class RobotApp(Ui_MainWindow):
def setupUi(self, MainWindow):
super().setupUi(MainWindow)
self.robot_controller = RobotController()
self.robot_controller.connect_feedback(self.feedback_changed)
self.robot_controller.connect_log(self.update_log)
self.pbUp.clicked.connect(self.pbUp_clicked)
self.pbDown.clicked.connect(self.pbDown_clicked)
self.pbResetError.clicked.connect(self.pbResetError_clicked)
self.pbPauseMotion.clicked.connect(self.pbPauseMotion_clicked)
self.pbResumeMotion.clicked.connect(self.pbResumeMotion_clicked)
self.pbClearMotion.clicked.connect(self.pbClearMotion_clicked)
self.sldAngSpeedValue.valueChanged.connect(self.joint_speed_slided)
self.sldCartSpeedValue.valueChanged.connect(self.cart_speed_slided)
self.pbReadCurrAng.clicked.connect(self.pbReadCurrAng_clicked)
self.pbMoveNewAngVal.clicked.connect(self.pbMoveNewAngVal_clicked)
self.pbReadCurrCart.clicked.connect(self.pbReadCurrCart_clicked)
self.pbMoveNewCartVal.clicked.connect(self.pbMoveNewCartVal_clicked)
for i in range(0, 6):
pbTheta_inc = getattr(self, f'pbTheta{i+1}_inc')
pbTheta_dec = getattr(self, f'pbTheta{i+1}_dec')
pbTheta_inc.clicked.connect(partial(self.pbTheta_inc_clicked, i))
pbTheta_dec.clicked.connect(partial(self.pbTheta_dec_clicked, i))
for i in range(0, 6):
pbCart_inc = getattr(self, f'pbCart{i+1}_inc')
pbCart_dec = getattr(self, f'pbCart{i+1}_dec')
pbCart_inc.clicked.connect(partial(self.pbCart_inc_clicked, i))
pbCart_dec.clicked.connect(partial(self.pbCart_dec_clicked, i))
#...............................................................................
#
# JOINTS
#
# ...............................................................................
# Used to save joints values before they change
def load_lEditAngle(self):
MoveJoint_var[0] = float(self.lblAngle1.text())
MoveJoint_var[1] = float(self.lblAngle2.text())
MoveJoint_var[2] = float(self.lblAngle3.text())
MoveJoint_var[3] = float(self.lblAngle4.text())
MoveJoint_var[4] = float(self.lblAngle5.text())
MoveJoint_var[5] = float(self.lblAngle6.text())
def pbTheta_inc_clicked(self, index):
self.move_joints(index, 1)
def pbTheta_dec_clicked(self, index):
self.move_joints(index, -1)
# Read the actual position values
def pbReadCurrAng_clicked(self):
self.lEditAngle1.setText (self.lblAngle1.text())
self.lEditAngle2.setText (self.lblAngle2.text())
self.lEditAngle3.setText (self.lblAngle3.text())
self.lEditAngle4.setText (self.lblAngle4.text())
self.lEditAngle5.setText (self.lblAngle5.text())
self.lEditAngle6.setText (self.lblAngle6.text())
# Moves to the new values
def pbMoveNewAngVal_clicked(self):
MoveJoint_var[0] = float(self.lEditAngle1.text())
MoveJoint_var[1] = float(self.lEditAngle2.text())
MoveJoint_var[2] = float(self.lEditAngle3.text())
MoveJoint_var[3] = float(self.lEditAngle4.text())
MoveJoint_var[4] = float(self.lEditAngle5.text())
MoveJoint_var[5] = float(self.lEditAngle6.text())
self.robot_controller.move_joints(*MoveJoint_var)
self.lEditAngle1.setText("0")
self.lEditAngle2.setText("0")
self.lEditAngle3.setText("0")
self.lEditAngle4.setText("0")
self.lEditAngle5.setText("0")
self.lEditAngle6.setText("0")
# Set speed value for joint motion
def joint_speed_slided(self):
AngSpeed = self.sldAngSpeedValue.value()
self.robot_controller.set_joint_vel(int(AngSpeed))
# Execute joint motion
def move_joints(self, index, direction):
angles = [0, 0, 0, 0, 0, 0]
angles[index] = direction * self.sldAngIncDecValue.value()
self.robot_controller.move_jointsDelta(*angles)
#...............................................................................
