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Ui.py
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Ui.py
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from PyQt5.QtWidgets import QApplication, QWidget
from PyQt5.QtGui import QIcon
from PyQt5.QtWidgets import QLabel, QGridLayout, QLineEdit, QSlider,QMessageBox, QHBoxLayout
from PyQt5.QtWidgets import QPushButton, QVBoxLayout, QTextEdit, QCheckBox, QLCDNumber, QGroupBox
from PyQt5.QtCore import Qt, QObject, pyqtSignal, QByteArray
from SerialMonitor import SerialMonitor_class
from IK import IK_class
from elipsa import Elipsa_class
import sys, time, threading, random, math, os
#Bartek wtykał kabelki 26.04.2018
class Sterowanie(QWidget):
global IK, monitor, katyVar, elipsa
IK = IK_class()
monitor = SerialMonitor_class()
elipsa = Elipsa_class()
def __init__(self, parent=None):
super().__init__(parent)
self.interfejs()
self.x_label_camera.setText("X: {0}".format(str(self.x_slider_camera.value())))
self.y_label_camera.setText("Y: {0}".format(str(self.y_slider_camera.value())))
self.yLabelSpyder.setText("Y: {0} %".format(IK.mapFunction(self.y_slider_spyder.value(), -180, -40, 0, 100)))
self.xLabelSpyder.setText("Y: {0} %".format(IK.mapFunction(self.x_slider_spyder.value(), -180, -40, 0, 100)))
self.zLabelSpyder.setText("Z: {0} %".format(IK.mapFunction(self.z_slider_spyder.value(), -180, -40, 0, 100)))
self.distanceLabel.setText("Odległość: Nieznana")
self.LP_line.setText("LP: {0} {1} {2}".format(IK.katy[0], IK.katy[1], IK.katy[2]))
self.LS_line.setText("LS: {0} {1} {2}".format(IK.katy[3], IK.katy[4], IK.katy[5]))
self.LT_line.setText("LT: {0} {1} {2}".format(IK.katy[6], IK.katy[7], IK.katy[8]))
self.PP_line.setText("PP: {0} {1} {2}".format(IK.katy[9], IK.katy[10], IK.katy[11]))
self.PS_line.setText("PS: {0} {1} {2}".format(IK.katy[12], IK.katy[13], IK.katy[14]))
self.PT_line.setText("PT: {0} {1} {2}".format(IK.katy[15], IK.katy[16], IK.katy[17]))
thread = threading.Thread(target = self.default)
#thread = threading.Thread(target = self.test)
thread.start()
self.katyVar = False
self.sliderTab = [self.sliderX1, self.sliderY1, self.sliderZ1,
self.sliderX2, self.sliderY2, self.sliderZ2,
self.sliderX3, self.sliderY3, self.sliderZ3,
self.sliderX4, self.sliderY4, self.sliderZ4,
self.sliderX5, self.sliderY5, self.sliderZ5,
self.sliderX6, self.sliderY6, self.sliderZ6]
for i in range(0, len(self.sliderTab)):
self.sliderTab[i].setTickPosition(QSlider.TicksBelow)
self.sliderTab[i].setTickInterval(10)
#~ #self.sliderTab[i].valueChanged.connect(self.sliderValueChanged)
self.x_slider_spyder.setTickPosition(QSlider.TicksBelow)
self.x_slider_spyder.setTickInterval(10)
self.y_slider_spyder.setTickPosition(QSlider.TicksBothSides)
self.y_slider_spyder.setTickInterval(10)
self.z_slider_spyder.setTickPosition(QSlider.TicksBelow)
self.z_slider_spyder.setTickInterval(10)
self.x_slider_camera.setTickPosition(QSlider.TicksBelow)
self.x_slider_camera.setTickInterval(10)
self.y_slider_camera.setTickPosition(QSlider.TicksBothSides)
self.y_slider_camera.setTickInterval(10)
def test(self):
time.sleep(2.5)
self.noga1('|')
self.noga2('|')
self.noga3('|')
self.noga4('|')
self.noga5('|')
self.noga6('#')
print("dziala")
def default(self):
time.sleep(2.5)
elipsa.tablica("LP", IK.katy[0], IK.katy[1], IK.katy[2], 254, False)
elipsa.tablica("LS", IK.katy[3], IK.katy[4], IK.katy[5], 254, False)
elipsa.tablica("LT", IK.katy[6], IK.katy[7], IK.katy[8], 254, False)
elipsa.tablica("PP", IK.katy[9], IK.katy[10], IK.katy[11], 254, False)
elipsa.tablica("PS", IK.katy[12], IK.katy[13], IK.katy[14], 254, False)
