def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop = TeleopWidget(self) self.tlLayout.addWidget(self.teleop) self.map = Map(self) self.mapLayout.addWidget(self.map) self.teleop.setVisible(True) self.logo = LogoWidget(self, self.logoLayout.parent().width(), self.logoLayout.parent().height()) self.logoLayout.addWidget(self.logo) self.logo.setVisible(True) self.updGUI.connect(self.updateGUI) self.getPathButton.clicked.connect(self.getPathClicked) self.playButton.clicked.connect(self.playClicked) self.playButton.setCheckable(True) #self.stopButton.clicked.connect(self.stopClicked) plannerList = [ 'RRTstar', 'SORRTstar', 'BITstar', 'FMTstar', 'InformedRRTstar', 'PRMstar' ] self.plannerBox.addItems(plannerList)
def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop=TeleopWidget(self) self.tlLayout.addWidget(self.teleop) self.map = Map(self) self.mapLayout.addWidget(self.map) self.teleop.setVisible(True) self.logo = LogoWidget(self, self.logoLayout.parent().width(), self.logoLayout.parent().height()) self.logoLayout.addWidget(self.logo) self.logo.setVisible(True) self.updGUI.connect(self.updateGUI) self.getPathButton.clicked.connect(self.getPathClicked) self.playButton.clicked.connect(self.playClicked) self.playButton.setCheckable(True) #self.stopButton.clicked.connect(self.stopClicked) plannerList = ['RRTstar', 'SORRTstar','BITstar', 'FMTstar', 'InformedRRTstar', 'PRMstar'] self.plannerBox.addItems(plannerList) # objectiveList = ['PathClearance', 'PathLength', 'ThresholdPathLength', 'WeightedLengthAndClearanceCombo'] # self.objectiveBox.addItems(objectiveList) self.liftDropButton.clicked.connect(self.liftDropExecute) self.liftDropButton.setCheckable(True) self.jointForce = 0 self.pub = rospy.Publisher('amazon_warehouse_robot/joint_cmd', Float32, queue_size=10) self.gotoPointButton.clicked.connect(self.gotoPointExecute) self.gotoPointButton.setCheckable(True)
def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop = TeleopWidget(self) self.tlLayout.addWidget(self.teleop) self.map = Map(self) self.mapLayout.addWidget(self.map) self.teleop.setVisible(True) self.logo = LogoWidget(self, self.logoLayout.parent().width(), self.logoLayout.parent().height()) self.logoLayout.addWidget(self.logo) self.logo.setVisible(True) self.updGUI.connect(self.updateGUI) self.getPathButton.clicked.connect(self.getPathClicked) self.playButton.clicked.connect(self.playClicked) self.playButton.setCheckable(True) #self.stopButton.clicked.connect(self.stopClicked) # plannerList = ['RRTstar', 'SORRTstar','BITstar', 'FMTstar', 'InformedRRTstar', 'PRMstar'] # self.plannerBox.addItems(plannerList) # objectiveList = ['PathClearance', 'PathLength', 'ThresholdPathLength', 'WeightedLengthAndClearanceCombo'] # self.objectiveBox.addItems(objectiveList) self.liftDropButton.clicked.connect(self.liftDropExecute) self.liftDropButton.setCheckable(True) self.jointForce = 0 self.node = rclpy.create_node('amazon_robot_joint_state') self.pub = self.node.create_publisher( Float64, 'amazon_robot/joint1_position_controller/command', 10) self.gotoPointButton.clicked.connect(self.gotoPointExecute) self.gotoPointButton.setCheckable(True)
def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop = TeleopWidget(self) self.tlLayout.addWidget(self.teleop) self.map = Map(self) self.mapLayout.addWidget(self.map) self.teleop.setVisible(True) self.updGUI.connect(self.updateGUI) self.getPathButton.clicked.connect(self.getPathClicked) self.playButton.clicked.connect(self.playClicked) self.stopButton.clicked.connect(self.stopClicked)
def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop = TeleopWidget(self) self.tlLayout.addWidget(self.teleop) self.map = Map(self) self.mapLayout.addWidget(self.map) self.teleop.setVisible(True) self.logo = LogoWidget(self, self.logoLayout.parent().width(), self.logoLayout.parent().height()) self.logoLayout.addWidget(self.logo) self.logo.setVisible(True) self.updGUI.connect(self.updateGUI) self.getPathButton.clicked.connect(self.getPathClicked) self.playButton.clicked.connect(self.playClicked) self.playButton.setCheckable(True)
