def __init__(self):
super(manual_control, self).__init__()
self.ui=Ui_ManualControl()
self.ui.setupUi(self)
self.rb_list=[self.ui.rb_joint_1,self.ui.rb_joint_2,self.ui.rb_joint_3,self.ui.rb_joint_4,self.ui.rb_joint_5,self.ui.rb_joint_6]
self.setSignals()
class manual_control(QtGui.QWidget):
send=pyqtSignal(str)
# position=pyqtSignal(int)
def __init__(self):
super(manual_control, self).__init__()
self.ui=Ui_ManualControl()
self.ui.setupUi(self)
self.rb_list=[self.ui.rb_joint_1,self.ui.rb_joint_2,self.ui.rb_joint_3,self.ui.rb_joint_4,self.ui.rb_joint_5,self.ui.rb_joint_6]
self.setSignals()
def setSignals(self):
self.ui.pb_close_hand.clicked.connect(self.close_hand)
self.ui.pb_open_hand.clicked.connect(self.open_hand)
self.ui.pb_moveJoint.clicked.connect(self.move_joint)
self.ui.pb_moveTool.clicked.connect(self.move_tool)
self.ui.pb_moveXYZ.clicked.connect(self.move_xyz)
self.ui.pb_movePos.clicked.connect(self.move_position)
self.ui.pb_savePos.clicked.connect(self.save_position)
self.ui.pb_setSpeed.clicked.connect(self.set_speed)
def set_speed(self):
speed=self.ui.scroll_speed.value()
msg="SP {}".format(speed)
self.send.emit(msg)
pass
def save_position(self):
number=self.ui.sb_savePos.value()
msg="HE {}".format(number)
self.send.emit(msg)
# self.position.emit(int(number))
pass
def move_position(self):
number=self.ui.sb_movePos.value()
msg="MO {}".format(number)
self.send.emit(msg)
pass
def move_joint(self):
for i,rb in enumerate(self.rb_list):
if rb.isChecked():
joint=i+1
value=self.ui.scroll_joint.value()
msg="DJ {},{}".format(joint,value)
self.send.emit(msg)
pass
def move_tool(self):
x=self.ui.sb_toolX.value()
y=self.ui.sb_toolY.value()
z=self.ui.sb_toolZ.value()
# a=self.ui.sb_toolA.value()
# b=self.ui.sb_toolB.value()
# c=self.ui.sb_toolC.value()
msg="DS {},{},{}".format(x,y,z)
self.send.emit(msg)
pass
def move_xyz(self):
x=self.ui.sb_xyzX.value()
y=self.ui.sb_xyzY.value()
z=self.ui.sb_xyzZ.value()
# a=self.ui.sb_xyzA.value()
# b=self.ui.sb_xyzB.value()
# c=self.ui.sb_xyzC.value()
msg="DW {},{},{}".format(x,y,z)
self.send.emit(msg)
pass
def close_hand(self):
self.send.emit("GO")
def open_hand(self):
self.send.emit("GC")
pass