elipsa.tablica("PT", IK.katy[15], IK.katy[16], IK.katy[17], 255, True)
def kinematyka_wartosci(self):
self.sliderX1.setRange(-200, 100)
self.sliderX1.setValue(-59)
self.sliderY1.setRange(-150, 0)
self.sliderY1.setValue(-118)
self.sliderZ1.setRange(-150, 100)
self.sliderZ1.setValue(-60)
self.sliderX2.setRange(-200, 100)
self.sliderX2.setValue(-85)
self.sliderY2.setRange(-150, 0)
self.sliderY2.setValue(-118)
self.sliderZ2.setRange(-80, 80)
self.sliderZ2.setValue(0)
self.sliderX3.setRange(-200, 100)
self.sliderX3.setValue(-60)
self.sliderY3.setRange(-161, 0)
self.sliderY3.setValue(-118)
self.sliderZ3.setRange(-200, 100)
self.sliderZ3.setValue(60)
self.sliderX4.setRange(0, 170)
self.sliderX4.setValue(60)
self.sliderY4.setRange(-150, 0)
self.sliderY4.setValue(-118)
self.sliderZ4.setRange(-100, 100)
self.sliderZ4.setValue(-60)
self.sliderX5.setRange(-200, 100)
self.sliderX5.setValue(85)
self.sliderY5.setRange(-150, 0)
self.sliderY5.setValue(-118)
self.sliderZ5.setRange(-80, 80)
self.sliderZ5.setValue(0)
self.sliderX6.setRange(0, 170)
self.sliderX6.setValue(60)
self.sliderY6.setRange(-150, 0)
self.sliderY6.setValue(-118)
self.sliderZ6.setRange(-100, 100)
self.sliderZ6.setValue(60)
def interfejs(self):
# Slidery
self.sliderX1 = QSlider(Qt.Horizontal, self)
self.xLabel1 = QLabel("X = -60")
self.sliderY1 = QSlider(Qt.Horizontal, self)
self.yLabel1 = QLabel("Y = -118")
self.sliderZ1 = QSlider(Qt.Horizontal, self)
self.zLabel1 = QLabel("Z = -60")
self.sliderX2 = QSlider(Qt.Horizontal, self)
self.xLabel2 = QLabel("X = -85")
self.sliderY2 = QSlider(Qt.Horizontal, self)
self.yLabel2 = QLabel("Y = -118")
self.sliderZ2 = QSlider(Qt.Horizontal, self)
self.zLabel2 = QLabel("Z = 0")
self.sliderX3 = QSlider(Qt.Horizontal, self)
self.xLabel3 = QLabel("X = -60")
self.sliderY3 = QSlider(Qt.Horizontal, self)
self.yLabel3 = QLabel("Y = -118")
self.sliderZ3 = QSlider(Qt.Horizontal, self)
self.zLabel3 = QLabel("Z = 60")
self.sliderX4 = QSlider(Qt.Horizontal, self)
self.xLabel4 = QLabel("X = 60")
self.sliderY4 = QSlider(Qt.Horizontal, self)
self.yLabel4 = QLabel("Y = -118")
self.sliderZ4 = QSlider(Qt.Horizontal, self)
self.zLabel4 = QLabel("Z = -60")
self.sliderX5 = QSlider(Qt.Horizontal, self)
self.xLabel5 = QLabel("X = 85")
self.sliderY5 = QSlider(Qt.Horizontal, self)
self.yLabel5 = QLabel("Y = -118")
self.sliderZ5 = QSlider(Qt.Horizontal, self)
self.zLabel5 = QLabel("Z = 0")
self.sliderX6 = QSlider(Qt.Horizontal, self)
self.xLabel6 = QLabel("X = 60")
self.sliderY6 = QSlider(Qt.Horizontal, self)
self.yLabel6 = QLabel("Y = -118")
self.sliderZ6 = QSlider(Qt.Horizontal, self)
self.zLabel6 = QLabel("Z = 60")
self.kinematyka_wartosci()
self.sliderX1.valueChanged.connect(self.valueChangedX1)
self.sliderY1.valueChanged.connect(self.valueChangedY1)
self.sliderZ1.valueChanged.connect(self.valueChangedZ1)
self.sliderX2.valueChanged.connect(self.valueChangedX2)
self.sliderY2.valueChanged.connect(self.valueChangedY2)
self.sliderZ2.valueChanged.connect(self.valueChangedZ2)
self.sliderX3.valueChanged.connect(self.valueChangedX3)
self.sliderY3.valueChanged.connect(self.valueChangedY3)
self.sliderZ3.valueChanged.connect(self.valueChangedZ3)
self.sliderX4.valueChanged.connect(self.valueChangedX4)
self.sliderY4.valueChanged.connect(self.valueChangedY4)
self.sliderZ4.valueChanged.connect(self.valueChangedZ4)
self.sliderX5.valueChanged.connect(self.valueChangedX5)
self.sliderY5.valueChanged.connect(self.valueChangedY5)
self.sliderZ5.valueChanged.connect(self.valueChangedZ5)
self.sliderX6.valueChanged.connect(self.valueChangedX6)
self.sliderY6.valueChanged.connect(self.valueChangedY6)
