class mainFrame(servoControlFrame):
__gridColName = 0
__gridColID = 1
__gridColStatus = 2
__gridColPosition = 3
__gridColStart = 4
__gridColEnd = 5
__gridColSpeed = 6
__gridColTorque = 7
__gridColVoltage = 8
__gridColTemp = 9
def __init__(self,*args,**kwds):
servoControlFrame.__init__(self,*args,**kwds)
self.servoCtrl = Servo()
self.initGrid()
self.timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER,self.onTick,self.timer)
self.timer.Start(200)
def initGrid(self):
row = 0
servoList = self.servoCtrl.servoList
for servo in servoList:
self.servoCtrl.servoList[servo]['Row']=row
self.servoGrid.SetCellValue(row,self.__gridColName,servo)
self.servoGrid.SetCellValue(row,self.__gridColID,str(servoList[servo]['ID']))
self.servoGrid.SetCellValue(row,self.__gridColStatus,str("Port Closed"))
self.servoGrid.SetCellValue(row,self.__gridColPosition,"")
self.servoGrid.SetCellValue(row,self.__gridColStart,str(servoList[servo]['StartPos']))
self.servoGrid.SetCellValue(row,self.__gridColEnd,str(servoList[servo]['EndPos']))
self.servoGrid.SetCellValue(row,self.__gridColSpeed,str(servoList[servo]['Speed']))
row += 1
def onTick(self, event):
self.updateServos()
pass
def onTglBtnOpenPorts(self, event): # wxGlade: servoControlFrame.<event_handler>
if(not self.tglbtnOpenPorts.GetValue()):
print("Closing Com Ports")
self.servoCtrl.closeServoPort()
self.tglbtnOpenPorts.Label = "Open Ports"
else:
print("Opening Com Ports")
self.servoCtrl.openServoPort()
self.updateServos()
self.tglbtnOpenPorts.Label = "Close Ports"
def onClickFindServos(self, event): # wxGlade: servoControlFrame.<event_handler>
self.updateServos()
event.Skip()
def updateServos(self):
s = self.servoCtrl
if( not self.servoCtrl.isConnected()):
for servo in s.servoList:
self.servoGrid.SetCellValue(s.servoList[servo]['Row'],self.__gridColStatus,"COMM CLOSED")
return
print("Finding Servos...")
for servo in s.servoList:
print("Pinging Servo "+servo)
(model,result, error) = s.ping(servo)
if(result == robotis_def.COMM_SUCCESS):
self.servoGrid.SetCellValue(s.servoList[servo]['Row'],self.__gridColStatus,s.getStatus(servo))
self.servoGrid.SetCellValue(s.servoList[servo]['Row'],self.__gridColPosition,str(s.getPosition(servo)))
self.servoGrid.SetCellValue(s.servoList[servo]['Row'],self.__gridColTorque,str(s.getTorque(servo)))
self.servoGrid.SetCellValue(s.servoList[servo]['Row'],self.__gridColVoltage,str(s.getVoltage(servo)))
self.servoGrid.SetCellValue(s.servoList[servo]['Row'],self.__gridColTemp,str(s.getTemp(servo)))
else:
self.servoGrid.SetCellValue(s.servoList[servo]['Row'],self.__gridColStatus,"Not Responding")
def onClickEnableServos(self, event): # wxGlade: servoControlFrame.<event_handler>
self.enableServos()
def enableServos(self):
print("Enabling Servo's")
s = self.servoCtrl
for servo in s.servoList:
result, error = s.enableServo(servo )
self.updateServos()
def onClickResetServos(self, event): # wxGlade: servoControlFrame.<event_handler>
print("Event handler 'onClickResetServos' not implemented!")
event.Skip()
def onServoSelect(self, event): # wxGlade: servoControlFrame.<event_handler>
row = event.GetRow()
self.txtServoName.SetValue(self.servoGrid.GetCellValue(row,self.__gridColName))
self.txtServoId.SetValue(self.servoGrid.GetCellValue(row,self.__gridColID))
self.txtServoPosition.SetValue(self.servoGrid.GetCellValue(row,self.__gridColPosition))
self.txtServoSpeed.SetValue(self.servoGrid.GetCellValue(row,self.__gridColSpeed))
def onBtnGo(self, event): # wxGlade: servoControlFrame.<event_handler>
servoName = self.txtServoName.GetValue()
goalPos = int(self.txtServoPosition.GetValue())
speed = int(self.txtServoSpeed.GetValue())
if(servoName in self.servoCtrl.servoList):
self.servoCtrl.setSpeed(servoName,speed)
self.servoCtrl.setPosition(servoName,goalPos)
self.updateServos()
def onBtnGoStart(self, event): # wxGlade: servoControlFrame.<event_handler>
servoName = self.txtServoName.GetValue()
speed = int(self.txtServoSpeed.GetValue())
goalPos = self.servoCtrl.servoList[servoName]['StartPos']
if(servoName in self.servoCtrl.servoList):
self.servoCtrl.setSpeed(servoName,speed)
self.servoCtrl.setPosition(servoName,goalPos)
self.updateServos()
def onBtnGoEnd(self, event): # wxGlade: servoControlFrame.<event_handler>
servoName = self.txtServoName.GetValue()
speed = int(self.txtServoSpeed.GetValue())
goalPos = self.servoCtrl.servoList[servoName]['EndPos']
if(servoName in self.servoCtrl.servoList):
self.servoCtrl.setSpeed(servoName,speed)
self.servoCtrl.setPosition(servoName,goalPos)
self.updateServos()
def onClose(self, event): # wxGlade: servoControlFrame.<event_handler>
self.servoCtrl.closeServoPort()
event.Skip()