def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop=TeleopWidget(self) self.tlLayout.addWidget(self.teleop) self.map = Map(self) self.mapLayout.addWidget(self.map) self.teleop.setVisible(True) self.updGUI.connect(self.updateGUI) self.getPathButton.clicked.connect(self.getPathClicked) self.playButton.clicked.connect(self.playClicked) self.stopButton.clicked.connect(self.stopClicked)
def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop=TeleopWidget(self) self.tlLayout.addWidget(self.teleop) self.map = Map(self) self.mapLayout.addWidget(self.map) self.teleop.setVisible(True) self.logo = LogoWidget(self, self.logoLayout.parent().width(), self.logoLayout.parent().height()) self.logoLayout.addWidget(self.logo) self.logo.setVisible(True) self.updGUI.connect(self.updateGUI) self.getPathButton.clicked.connect(self.getPathClicked) self.playButton.clicked.connect(self.playClicked) self.playButton.setCheckable(True)
class MainWindow(QMainWindow, Ui_MainWindow): getPathSig = QtCore.pyqtSignal() updGUI = QtCore.pyqtSignal() def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop=TeleopWidget(self) self.tlLayout.addWidget(self.teleop) self.map = Map(self) self.mapLayout.addWidget(self.map) self.teleop.setVisible(True) self.updGUI.connect(self.updateGUI) self.getPathButton.clicked.connect(self.getPathClicked) self.playButton.clicked.connect(self.playClicked) self.stopButton.clicked.connect(self.stopClicked) def setSensor(self, sensor): self.sensor = sensor def getSensor(self): return self.sensor def getMotors(self): return self.motors def setMotors(self,motors): self.motors=motors def setAlgorithm(self, algorithm ): self.algorithm=algorithm def setVelocity(self, vel): self.vel = vel def getVelocity(self): return self.vel def getAlgorithm(self): return self.algorithm def setGrid(self, grid): self.grid = grid self.grid.setMap(self.map.map) def updateGUI(self): self.map.updateMap(self.grid) def width(self): return self.map.width def height(self): return self.map.height def worldWidth(self): return self.map.worldWidth def worldHeight(self): return self.map.worldHeight def origX(self): return self.map.originX def origY(self): return self.map.originY def mapAngle(self): return self.map.mapAngle def getPathClicked(self): self.getPathSig.emit() def playClicked(self): print("Play clicked") self.algorithm.play() def stopClicked(self): print("Stop clicked") self.algorithm.stop() self.setXYValues(0, 0) self.teleop.stopSIG.emit() def setXYValues(self,newW,newV): self.WValue.setText(str(newW)) self.VValue.setText(str(-newV)) myW = newW * self.vel.getMaxW() myV = -newV * self.vel.getMaxV() self.vel.setV(myV) self.vel.setW(myW)
class MainWindow(QtGui.QMainWindow, Ui_MainWindow): getPathSig = QtCore.pyqtSignal() updGUI = QtCore.pyqtSignal() def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop = TeleopWidget(self) self.colorFilterWidget = ColorFilterWidget(self) self.tlLayout.addWidget(self.teleop) self.map = Map(self) self.mapLayout.addWidget(self.map) self.teleop.setVisible(True) self.updGUI.connect(self.updateGUI) self.getPathButton.clicked.connect(self.getPathClicked) self.playButton.clicked.connect(self.playClicked) self.stopButton.clicked.connect(self.stopClicked) self.colorFilter.stateChanged.connect(self.showColorFilterWidget) def setSensor(self, sensor): self.sensor = sensor def getSensor(self): return self.sensor def setGrid(self, grid): self.grid = grid self.grid.setMap(self.map.map) def updateGUI(self): self.map.updateMap(self.grid) self.colorFilterWidget.imageUpdate.emit() def width(self): return self.map.width def height(self): return self.map.height def getPathClicked(self): self.getPathSig.emit() def playClicked(self): print "play clicked" self.sensor.setPlayButton(True) def stopClicked(self): print "Stop clicked" self.sensor.setPlayButton(False) self.sensor.stop() self.setXYValues(0, 0) self.teleop.stopSIG.emit() def setXYValues(self, newW, newV): self.WValue.setText(unicode(newW)) self.VValue.setText(unicode(-newV)) self.sensor.setV(-newV) self.sensor.setW(newW) def closeColorFilterWidget(self): self.colorFilter.setChecked(False) def showColorFilterWidget(self, state): if state == QtCore.Qt.Checked: self.colorFilterWidget.show() else: self.colorFilterWidget.close()