#
# CARTESIANS
#
# ...............................................................................
def pbCart_inc_clicked(self, index):
self.move_linear(index, 1)
def pbCart_dec_clicked(self, index):
self.move_linear(index, -1)
# Set speed value for linear motions
def cart_speed_slided(self):
CartSpeed = self.sldCartSpeedValue.value()
self.robot_controller.set_cart_lin_vel(CartSpeed)
# Execute linear motion
def move_linear(self, index, direction):
coords = [0, 0, 0, 0, 0, 0]
coords[index] = direction * self.sldCartIncDecValue.value()
self.robot_controller.move_linearDelta(*coords)
# Read the actual position values
def pbReadCurrCart_clicked(self):
self.lEditCart1.setText (self.lblCart1.text())
self.lEditCart2.setText (self.lblCart2.text())
self.lEditCart3.setText (self.lblCart3.text())
self.lEditCart4.setText (self.lblCart4.text())
self.lEditCart5.setText (self.lblCart5.text())
self.lEditCart6.setText (self.lblCart6.text())
# Moves to the new values
def pbMoveNewCartVal_clicked(self):
MoveLin_var[0] = float(self.lEditCart1.text())
MoveLin_var[1] = float(self.lEditCart2.text())
MoveLin_var[2] = float(self.lEditCart3.text())
MoveLin_var[3] = float(self.lEditCart4.text())
MoveLin_var[4] = float(self.lEditCart5.text())
MoveLin_var[5] = float(self.lEditCart6.text())
self.robot_controller.move_lin(*MoveLin_var)
self.lEditCart1.setText("0")
self.lEditCart2.setText("0")
self.lEditCart3.setText("0")
self.lEditCart4.setText("0")
self.lEditCart5.setText("0")
self.lEditCart6.setText("0")
self.tableWidget.setColumnWidth(1,50)
self.tableWidget.setColumnWidth(2,50)
self.tableWidget.setColumnWidth(3,50)
self.tableWidget.setColumnWidth(4,50)
self.tableWidget.setColumnWidth(5,50)
self.tableWidget.setColumnWidth(6,50)
item = QTableWidgetItem()
item.setText("100.000")
self.tableWidget.setItem(3,1,item)
#...............................................................................
#
# BUTTONS
#
# ...............................................................................
# Commands the def up
def pbUp_clicked(self):
self.robot_controller.up()
# Commands the def down
def pbDown_clicked(self):
self.robot_controller.down()
#...............................................................................
#
# COMMANDS
#
# ...............................................................................
# def get_joints(self, t1, t2, t3, t4, t5, t6):
# return self.mecarobot.run('GetJoints', [t1, t2, t3, t4, t5, t6])
def update_log(self, direction, message):
if direction == 'in':
self.textedit_log.insertHtml(f'<span>{message}</span><br>')
else:
self.textedit_log.insertHtml(f'<span style="color: gray; font-style: italic;">{message}</span><br>')
def feedback_changed(self, code, values):
if code == '3007':
self.lblAngle1.setText(f'{values[0]:.3f}')
self.lblAngle2.setText(f'{values[1]:.3f}')
self.lblAngle3.setText(f'{values[2]:.3f}')
self.lblAngle4.setText(f'{values[3]:.3f}')
self.lblAngle5.setText(f'{values[4]:.3f}')
self.lblAngle6.setText(f'{values[5]:.3f}')
for i in range(0, 6):
MoveJoint_var[i]=values[i]
if code == '3010':
self.lblCart1.setText(f'{values[0]:.3f}')
self.lblCart2.setText(f'{values[1]:.3f}')
self.lblCart3.setText(f'{values[2]:.3f}')
self.lblCart4.setText(f'{values[3]:.3f}')
self.lblCart5.setText(f'{values[4]:.3f}')
self.lblCart6.setText(f'{values[5]:.3f}')
def pbResetError_clicked(self):
self.robot_controller.reseterror()
def pbClearMotion_clicked(self):
self.robot_controller.clear_motion()
def pbPauseMotion_clicked(self):
self.robot_controller.pause_motion()
def pbResumeMotion_clicked(self):
self.robot_controller.resume_motion()