self.sliderZ6.valueChanged.connect(self.valueChangedZ6)
self.auto_checkbox = QCheckBox("Automatyczne wysyłanie", self)
self.auto_checkbox.setChecked(True)
self.auto_checkbox.clicked.connect(self.checkboxFunction)
self.execution_Button = QPushButton("&Wykonaj", self)
self.execution_Button.clicked.connect(self.execution)
self.forward_Button = QPushButton("&Do przodu", self)
self.forward_Button.clicked.connect(self.front)
self.reset_button = QPushButton("&Reset", self)
self.reset_button.clicked.connect(self.resetButtonClicked)
self.naKatyButton = QPushButton("&Zamień na kąty", self)
self.naKatyButton.clicked.connect(self.katy)
self.distanceButton = QPushButton("&Odczytaj odległość")
self.distanceButton.clicked.connect(self.distance)
self.wheelButton = QPushButton("&Rysuj koło", self)
self.wheelButton.clicked.connect(elipsa.wheel)
self.elipse1Button = QPushButton("&Rysowanie elipsy1", self)
self.elipse1Button.clicked.connect(elipsa.ellipse1)
self.elipse2Button = QPushButton("&Rysowanie elipsy2", self)
self.elipse2Button.clicked.connect(elipsa.ellipse2)
self.elipse3Button = QPushButton("&Rysowanie elipsy3", self)
self.elipse3Button.clicked.connect(elipsa.ellipse3)
self.elipse4Button = QPushButton("&Rysowanie elipsy4", self)
self.elipse4Button.clicked.connect(elipsa.ellipse4)
self.elipse5Button = QPushButton("&Rysowanie elipsy5", self)
self.elipse5Button.clicked.connect(elipsa.ellipse5)
self.elipse6Button = QPushButton("&Rysowanie elipsy6", self)
self.elipse6Button.clicked.connect(elipsa.ellipse6)
self.walk1Button = QPushButton("&ChodźR", self)
self.walk1Button.clicked.connect(elipsa.walkR)
self.walk2Button = QPushButton("&ChodźL", self)
self.walk2Button.clicked.connect(elipsa.walkL)
self.OffButton = QPushButton("&Off RPi", self)
self.OffButton.clicked.connect(self.Shutdown)
self.RestartButton = QPushButton("&Restart RPi", self)
self.RestartButton.clicked.connect(self.Reboot)
self.ResetArduinoButton = QPushButton("&Reset arduino", self)
self.ResetArduinoButton.clicked.connect(self.ResetArduino)
self.distanceLabel = QLabel(self)
self.monitor_receiver = QTextEdit(self)
#slidery i labely do kamery
self.y_slider_camera = QSlider(Qt.Vertical, self)
self.y_slider_camera.setRange(1,180)
self.y_slider_camera.setValue(20)
self.y_slider_camera.valueChanged.connect(self.valueChangedYc)
self.x_slider_camera = QSlider(Qt.Horizontal, self)
self.x_slider_camera.setRange(1, 180)
self.x_slider_camera.setValue(90)
self.x_slider_camera.valueChanged.connect(self.valueChangedXc)
self.x_label_camera = QLabel(self)
self.y_label_camera = QLabel(self)
self.camera_labelY = QLabel("OkoY: ", self)
self.camera_labelX = QLabel("OkoX: ", self)
#slider gora_dol
self.y_slider_spyder = QSlider(Qt.Vertical, self)
self.y_slider_spyder.setRange(-180, -40)
self.y_slider_spyder.setValue(-118)
self.y_slider_spyder.valueChanged.connect(self.valueChangedSpyderY)
self.yLabelSpyder = QLabel(self)
self.yLabel = QLabel("Pion: ", self)
#slider przod_tyl
self.x_slider_spyder = QSlider(Qt.Horizontal, self)
self.x_slider_spyder.setRange(-180, -40)
self.x_slider_spyder.setValue(-118)
self.x_slider_spyder.valueChanged.connect(self.valueChangedSpyderX)
self.xLabelSpyder = QLabel(self)
self.xLabel = QLabel("Poziomo: ", self)
#slider prawo_lewo
self.z_slider_spyder = QSlider(Qt.Horizontal, self)
self.z_slider_spyder.setRange(-180, -40)
self.z_slider_spyder.setValue(-118)
self.z_slider_spyder.valueChanged.connect(self.valueChangedSpyderZ)
self.zLabelSpyder = QLabel(self)
self.zLabel = QLabel("Prawo - Lewo: ", self)
#wysiwetlacze i label LCD do czujnikow nacisku
self.Pressure_button = QPushButton("&Odczytaj nacisk", self)