class MainWindow(QMainWindow, Ui_MainWindow): getPathSig = QtCore.pyqtSignal(list) updGUI = QtCore.pyqtSignal() def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop = TeleopWidget(self) self.tlLayout.addWidget(self.teleop) self.map = Map(self) self.mapLayout.addWidget(self.map) self.teleop.setVisible(True) self.logo = LogoWidget(self, self.logoLayout.parent().width(), self.logoLayout.parent().height()) self.logoLayout.addWidget(self.logo) self.logo.setVisible(True) self.updGUI.connect(self.updateGUI) self.getPathButton.clicked.connect(self.getPathClicked) self.playButton.clicked.connect(self.playClicked) self.playButton.setCheckable(True) #self.stopButton.clicked.connect(self.stopClicked) plannerList = [ 'RRTstar', 'SORRTstar', 'BITstar', 'FMTstar', 'InformedRRTstar', 'PRMstar' ] self.plannerBox.addItems(plannerList) # objectiveList = ['PathClearance', 'PathLength', 'ThresholdPathLength', 'WeightedLengthAndClearanceCombo'] # self.objectiveBox.addItems(objectiveList) def setSensor(self, sensor): self.sensor = sensor def getSensor(self): return self.sensor def getMotors(self): return self.motors def setMotors(self, motors): self.motors = motors def setAlgorithm(self, algorithm): self.algorithm = algorithm def setVelocity(self, vel): self.vel = vel def getVelocity(self): return self.vel def getAlgorithm(self): return self.algorithm def setGrid(self, grid): self.grid = grid self.grid.setMap(self.map.map) def updateGUI(self): self.map.updateMap(self.grid) def width(self): return self.map.width def height(self): return self.map.height def worldWidth(self): return self.map.worldWidth def worldHeight(self): return self.map.worldHeight def origX(self): return self.map.originX def origY(self): return self.map.originY def mapAngle(self): return self.map.mapAngle def getPathClicked(self): pList = [] pList.append(self.getPlanner()) #pList.append(self.getObjective()) pList.append(self.getRunTime()) self.getPathSig.emit(pList) def playClicked(self): if self.playButton.isChecked(): icon = QtGui.QIcon() self.playButton.setText("Stop Code") self.playButton.setStyleSheet("background-color: #ec7063") icon.addPixmap(QtGui.QPixmap(":/images/stop.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) self.playButton.setIcon(icon) self.algorithm.play() else: icon = QtGui.QIcon() self.playButton.setStyleSheet("background-color: #7dcea0") icon.addPixmap(QtGui.QPixmap(":/images/play.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) self.playButton.setIcon(icon) self.playButton.setText("Play Code") self.algorithm.stop() self.setXYValues(0, 0) self.teleop.stopSIG.emit() def setXYValues(self, newW, newV): self.WValue.setText(str(newW)) self.VValue.setText(str(-newV)) myW = newW * self.vel.getMaxW() myV = -newV * self.vel.getMaxV() self.vel.setV(myV) self.vel.setW(myW) def getPlanner(self): planner = self.plannerBox.currentText() return planner def getObjective(self): objective = self.objectiveBox.currentText() return objective def getRunTime(self): runtime = str(self.runtimeBox.value()) return runtime
