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