self.Pressure_button.clicked.connect(self.pressFunction)
self.LcdN1 = QLCDNumber()
self.LcdN2 = QLCDNumber()
self.LcdN3 = QLCDNumber()
self.LcdN4 = QLCDNumber()
self.LcdN5 = QLCDNumber()
self.LcdN6 = QLCDNumber()
self.LcdN1_label = QLabel("LP")
self.LcdN2_label = QLabel("LS")
self.LcdN3_label = QLabel("LT")
self.LcdN4_label = QLabel("PP")
self.LcdN5_label = QLabel("PS")
self.LcdN6_label = QLabel("PT")
self.LP_line = QLineEdit(self)
self.LS_line = QLineEdit(self)
self.LT_line = QLineEdit(self)
self.PP_line = QLineEdit(self)
self.PS_line = QLineEdit(self)
self.PT_line = QLineEdit(self)
ukladMonitor = QVBoxLayout()
ukladMonitor.addWidget(self.LP_line, 0)
ukladMonitor.addWidget(self.LS_line, 1)
ukladMonitor.addWidget(self.LT_line, 2)
ukladMonitor.addWidget(self.PP_line, 3)
ukladMonitor.addWidget(self.PS_line, 4)
ukladMonitor.addWidget(self.PT_line, 5)
ukladMonitor.addWidget(self.monitor_receiver, 6)
#opcje
ukladOpcje = QVBoxLayout()
ukladOpcje.addWidget(self.OffButton, 1)
ukladOpcje.addWidget(self.RestartButton, 2)
ukladOpcje.addWidget(self.ResetArduinoButton, 3)
#dystans
ukladDystans = QGridLayout()
ukladDystans.addWidget(self.distanceButton, 0, 0)
ukladDystans.addWidget(self.distanceLabel, 1, 0)
#Nogi
LegLayout = QGridLayout()
LegLayout.addWidget(self.auto_checkbox, 0, 0)
LegLayout.addWidget(self.naKatyButton, 0, 1)
LegLayout.addWidget(self.CreateLTGroupBox(), 3, 0)
LegLayout.addWidget(self.CreateLSGroupBox(), 2, 0)
LegLayout.addWidget(self.CreateLPGroupBox(), 1, 0)
LegLayout.addWidget(self.CreatePPGroupBox(), 1, 1)
LegLayout.addWidget(self.CreatePSGroupBox(), 2, 1)
LegLayout.addWidget(self.CreatePTGroupBox(), 3, 1)
#slidery pionowe (OkoY i pion)
ukladT1 = QGridLayout()
ukladT1.addWidget(self.camera_labelY, 0, 0)
ukladT1.addWidget(self.yLabel, 0, 1)
ukladT1.addWidget(self.y_slider_camera, 1, 0)
ukladT1.addWidget(self.y_slider_spyder, 1, 1)
#wartości ze sliderow pionowych (OkoY i pion)
ukladT12 = QGridLayout()
ukladT12.addWidget(self.y_label_camera, 0, 0)
ukladT12.addWidget(self.yLabelSpyder, 0, 1)
#slidery poziome(OkoX i poziom) i prawo-lewo
ukladXZ = QGridLayout()
ukladXZ.addWidget(self.camera_labelX, 0, 0)
ukladXZ.addWidget(self.x_slider_camera, 0, 1)
ukladXZ.addWidget(self.x_label_camera, 0, 2)
ukladXZ.addWidget(self.xLabel, 1, 0)
ukladXZ.addWidget(self.x_slider_spyder, 1, 1)
ukladXZ.addWidget(self.xLabelSpyder, 1, 2)
ukladXZ.addWidget(self.zLabel, 2, 0)
ukladXZ.addWidget(self.z_slider_spyder, 2, 1)
ukladXZ.addWidget(self.zLabelSpyder, 2, 2)
#elipsy
ukladT5 = QVBoxLayout()
ukladT5.addWidget(self.wheelButton, 0)
ukladT5.addWidget(self.elipse1Button, 1)
ukladT5.addWidget(self.elipse2Button, 2)
ukladT5.addWidget(self.elipse3Button, 3)
ukladT5.addWidget(self.elipse4Button, 4)
ukladT5.addWidget(self.elipse5Button, 5)
ukladT5.addWidget(self.elipse6Button, 6)
ukladT5.addWidget(self.walk1Button, 7)
ukladT5.addWidget(self.walk2Button, 8)
#reset, wykonaj, do przodu
ukladB = QVBoxLayout()
ukladB.addWidget(self.reset_button, 1)
ukladB.addWidget(self.execution_Button, 2)
ukladB.addWidget(self.forward_Button, 3)
#Czujniki nacisku
ukladT2 = QGridLayout()
ukladT2.addWidget(self.LcdN1, 0, 0)
ukladT2.addWidget(self.LcdN2, 0, 1)
ukladT2.addWidget(self.LcdN3, 0, 2)
ukladT2.addWidget(self.LcdN4, 0, 3)
ukladT2.addWidget(self.LcdN5, 0, 4)
ukladT2.addWidget(self.LcdN6, 0, 5)
ukladT2.addWidget(self.Pressure_button, 0 ,6)
ukladT2.addWidget(self.LcdN1_label, 0, 0)
ukladT2.addWidget(self.LcdN2_label, 0, 1)
ukladT2.addWidget(self.LcdN3_label, 0, 2)
ukladT2.addWidget(self.LcdN4_label, 0, 3)
ukladT2.addWidget(self.LcdN5_label, 0, 4)