class MainWindow(QMainWindow, Ui_MainWindow): getPathSig = QtCore.pyqtSignal() updGUI = QtCore.pyqtSignal() def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop = TeleopWidget(self) self.tlLayout.addWidget(self.teleop) self.map = Map(self) self.mapLayout.addWidget(self.map) self.teleop.setVisible(True) self.logo = LogoWidget(self, self.logoLayout.parent().width(), self.logoLayout.parent().height()) self.logoLayout.addWidget(self.logo) self.logo.setVisible(True) self.updGUI.connect(self.updateGUI) self.getPathButton.clicked.connect(self.getPathClicked) self.playButton.clicked.connect(self.playClicked) self.playButton.setCheckable(True) #self.stopButton.clicked.connect(self.stopClicked) def setSensor(self, sensor): self.sensor = sensor def getSensor(self): return self.sensor def getMotors(self): return self.motors def setMotors(self, motors): self.motors = motors def setAlgorithm(self, algorithm): self.algorithm = algorithm def setVelocity(self, vel): self.vel = vel def getVelocity(self): return self.vel def getAlgorithm(self): return self.algorithm def setGrid(self, grid): self.grid = grid self.grid.setMap(self.map.map) def updateGUI(self): self.map.updateMap(self.grid) def width(self): return self.map.width def height(self): return self.map.height def worldWidth(self): return self.map.worldWidth def worldHeight(self): return self.map.worldHeight def origX(self): return self.map.originX def origY(self): return self.map.originY def mapAngle(self): return self.map.mapAngle def getPathClicked(self): self.getPathSig.emit() def playClicked(self): if self.playButton.isChecked(): icon = QtGui.QIcon() self.playButton.setText("Stop Code") self.playButton.setStyleSheet("background-color: #ec7063") icon.addPixmap(QtGui.QPixmap(":/images/stop.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) self.playButton.setIcon(icon) self.algorithm.play() else: icon = QtGui.QIcon() self.playButton.setStyleSheet("background-color: #7dcea0") icon.addPixmap(QtGui.QPixmap(":/images/play.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) self.playButton.setIcon(icon) self.playButton.setText("Play Code") self.algorithm.stop() self.setXYValues(0, 0) self.teleop.stopSIG.emit() def setXYValues(self, newW, newV): self.WValue.setText(str(newW)) self.VValue.setText(str(-newV)) myW = newW * self.vel.getMaxW() myV = -newV * self.vel.getMaxV() self.vel.setV(myV) self.vel.setW(myW)
class MainWindow(QMainWindow, Ui_MainWindow): getPathSig = QtCore.pyqtSignal(list) updGUI = QtCore.pyqtSignal() def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop = TeleopWidget(self) self.tlLayout.addWidget(self.teleop) self.map = Map(self) self.mapLayout.addWidget(self.map) self.teleop.setVisible(True) self.logo = LogoWidget(self, self.logoLayout.parent().width(), self.logoLayout.parent().height()) self.logoLayout.addWidget(self.logo) self.logo.setVisible(True) self.updGUI.connect(self.updateGUI) self.getPathButton.clicked.connect(self.getPathClicked) self.playButton.clicked.connect(self.playClicked) self.playButton.setCheckable(True) #self.stopButton.clicked.connect(self.stopClicked) # plannerList = ['RRTstar', 'SORRTstar','BITstar', 'FMTstar', 'InformedRRTstar', 'PRMstar'] # self.plannerBox.addItems(plannerList) # objectiveList = ['PathClearance', 'PathLength', 'ThresholdPathLength', 'WeightedLengthAndClearanceCombo'] # self.objectiveBox.addItems(objectiveList) self.liftDropButton.clicked.connect(self.liftDropExecute) self.liftDropButton.setCheckable(True) self.jointForce = 0 self.pub = rospy.Publisher('amazon_warehouse_robot/joint_cmd', Float32, queue_size=10) self.gotoPointButton.clicked.connect(self.gotoPointExecute) self.gotoPointButton.setCheckable(True) def setSensor(self, sensor): self.sensor = sensor def getSensor(self): return self.sensor def getMotors(self): return self.motors def setMotors(self, motors): self.motors = motors def setAlgorithm(self, algorithm): self.algorithm = algorithm def setVelocity(self, vel): self.vel = vel def getVelocity(self): return self.vel def getAlgorithm(self): return self.algorithm def setGrid(self, grid): self.grid = grid self.grid.setMap(self.map.map) def updateGUI(self): self.map.updateMap(self.grid) def width(self): return self.map.width def height(self): return self.map.height