def __init__(self):
self.mavlink = mav.Mavlink()
self.controller_mav = mav.Controller()
self.gimbal_mav = mav.Gimbal()
self.can = can_pro.CAN4Gimbal(3, 0, 0)
self.gui = GimGui(self.mavlink, self.controller_mav, self.gimbal_mav,
self.can)
self.threads = []
t1 = threading.Thread(target=self.mav_update)
t2 = threading.Thread(target=self.gui.lab_change)
t3 = threading.Thread(target=self.gui.param_change)
t4 = threading.Thread(target=self.can_update)
self.threads.append(t1)
self.threads.append(t2)
self.threads.append(t3)
self.threads.append(t4)
def __init__(self):
self.gim = can_pro_gimbal.CAN4Gimbal()
self.gim.can_open()
self.root = tk.Tk()
self.b_p_enc = tk.Button(self.root,
text='P ENC',
command=self.send_p_enc).pack()
self.b_r_enc = tk.Button(self.root,
text='R ENC',
command=self.send_r_enc).pack()
self.b_y_enc = tk.Button(self.root,
text='Y ENC',
command=self.send_y_enc).pack()
self.b_r_rps = tk.Button(self.root,
text='R RPS',
command=self.send_r_rps_mcu).pack()
self.b_p_rps = tk.Button(self.root,
text='P RPS',
command=self.send_p_rps_mcu).pack()
self.b_y_rps = tk.Button(self.root,
text='Y RPS',
command=self.send_y_rps_mcu).pack()
self.b_r_rpl_n = tk.Button(self.root,
text='R RPL N',
command=self.send_r_rpl_mcu_n).pack()
self.b_r_rpl_h = tk.Button(self.root,
text='R RPL H',
command=self.send_r_rpl_mcu_h).pack()
self.b_p_rpl_n = tk.Button(self.root,
text='P RPL N',
command=self.send_p_rpl_mcu_n).pack()
self.b_p_rpl_h = tk.Button(self.root,
text='P RPL H',
command=self.send_p_rpl_mcu_h).pack()
self.b_y_rpl_n = tk.Button(self.root,
text='Y RPL N',
command=self.send_y_rpl_mcu_n).pack()
self.b_y_rpl_h = tk.Button(self.root,
text='Y RPL H',
command=self.send_y_rpl_mcu_h).pack()
self.b_r_rs = tk.Button(self.root,
text='R RS',
command=self.send_r_rs_mcu).pack()
self.b_p_rs = tk.Button(self.root,
text='P RS',
command=self.send_p_rs_mcu).pack()
self.b_y_rs = tk.Button(self.root,
text='Y RS',
command=self.send_y_rs_mcu).pack()
self.b_r_rl = tk.Button(self.root,
text='R RL',
command=self.send_r_rl_mcu).pack()
self.b_p_rl = tk.Button(self.root,
text='P RL',
command=self.send_p_rl_mcu).pack()
self.b_y_rl = tk.Button(self.root,
text='Y RL',
command=self.send_y_rl_mcu).pack()
self.root.protocol('WM_DELETE_WINDOW', self.closing)
self.ready2decode = 0
self.rx_mail = []
self.threads = []
t1 = threading.Thread(target=self.recv)
t2 = threading.Thread(target=self.decode)
self.threads.append(t1)
self.threads.append(t2)
def lab_change():
#global var_roll
while True:
set_tk_attitude_var()
#set_tk_control_param_var()
time.sleep(0.01)
#root.update()
def param_change():
while True:
set_tk_control_param_var()
time.sleep(1)
can = can_pro.CAN4Gimbal()
can.can_open()
def can_update():
while True:
can.high_level_read()
time.sleep(0.01)
threads = []
t1 = threading.Thread(target=get_data_1)
t2 = threading.Thread(target=lab_change)
t3 = threading.Thread(target=param_change)
can_thread = threading.Thread(target=can_update)
threads.append(t1)
def __init__(self):
self.mavlink = mav.Mavlink()
self.controller_mav = mav.Controller()
self.gimbal_mav = mav.Gimbal()
self.can = can_pro.CAN4Gimbal(3, 0, 0)