ukladT2.addWidget(self.LcdN6_label, 0, 5)
MainLayout = QGridLayout()
MainLayout.addLayout(LegLayout, 0, 0)
MainLayout.addLayout(ukladMonitor, 0, 1)
MainLayout.addLayout(ukladDystans, 1, 1)
MainLayout.addLayout(ukladT1, 0, 2)
MainLayout.addLayout(ukladT2, 1, 0)
MainLayout.addLayout(ukladT5, 0, 3)
MainLayout.addLayout(ukladT12, 1, 2)
MainLayout.addLayout(ukladB, 2, 1)
MainLayout.addLayout(ukladXZ, 2, 0)
MainLayout.addLayout(ukladOpcje, 2, 2)
self.setLayout(MainLayout)
self.setGeometry(20, 20, 800, 400)
self.setWindowTitle("Sterowanie - Spyder")
monitor.bufferUpdated.connect(self.RSRead)
self.show()
monitor.start()
def sliderValueChanged(self, value, segment):
self.lcd[int(segment)].display(value)
def CreatePPGroupBox(self):
groupBox = QGroupBox("Prawy Przód")
ukladPP = QGridLayout()
ukladPP.addWidget(self.sliderX4, 0, 0)
ukladPP.addWidget(self.xLabel4, 0, 1)
ukladPP.addWidget(self.sliderY4, 2, 0)
ukladPP.addWidget(self.yLabel4, 2, 1)
ukladPP.addWidget(self.sliderZ4, 3, 0)
ukladPP.addWidget(self.zLabel4, 3, 1)
groupBox.setLayout(ukladPP)
return groupBox
def CreatePSGroupBox(self):
groupBox = QGroupBox("Prawy Środek")
ukladPS = QGridLayout()
ukladPS.addWidget(self.sliderX5, 0, 0)
ukladPS.addWidget(self.xLabel5, 0, 1)
ukladPS.addWidget(self.sliderY5, 2, 0)
ukladPS.addWidget(self.yLabel5, 2, 1)
ukladPS.addWidget(self.sliderZ5, 3, 0)
ukladPS.addWidget(self.zLabel5, 3, 1)
groupBox.setLayout(ukladPS)
return groupBox
def CreatePTGroupBox(self):
groupBox = QGroupBox("Prawy Tył")
ukladPT = QGridLayout()
ukladPT.addWidget(self.sliderX6, 0, 0)
ukladPT.addWidget(self.xLabel6, 0, 1)
ukladPT.addWidget(self.sliderY6, 2, 0)
ukladPT.addWidget(self.yLabel6, 2, 1)
ukladPT.addWidget(self.sliderZ6, 3, 0)
ukladPT.addWidget(self.zLabel6, 3, 1)
groupBox.setLayout(ukladPT)
return groupBox
def CreateLPGroupBox(self):
groupBox = QGroupBox("Lewy Przód")
ukladLP = QGridLayout()
ukladLP.addWidget(self.sliderX1, 1, 0)
ukladLP.addWidget(self.xLabel1, 1, 1)
ukladLP.addWidget(self.sliderY1, 2, 0)
ukladLP.addWidget(self.yLabel1, 2, 1)
ukladLP.addWidget(self.sliderZ1, 3, 0)
ukladLP.addWidget(self.zLabel1, 3, 1)
groupBox.setLayout(ukladLP)
return groupBox
def CreateLSGroupBox(self):
groupBox = QGroupBox("Lewy Środek")
ukladLS = QGridLayout()
ukladLS.addWidget(self.sliderX2, 0, 0)
ukladLS.addWidget(self.xLabel2, 0, 1)
ukladLS.addWidget(self.sliderY2, 2, 0)
ukladLS.addWidget(self.yLabel2, 2, 1)
ukladLS.addWidget(self.sliderZ2, 3, 0)
ukladLS.addWidget(self.zLabel2, 3, 1)
groupBox.setLayout(ukladLS)
return groupBox
def CreateLTGroupBox(self):
groupBox = QGroupBox("Lewy Tył")
ukladLT = QGridLayout()
ukladLT.addWidget(self.sliderX3, 0, 0)
ukladLT.addWidget(self.xLabel3, 0, 1)
ukladLT.addWidget(self.sliderY3, 2, 0)
ukladLT.addWidget(self.yLabel3, 2, 1)
ukladLT.addWidget(self.sliderZ3, 3, 0)
ukladLT.addWidget(self.zLabel3, 3, 1)
groupBox.setLayout(ukladLT)
return groupBox
def Shutdown(self):
odp = QMessageBox.question(self,
"Pytanie", "Czy na pewno? ",
QMessageBox.Yes | QMessageBox.No, QMessageBox.No)
if odp == QMessageBox.Yes:
os.system("sudo shutdown -h now")
def Reboot(self):
odp = QMessageBox.question(self,
"Pytanie", "Czy na pewno? ",
QMessageBox.Yes | QMessageBox.No, QMessageBox.No)
if odp == QMessageBox.Yes:
os.system("sudo reboot")
def ResetArduino(self):
odp = QMessageBox.question(self,
"Pytanie", "Czy na pewno? ",
QMessageBox.Yes | QMessageBox.No, QMessageBox.No)
if odp == QMessageBox.Yes:
array = QByteArray()
array.append('*')
monitor.serialWrite(array)
time.sleep(3)
thread = threading.Thread(target = self.default)
#thread = threading.Thread(target = self.test)