def worldWidth(self): return self.map.worldWidth def worldHeight(self): return self.map.worldHeight def origX(self): return self.map.originX def origY(self): return self.map.originY def mapAngle(self): return self.map.mapAngle def getPathClicked(self): pList = [] # pList.append(self.getPlanner()) #pList.append(self.getObjective()) # pList.append(self.getRunTime()) self.getPathSig.emit(pList) def playClicked(self): if self.playButton.isChecked(): icon = QtGui.QIcon() self.playButton.setText("Stop Code") self.playButton.setStyleSheet("background-color: #ec7063") icon.addPixmap(QtGui.QPixmap(":/images/stop.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) self.playButton.setIcon(icon) self.algorithm.play() else: icon = QtGui.QIcon() self.playButton.setStyleSheet("background-color: #7dcea0") icon.addPixmap(QtGui.QPixmap(":/images/play.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) self.playButton.setIcon(icon) self.playButton.setText("Play Code") self.algorithm.stop() self.setXYValues(0, 0) self.teleop.stopSIG.emit() def setXYValues(self, newW, newV): # self.WValue.setText(str(newW)) # self.VValue.setText(str(-newV)) myW = newW * self.vel.getMaxW() myV = -newV * self.vel.getMaxV() self.vel.setV(myV) self.vel.setW(myW) def getPlanner(self): planner = self.plannerBox.currentText() return planner def getObjective(self): objective = self.objectiveBox.currentText() return objective def getRunTime(self): runtime = str(self.runtimeBox.value()) return runtime def liftDropExecute(self): #print ('Lift/Drop Button Clicked') if self.jointForce != 25: self.jointForce = 25 self.pub.publish(self.jointForce) self.liftDropButton.setText("Drop") print('Platform Lifted!') else: self.jointForce = 0 self.pub.publish(self.jointForce) self.liftDropButton.setText("Lift") print('Platform Dropped!') def gotoPointExecute(self): self.algorithm.setNewPalletFlag(self.playButton.isChecked()) def setDestinyXYValues(self, newX, newY): self.XValue.setText(str(newX)) self.YValue.setText(str(newY)) def setPositionXYValues(self, newX, newY): self.VValue.setText(str(newX)) self.WValue.setText(str(newY))
class MainWindow(QtGui.QMainWindow, Ui_MainWindow): getPathSig = QtCore.pyqtSignal() updGUI=QtCore.pyqtSignal() def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop=TeleopWidget(self) self.colorFilterWidget=ColorFilterWidget(self) self.tlLayout.addWidget(self.teleop) self.map = Map(self) self.mapLayout.addWidget(self.map) self.teleop.setVisible(True) self.updGUI.connect(self.updateGUI) self.getPathButton.clicked.connect(self.getPathClicked) self.playButton.clicked.connect(self.playClicked) self.stopButton.clicked.connect(self.stopClicked) self.colorFilter.stateChanged.connect(self.showColorFilterWidget) def setSensor(self,sensor): self.sensor=sensor def getSensor(self): return self.sensor def setGrid(self, grid): self.grid = grid self.grid.setMap(self.map.map) def updateGUI(self): self.map.updateMap(self.grid) self.colorFilterWidget.imageUpdate.emit() def width(self): return self.map.width def height(self): return self.map.height def getPathClicked(self): self.getPathSig.emit() def playClicked(self): print "play clicked" self.sensor.setPlayButton(True) def stopClicked(self): print "Stop clicked" self.sensor.setPlayButton(False) self.sensor.stop() self.setXYValues(0, 0) self.teleop.stopSIG.emit() def setXYValues(self,newW,newV): self.WValue.setText(unicode(newW)) self.VValue.setText(unicode(-newV)) self.sensor.setV(-newV) self.sensor.setW(newW) def closeColorFilterWidget(self): self.colorFilter.setChecked(False) def showColorFilterWidget(self, state): if state == QtCore.Qt.Checked: self.colorFilterWidget.show() else: self.colorFilterWidget.close()
