"sin^4":servo.fourth,"sin^6":servo.sixth} return switcher.get(arg,"invalid") if __name__=='__main__': servo = servofunctions() #creates object to control robot func = servo.absolute #initializes breathing pattern root = tk.Tk() #creates window for tkinter Window = MainWindow(root) #creates object to control tkinter # Main Loop while(1): if(Window.UpdateCheck==1): #runs if update or start/stop has been clicked in GUI (or if exiting) if Window.running: servo.A = Window.AMP #these all take GUI values and sends them to the pattern calculations in servo servo.M = Window.OFF servo.freq = Window.BPM func = switch(Window.FUNC) servo.reset() #resets the robot to the offset Window.UpdateCheck = 0 #stops this branch from running multiple times without user input else: #resets the robot to zero position when stopped or exiting servo.M = 21 #21 duty cycle corresponds with 0 location servo.reset() Window.UpdateCheck = 0 elif(Window.running==1): func() #runs selected function in servofunctions to move the robot root.update() #checks GUI for input