thread.start()
def valueChangedSpyderX(self):
self.xLabelSpyder.setText("X: {0} %".format(IK.mapFunction(self.x_slider_spyder.value(), -180, -40, 0, 100)))
def valueChangedSpyderZ(self):
self.zLabelSpyder.setText("Z: {0} %".format(IK.mapFunction(self.z_slider_spyder.value(), -180, -40, 0, 100)))
def valueChangedSpyderY(self):
i = 1
while i <= 17:
self.auto_checkbox.setChecked(False)
self.sliderTab[i].setValue(self.y_slider_spyder.value())
self.yLabelSpyder.setText("Y: {0} %".format(IK.mapFunction(self.y_slider_spyder.value(), -180, -40, 0, 100)))
i += 3
self.execution()
def distance(self):
array = QByteArray()
array.append('%')
monitor.serialWrite(array)
def front(self):
ft = threading.Thread(target = self.front_thread)
ft.start()
def front_thread(self):
delay = 0.75
self.sliderY2.setValue(-80)
self.sliderY4.setValue(-80)
self.sliderY6.setValue(-80)
#monitor.Czy_ready()
time.sleep(delay)
self.execution()
self.sliderZ2.setValue(-50)
self.sliderX2.setValue(-60)
self.sliderZ4.setValue(-100)
self.sliderX4.setValue(5)
self.sliderZ6.setValue(0)
self.sliderX6.setValue(85)
#monitor.Czy_ready()
time.sleep(delay)
self.execution()
self.sliderY2.setValue(-118)
self.sliderY4.setValue(-118)
self.sliderY6.setValue(-118)
self.sliderX2.setValue(-70)
#monitor.Czy_ready()
time.sleep(delay)
self.execution()
def execution(self):
self.auto_checkbox.setChecked(True)
self.noga1(254)
self.noga2(254)
self.noga3(254)
self.noga4(254)
self.noga5(254)
self.noga6(255)
self.auto_checkbox.setChecked(False)
def katy(self):
if self.katyVar:
self.naKatyButton.setText("Kąty")
self.katyVar = False
self.kinematyka_wartosci()
elif not self.katyVar:
self.naKatyButton.setText("Kinematyka")
self.katyVar = True
for i in range(0, len(self.sliderTab)):
self.sliderTab[i].setRange(0, 180)
self.sliderTab[i].setValue(IK.katy[i])
def pressFunction(self):
self.thread = threading.Thread(target = self.pressFunctionThread)
self.thread.start()
def pressFunctionThread(self):
while True:
array = QByteArray()
array.append('@')
monitor.serialWrite(array)
time.sleep(0.09)
def valueChangedYc(self):
array = QByteArray()
array.append(chr(20))
array.append('|')
if self.y_slider_camera.value() != 124:
array.append(chr(self.y_slider_camera.value()))
else:
array.append(chr(200))
array.append('|')
array.append(chr(255))
array.append('#')
self.y_label_camera.setText("Y: " + str(self.y_slider_camera.value()))
monitor.serialWrite(array)
def valueChangedXc(self):
array = QByteArray()
array.append(chr(19))
array.append('|')
array.append(chr(self.x_slider_camera.value()))
array.append('|')
array.append(chr(255))
array.append('#')
self.x_label_camera.setText("X: " + str(self.x_slider_camera.value()))
monitor.serialWrite(array)
def resetButtonClicked(self):
self.x_slider_camera.setValue(90)
self.y_slider_camera.setValue(20)
if not self.katyVar:
self.sliderX1.setValue(-85)
self.sliderY1.setValue(-118)
self.sliderZ1.setValue(-90)
self.sliderX2.setValue(-85)
self.sliderY2.setValue(-118)
self.sliderZ2.setValue(0)
self.sliderX3.setValue(-85)
self.sliderY3.setValue(-120)
self.sliderZ3.setValue(50)
self.sliderX4.setValue(85)
self.sliderY4.setValue(-118)
self.sliderZ4.setValue(-80)
self.sliderX5.setValue(85)
self.sliderY5.setValue(-118)
self.sliderZ5.setValue(0)
self.sliderX6.setValue(85)
self.sliderY6.setValue(-118)
self.sliderZ6.setValue(100)
else:
for i in range(0, len(self.sliderTab)):
self.sliderTab[i].setValue(IK.katy[i])
def closeEvent(self, QCloseEvent):
odp = QMessageBox.question(self,
"Pytanie", "Czy na pewno? ",
QMessageBox.Yes | QMessageBox.No, QMessageBox.No)
if odp == QMessageBox.Yes:
QCloseEvent.accept()