class MainWindow(QMainWindow, Ui_MainWindow): getPathSig = QtCore.pyqtSignal() updGUI = QtCore.pyqtSignal() def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop = TeleopWidget(self) self.tlLayout.addWidget(self.teleop) self.map = Map(self) self.mapLayout.addWidget(self.map) self.teleop.setVisible(True) self.updGUI.connect(self.updateGUI) self.getPathButton.clicked.connect(self.getPathClicked) self.playButton.clicked.connect(self.playClicked) self.stopButton.clicked.connect(self.stopClicked) def setSensor(self, sensor): self.sensor = sensor def getSensor(self): return self.sensor def getMotors(self): return self.motors def setMotors(self, motors): self.motors = motors def setAlgorithm(self, algorithm): self.algorithm = algorithm def setVelocity(self, vel): self.vel = vel def getVelocity(self): return self.vel def getAlgorithm(self): return self.algorithm def setGrid(self, grid): self.grid = grid self.grid.setMap(self.map.map) def updateGUI(self): self.map.updateMap(self.grid) def width(self): return self.map.width def height(self): return self.map.height def worldWidth(self): return self.map.worldWidth def worldHeight(self): return self.map.worldHeight def origX(self): return self.map.originX def origY(self): return self.map.originY def mapAngle(self): return self.map.mapAngle def getPathClicked(self): self.getPathSig.emit() def playClicked(self): print("Play clicked") self.algorithm.play() def stopClicked(self): print("Stop clicked") self.algorithm.stop() self.setXYValues(0, 0) self.teleop.stopSIG.emit() def setXYValues(self, newW, newV): self.WValue.setText(str(newW)) self.VValue.setText(str(-newV)) myW = newW * self.vel.getMaxW() myV = -newV * self.vel.getMaxV() self.vel.setV(myV) self.vel.setW(myW)
class MainWindow(QMainWindow, Ui_MainWindow): getPathSig = QtCore.pyqtSignal() updGUI = QtCore.pyqtSignal() def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop=TeleopWidget(self) self.tlLayout.addWidget(self.teleop) self.map = Map(self) self.mapLayout.addWidget(self.map) self.teleop.setVisible(True) self.logo = LogoWidget(self, self.logoLayout.parent().width(), self.logoLayout.parent().height()) self.logoLayout.addWidget(self.logo) self.logo.setVisible(True) self.updGUI.connect(self.updateGUI) self.getPathButton.clicked.connect(self.getPathClicked) self.playButton.clicked.connect(self.playClicked) self.playButton.setCheckable(True) #self.stopButton.clicked.connect(self.stopClicked) def setSensor(self, sensor): self.sensor = sensor def getSensor(self): return self.sensor def getMotors(self): return self.motors def setMotors(self,motors): self.motors=motors def setAlgorithm(self, algorithm ): self.algorithm=algorithm def setVelocity(self, vel): self.vel = vel def getVelocity(self): return self.vel def getAlgorithm(self): return self.algorithm def setGrid(self, grid): self.grid = grid self.grid.setMap(self.map.map) def updateGUI(self): self.map.updateMap(self.grid) def width(self): return self.map.width def height(self): return self.map.height def worldWidth(self): return self.map.worldWidth def worldHeight(self): return self.map.worldHeight def origX(self): return self.map.originX def origY(self): return self.map.originY def mapAngle(self): return self.map.mapAngle def getPathClicked(self): self.getPathSig.emit() def playClicked(self): if self.playButton.isChecked(): icon = QtGui.QIcon() self.playButton.setText("Stop Code") self.playButton.setStyleSheet("background-color: #ec7063") icon.addPixmap(QtGui.QPixmap(":/images/stop.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) self.playButton.setIcon(icon) self.algorithm.play() else: icon = QtGui.QIcon() self.playButton.setStyleSheet("background-color: #7dcea0") icon.addPixmap(QtGui.QPixmap(":/images/play.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) self.playButton.setIcon(icon) self.playButton.setText("Play Code") self.algorithm.stop() self.setXYValues(0, 0) self.teleop.stopSIG.emit() def setXYValues(self,newW,newV): self.WValue.setText(str(newW)) self.VValue.setText(str(-newV)) myW = newW * self.vel.getMaxW() myV = -newV * self.vel.getMaxV() self.vel.setV(myV) self.vel.setW(myW)