def __init__(self):
tk.Tk.__init__(self)
self.title("Keyboard Control of Robot Arm")
self.arm = Arm()
## self.arm.command_timeout = 50 # if arm still timeout's then uncomment this line and increase value
f = tk.Frame(self)
f.pack(side="top", expand=True, fill="x")
f1 = tk.Frame(f, bd=1, relief="sunken")
f1.pack(side="left")
tk.Label(f1, text="Function:") .grid(column=1, row=1, sticky="w")
tk.Label(f1, text="Key:") .grid(column=2, row=1, sticky="w")
tk.Label(f1, text="Base Left:") .grid(column=1, row=2, sticky="w")
tk.Label(f1, text="Left") .grid(column=2, row=2, sticky="w")
tk.Label(f1, text="Base Right:") .grid(column=1, row=3, sticky="w")
tk.Label(f1, text="Right") .grid(column=2, row=3, sticky="w")
tk.Label(f1, text="Shoulder Up:") .grid(column=1, row=4, sticky="w")
tk.Label(f1, text="Up") .grid(column=2, row=4, sticky="w")
tk.Label(f1, text="Shoulder Down:") .grid(column=1, row=5, sticky="w")
tk.Label(f1, text="Down") .grid(column=2, row=5, sticky="w")
f2 = tk.Frame(f, bd=1, relief="sunken")
f2.pack(side="left")
tk.Label(f2, text="Function:") .grid(column=3, row=1, sticky="w")
tk.Label(f2, text="Key:") .grid(column=4, row=1, sticky="w")
tk.Label(f2, text="Elbow Up:") .grid(column=3, row=2, sticky="w")
tk.Label(f2, text="Home") .grid(column=4, row=2, sticky="w")
tk.Label(f2, text="Elbow Down:") .grid(column=3, row=3, sticky="w")
tk.Label(f2, text="End") .grid(column=4, row=3, sticky="w")
tk.Label(f2, text="Wrist Up:") .grid(column=3, row=4, sticky="w")
tk.Label(f2, text="Insert") .grid(column=4, row=4, sticky="w")
tk.Label(f2, text="Wrist Down:") .grid(column=3, row=5, sticky="w")
tk.Label(f2, text="Delete") .grid(column=4, row=5, sticky="w")
f3 = tk.Frame(f, bd=1, relief="sunken")
f3.pack(side="left", fill="y")
tk.Label(f3, text="Function:") .grid(column=5, row=1, sticky="w")
tk.Label(f3, text="Key:") .grid(column=6, row=1, sticky="w")
tk.Label(f3, text="Grip Open:") .grid(column=5, row=2, sticky="w")
tk.Label(f3, text="Page-Up") .grid(column=6, row=2, sticky="w")
tk.Label(f3, text="Grip Close:") .grid(column=5, row=3, sticky="w")
tk.Label(f3, text="Page-Down") .grid(column=6, row=3, sticky="w")
tk.Label(f3, text="Toggle Light:") .grid(column=5, row=4, sticky="w")
tk.Label(f3, text="L") .grid(column=6, row=4, sticky="w")
self.c_window = ScrolledText(self, width=20, height=20)
self.c_window.pack(side="top", expand=True, fill="both")
self.count = 1
self.lit = False
self.bind("<FocusOut>", self.stop_all)
self.bind("<Escape>", self.stop_all)
self.bind("<l>", self.toggle_light)
self.bind("<KeyPress-Prior>", self.grip_open) # page up key
self.bind("<KeyRelease-Prior>", self.grip_stop) # page up key
self.bind("<KeyPress-Next>", self.grip_close) # page down key
self.bind("<KeyRelease-Next>", self.grip_stop) # page down key
self.bind("<KeyPress-Left>", self.base_left)
self.bind("<KeyRelease-Left>", self.base_stop)
self.bind("<KeyPress-Right>", self.base_right)
self.bind("<KeyRelease-Right>", self.base_stop)
self.bind("<KeyPress-Up>", self.shoulder_up)
self.bind("<KeyRelease-Up>", self.shoulder_stop)
self.bind("<KeyPress-Down>", self.shoulder_down)
self.bind("<KeyRelease-Down>", self.shoulder_stop)
self.bind("<KeyPress-Home>", self.elbow_up)
self.bind("<KeyRelease-Home>", self.elbow_stop)
self.bind("<KeyPress-End>", self.elbow_down)
self.bind("<KeyRelease-End>", self.elbow_stop)
self.bind("<KeyPress-Insert>", self.wrist_up)
self.bind("<KeyRelease-Insert>", self.wrist_stop)
self.bind("<KeyPress-Delete>", self.wrist_down)
self.bind("<KeyRelease-Delete>", self.wrist_stop)
class App(tk.Tk):
def __init__(self):
tk.Tk.__init__(self)
self.title("Keyboard Control of Robot Arm")
self.arm = Arm()
## self.arm.command_timeout = 50 # if arm still timeout's then uncomment this line and increase value
f = tk.Frame(self)
f.pack(side="top", expand=True, fill="x")
f1 = tk.Frame(f, bd=1, relief="sunken")
f1.pack(side="left")
tk.Label(f1, text="Function:") .grid(column=1, row=1, sticky="w")
tk.Label(f1, text="Key:") .grid(column=2, row=1, sticky="w")
tk.Label(f1, text="Base Left:") .grid(column=1, row=2, sticky="w")
tk.Label(f1, text="Left") .grid(column=2, row=2, sticky="w")
tk.Label(f1, text="Base Right:") .grid(column=1, row=3, sticky="w")
tk.Label(f1, text="Right") .grid(column=2, row=3, sticky="w")
tk.Label(f1, text="Shoulder Up:") .grid(column=1, row=4, sticky="w")
tk.Label(f1, text="Up") .grid(column=2, row=4, sticky="w")