else:
QCloseEvent.ignore()
def keyPressEvent(self, e):
if e.key() == Qt.Key_Escape:
self.close()
elif e.key() == Qt.Key_W:
self.front()
elif e.key() == Qt.Key_S:
print("Dziala s")
elif e.key() == Qt.Key_A:
print("Dziala a")
elif e.key() == Qt.Key_D:
print("Dziala D")
def koniec(self):
self.close()
def noga1(self, znak):
value = IK.IK_LP(self.sliderX1.value(), self.sliderY1.value(), self.sliderZ1.value())
if self.auto_checkbox.isChecked() and not self.katyVar:
try:
elipsa.tablica("LP", value[0], value[1], value[2], znak, True)
except:
print("Poza zakresem")
self.LP_line.setText("LP: " + str(value[0]) + " " + str(value[1]) + " " + str(value[2]))
def noga2(self, znak):
value = IK.IK_LS(self.sliderX2.value(), self.sliderY2.value(), self.sliderZ2.value())
if self.auto_checkbox.isChecked() and not self.katyVar:
try:
elipsa.tablica("LS", value[0], value[1], value[2], znak, True)
except:
print("Poza zakresem")
self.LS_line.setText("LS: " + str(value[0]) + " " + str(value[1]) + " " + str(value[2]))
def noga3(self, znak):
value = IK.IK_LT(self.sliderX3.value(), self.sliderY3.value(), self.sliderZ3.value())
if self.auto_checkbox.isChecked() and not self.katyVar:
#try:
elipsa.tablica("LT", value[0], value[1], value[2], znak, True)
# except:
# print("Poza zakresem")
self.LT_line.setText("LT: " + str(value[0]) + " " + str(value[1]) + " " + str(value[2]))
def noga4(self, znak):
value = IK.IK_PP(self.sliderX4.value(), self.sliderY4.value(), self.sliderZ4.value())
if self.auto_checkbox.isChecked() and not self.katyVar:
try:
elipsa.tablica("PP", value[0], value[1], value[2], znak, True)
except:
print("Poza zakresem")
self.PP_line.setText("PP: " + str(value[0]) + " " + str(value[1]) + " " + str(value[2]))
def noga5(self, znak):
value = IK.IK_PS(self.sliderX5.value(), self.sliderY5.value(), self.sliderZ5.value())
if self.auto_checkbox.isChecked() and not self.katyVar:
try:
elipsa.tablica("PS", value[0], value[1], value[2], znak, True)
except:
print("Poza zakresem")
self.PS_line.setText("PS: " + str(value[0]) + " " + str(value[1]) + " " + str(value[2]))
def noga6(self, znak):
value = IK.IK_PT(self.sliderX6.value(), self.sliderY6.value(), self.sliderZ6.value())
if self.auto_checkbox.isChecked() and not self.katyVar:
try:
elipsa.tablica("PT", value[0], value[1], value[2], znak, True)
except:
print("Poza zakresem")
self.PT_line.setText("PT: " + str(value[0]) + " " + str(value[1]) + " " + str(value[2]))
def valueChangedX1(self):
size = self.sliderX1.value()
if not self.katyVar:
self.xLabel1.setText("X = " + str(size))
self.noga1('#')
else:
if self.auto_checkbox.isChecked():
array = QByteArray()
array.append('$')
array.append(chr(16))
array.append('|')
if self.sliderX1.value() == 35:
array.append(chr(-57))
else:
array.append(chr(self.sliderX1.value()))
array.append('#')
self.xLabel1.setText("LP1 = " + str(size))
monitor.serialWrite(array)
def valueChangedY1(self):
size = self.sliderY1.value()
if not self.katyVar:
self.yLabel1.setText("Y = " + str(size))
self.noga1('#')
else:
if self.auto_checkbox.isChecked():
array = QByteArray()
array.append('$')
array.append(chr(17))
array.append('|')
if self.sliderY1.value() == 35:
array.append(chr(-57))
else:
array.append(chr(self.sliderY1.value()))
array.append('#')
self.yLabel1.setText("LP2 = " + str(size))
monitor.serialWrite(array)
def valueChangedZ1(self):
size = self.sliderZ1.value()
if not self.katyVar:
self.zLabel1.setText("Z = " + str(size))
self.noga1('#')
else:
if self.auto_checkbox.isChecked():
array = QByteArray()
array.append('$')
array.append(chr(18))
array.append('|')
if self.sliderZ1.value() == 35:
array.append(chr(-57))
else:
array.append(chr(self.sliderZ1.value()))
array.append('#')
self.zLabel1.setText("LP3 = " + str(size))
monitor.serialWrite(array)
def valueChangedX2(self):
size = self.sliderX2.value()
if not self.katyVar:
size = self.sliderX2.value()
self.xLabel2.setText("X = " + str(size))
self.noga2('#')
else:
if self.auto_checkbox.isChecked():
array = QByteArray()
array.append('$')
array.append(chr(13))
array.append('|')
if self.sliderX2.value() == 35:
array.append(chr(-57))
else:
array.append(chr(self.sliderX2.value()))
array.append('#')
self.xLabel2.setText("LS1 = " + str(size))
monitor.serialWrite(array)
def valueChangedY2(self):
size = self.sliderY2.value()
if not self.katyVar:
self.yLabel2.setText("Y = " + str(size))
self.noga2('#')
else:
if self.auto_checkbox.isChecked():
array = QByteArray()
array.append('$')
array.append(chr(14))
array.append('|')
if self.sliderY2.value() == 35:
array.append(chr(-57))
else:
array.append(chr(self.sliderY2.value()))
array.append('#')
self.yLabel2.setText("LS2 = " + str(size))
monitor.serialWrite(array)
def valueChangedZ2(self):
size = self.sliderZ2.value()
if not self.katyVar:
self.zLabel2.setText("Z = " + str(size))
self.noga2('#')
else:
if self.auto_checkbox.isChecked():
array = QByteArray()
array.append('$')
array.append(chr(15))
array.append('|')
if self.sliderZ2.value() == 35:
array.append(chr(-57))
else:
array.append(chr(self.sliderZ2.value()))
array.append('#')
self.zLabel2.setText("LS3 = " + str(size))
monitor.serialWrite(array)
def valueChangedX3(self):
size = self.sliderX3.value()
if not self.katyVar:
self.xLabel3.setText("X = " + str(size))
self.noga3('#')
else:
if self.auto_checkbox.isChecked():
array = QByteArray()
array.append('$')
array.append(chr(10))
array.append('|')
if self.sliderX3.value() == 35:
array.append(chr(-57))
else:
array.append(chr(self.sliderX3.value()))
array.append('#')
self.xLabel3.setText("LT1 = " + str(size))
monitor.serialWrite(array)
def valueChangedY3(self):
size = self.sliderY3.value()
if not self.katyVar:
self.yLabel3.setText("Y = " + str(size))
self.noga3('#')
else:
if self.auto_checkbox.isChecked():
array = QByteArray()
array.append('$')
array.append(chr(11))
array.append('|')
if self.sliderY3.value() == 35:
array.append(chr(-57))
else:
array.append(chr(self.sliderY3.value()))
array.append('#')
self.yLabel3.setText("LT2 = " + str(size))
monitor.serialWrite(array)
def valueChangedZ3(self):
size = self.sliderZ3.value()
if not self.katyVar:
self.zLabel3.setText("Z = " + str(size))
self.noga3('#')
else:
if self.auto_checkbox.isChecked():
array = QByteArray()
array.append('$')
array.append(chr(12))
array.append('|')
if self.sliderZ3.value() == 35:
array.append(chr(-57))
else:
array.append(chr(self.sliderZ3.value()))
array.append('#')
self.zLabel3.setText("LT3 = " + str(size))
monitor.serialWrite(array)
def valueChangedX4(self):
size = self.sliderX4.value()
if not self.katyVar:
self.xLabel4.setText("X = " + str(size))
self.noga4('#')
else:
if self.auto_checkbox.isChecked():
array = QByteArray()
array.append('$')
array.append(chr(7))
array.append('|')
if self.sliderX4.value() == 35:
array.append(chr(-57))
else:
array.append(chr(self.sliderX4.value()))
array.append('#')
self.xLabel4.setText("PP1 = " + str(size))
monitor.serialWrite(array)
def valueChangedY4(self):
size = self.sliderY4.value()
if not self.katyVar:
self.yLabel4.setText("Y = " + str(size))
self.noga4('#')
else:
if self.auto_checkbox.isChecked():
array = QByteArray()
array.append('$')
array.append(chr(8))
array.append('|')
if self.sliderY4.value() == 35:
array.append(chr(-57))
else: