm = Label(master, text="Time to stop").grid(row=2, column=1)
self.STP = IntVar(self.master, value=1)
self.stop = Checkbutton(master,
variable=self.STP,
command=self.timeToStop).grid(row=2, column=0)
self.StpTm = StringVar(self.master, value='5')
self.stopTime = Entry(self.master, width=10, textvariable=self.StpTm)
self.stopTime.grid(row=2, column=2, sticky=W)
self.startRec = Button(self.master,
text='Start Recording',
width=10,
command=self.STARTREC)
self.startRec.grid(row=5, column=1, sticky=NW)
self.play = Button(self.master,
text='Play',
width=10,
command=self.PLAY)
self.play.grid(row=6, column=1, sticky=NW)
self.play.config(state=DISABLED)
self.save = Button(self.master,
text='Save',
width=10,
command=self.SAVE)
self.save.grid(row=7, column=1, sticky=NW)
self.save.config(state=DISABLED)
self.varInfo = StringVar(
self.master,
value="<------ Click here to start recording \n\n\n\n"
"First you need to set the friquance of recording, \n"
"time to start and the recording time \n"
"than click on Start Recording Button to start the recording.")
self.info = Label(self.master,
justify=LEFT,
width=50,
height=8,
textvariable=self.varInfo)
self.info.grid(row=5, column=2, rowspan=4, sticky=W)
self.close = Button(self.master,
text='Close',
width=6,
command=self.CLOSE)
self.close.grid(row=9, column=2, sticky=E)
self.handset = Button(self.master,
text='Hand set',
width=10,
command=self.Handset)
self.handset.grid(row=8, column=1)
self.handset.config(state=DISABLED)
self.STOP = 0
print('Starting the ROBOT')
goal_position = {
"Robot": [0 for name in self.deadmotors],
"Right_hand": [200, 200, 100, 100, 200, 100, 100, 100, 100],
"Left_hand": [200, 200, 100, 100, 200, 100, 100, 100, 100]
}
tools.go_to_pos(self.deadmotors, motor, goal_position, pub)
tools.releas(self.motorsName, pub, motor)
print('Robot started')