tk.Label(f1, text="Shoulder Down:") .grid(column=1, row=5, sticky="w")
tk.Label(f1, text="Down") .grid(column=2, row=5, sticky="w")
f2 = tk.Frame(f, bd=1, relief="sunken")
f2.pack(side="left")
tk.Label(f2, text="Function:") .grid(column=3, row=1, sticky="w")
tk.Label(f2, text="Key:") .grid(column=4, row=1, sticky="w")
tk.Label(f2, text="Elbow Up:") .grid(column=3, row=2, sticky="w")
tk.Label(f2, text="Home") .grid(column=4, row=2, sticky="w")
tk.Label(f2, text="Elbow Down:") .grid(column=3, row=3, sticky="w")
tk.Label(f2, text="End") .grid(column=4, row=3, sticky="w")
tk.Label(f2, text="Wrist Up:") .grid(column=3, row=4, sticky="w")
tk.Label(f2, text="Insert") .grid(column=4, row=4, sticky="w")
tk.Label(f2, text="Wrist Down:") .grid(column=3, row=5, sticky="w")
tk.Label(f2, text="Delete") .grid(column=4, row=5, sticky="w")
f3 = tk.Frame(f, bd=1, relief="sunken")
f3.pack(side="left", fill="y")
tk.Label(f3, text="Function:") .grid(column=5, row=1, sticky="w")
tk.Label(f3, text="Key:") .grid(column=6, row=1, sticky="w")
tk.Label(f3, text="Grip Open:") .grid(column=5, row=2, sticky="w")
tk.Label(f3, text="Page-Up") .grid(column=6, row=2, sticky="w")
tk.Label(f3, text="Grip Close:") .grid(column=5, row=3, sticky="w")
tk.Label(f3, text="Page-Down") .grid(column=6, row=3, sticky="w")
tk.Label(f3, text="Toggle Light:") .grid(column=5, row=4, sticky="w")
tk.Label(f3, text="L") .grid(column=6, row=4, sticky="w")
self.c_window = ScrolledText(self, width=20, height=20)
self.c_window.pack(side="top", expand=True, fill="both")
self.count = 1
self.lit = False
self.bind("<FocusOut>", self.stop_all)
self.bind("<Escape>", self.stop_all)
self.bind("<l>", self.toggle_light)
self.bind("<KeyPress-Prior>", self.grip_open) # page up key
self.bind("<KeyRelease-Prior>", self.grip_stop) # page up key
self.bind("<KeyPress-Next>", self.grip_close) # page down key
self.bind("<KeyRelease-Next>", self.grip_stop) # page down key
self.bind("<KeyPress-Left>", self.base_left)
self.bind("<KeyRelease-Left>", self.base_stop)
self.bind("<KeyPress-Right>", self.base_right)
self.bind("<KeyRelease-Right>", self.base_stop)
self.bind("<KeyPress-Up>", self.shoulder_up)
self.bind("<KeyRelease-Up>", self.shoulder_stop)
self.bind("<KeyPress-Down>", self.shoulder_down)
self.bind("<KeyRelease-Down>", self.shoulder_stop)
self.bind("<KeyPress-Home>", self.elbow_up)
self.bind("<KeyRelease-Home>", self.elbow_stop)
self.bind("<KeyPress-End>", self.elbow_down)
self.bind("<KeyRelease-End>", self.elbow_stop)
self.bind("<KeyPress-Insert>", self.wrist_up)
self.bind("<KeyRelease-Insert>", self.wrist_stop)
self.bind("<KeyPress-Delete>", self.wrist_down)
self.bind("<KeyRelease-Delete>", self.wrist_stop)
def message(self, message):
if (self.count == 1):
pass
else:
self.c_window.insert("end", "\n")
self.c_window.insert("end", str(self.count) + "\t" + message)
self.c_window.see("end")
self.count += 1
def stop_all(self, event=None):
self.message("Stop All")
self.arm.stop_moving()
def base_left(self, event=None):
self.message("Base Left")
self.arm.base_left()
def base_right(self, event=None):
self.message("Base Right")
self.arm.base_right()
def base_stop(self, event=None):
self.message("Base Stop")
time.sleep(0.1)
self.arm.stop_moving()
def shoulder_up(self, event=None):
self.message("Shoulder Up")
self.arm.shoulder_up()
def shoulder_down(self, event=None):
self.message("Shoulder Down")
self.arm.shoulder_down()
def shoulder_stop(self, event=None):
self.message("Shoulder Stop")
time.sleep(0.1)
self.arm.stop_moving()
def elbow_up(self, event=None):
self.message("Elbow Up")
self.arm.elbow_up()
def elbow_down(self, event=None):
self.message("Elbow Down")
self.arm.elbow_down()
def elbow_stop(self, event=None):
self.message("Elbow Stop")
time.sleep(0.1)
self.arm.stop_moving()
def wrist_up(self, event=None):
self.message("Wrist Up")
self.arm.wrist_up()
def wrist_down(self, event=None):
self.message("Wrist Down")
self.arm.wrist_down()
def wrist_stop(self, event=None):
self.message("Wrist Stop")
time.sleep(0.1)
self.arm.stop_moving()
def grip_open(self, event=None):
self.message("Grip Open")
self.arm.grip_open()
def grip_close(self, event=None):
self.message("Grip Close")
self.arm.grip_close()
def grip_stop(self, event=None):
self.message("Grip Stop")
time.sleep(0.1)
self.arm.stop_moving()
def toggle_light(self, event=None):
self.message("Toggle Light")
if self.lit:
self.arm.light_off()
self.lit = False
else:
self.arm.light_on()
self.lit = True
