import time
import re
import sys
sys.dont_write_bytecode = True # keep the folders clean for beginners
sys.path.append('Moves') # include the moves folder
sys.path.append('PoMoCo')
import servotorComm
from robot import hexapod
import GUI
if __name__ == '__main__':
controller = servotorComm.Controller() # Servo controller
hexy = hexapod(controller)
__builtins__.hexy = hexy # sets 'hexy' to be a gobal variable common to all modules
__builtins__.floor = 60 # this is the minimum level the legs will reach
# go through the Moves folder to find move files
moves = []
for fileName in os.listdir('Moves'):
if os.path.splitext(fileName)[1] == '.py':
fileName = os.path.splitext(fileName)[0]
s1 = re.sub('(.)([A-Z][a-z]+)', r'\1 \2', fileName)
moves.append(s1)
__builtins__.moves = moves
# global function for running move files
def move(moveName):
print "Preforming move:",moveName
# Include the moves folder
sys.path.append('Moves')
sys.path.append('PoMoCo')
import servotorComm
from robot import hexapod
import GUI
if __name__ == '__main__':
# Intialize the servo controller
controller = servotorComm.Controller()
# Set up the servo controller to run Hexy
hexy = hexapod(controller)
__builtins__.hexy = hexy # sets 'hexy' to be a global variable common to all modules
__builtins__.floor = 60 # this is the minimum level the legs will reach
# Go through the Moves folder to find move files
moves = []
for fileName in os.listdir('Moves'):
if os.path.splitext(fileName)[1] == '.py':
fileName = os.path.splitext(fileName)[0]
s1 = re.sub('(.)([A-Z][a-z]+)', r'\1 \2', fileName)
moves.append(s1)
__builtins__.moves = moves
# Function for running move files
def move(moveName):
print "Performing move:", moveName
def __init__(self):
self.con = servotorComm.Controller() # Servo controller
self.hexy = hexapod(self.con)
self.loadOffsets()
self.estop()
def __init__(self, master):
self.con = servotorComm.Controller() # Servo controller
self.hexy = hexapod(self.con)
self.master = master
self.frame = Frame(self.master)
self.frame.pack()
#setup menu system
menu = Menu(root)
root.config(menu=menu)
filemenu = Menu(menu)
menu.add_cascade(label="File", menu=filemenu)
filemenu.add_command(label="New")
filemenu.add_command(label="Save Offsets", command=self.saveOffsets)
# TODO: bring these over from servitorGui
#filemenu.add_command(label="Open Offsets", command=self.openOffsets)
#filemenu.add_command(label="Save Positions", command=self.savePositions)
#filemenu.add_command(label="Open Positions", command=self.openPositions)
filemenu.add_separator()
filemenu.add_command(label="Exit", command=self.quitApp)
#setup kill button
self.killButton = Button(
self.frame,
text="Kill All Servos",
fg="red",
font=("Helvetica", 20),
command=self.gui_estop)
self.killButton.grid(row=0, column=14)
self.loadOffsets()
self.servos = []
#setup left side, 4 groups of 4 servo controls
for i in xrange(4):
self.newServo(0 + i * 4, [1, 8 + i * 5])
self.newServo(1 + i * 4, [1, 9 + i * 5])
self.newServo(2 + i * 4, [1, 10 + i * 5])
self.newServo(3 + i * 4, [1, 11 + i * 5])
self.addSpace([0, 12 + i * 5])
#setup right side, 4 groups of 4 servo controls
for i in xrange(4):
self.newServo(16 + i * 4, [11, 8 + i * 5])
self.newServo(17 + i * 4, [11, 9 + i * 5])
self.newServo(18 + i * 4, [11, 10 + i * 5])
self.newServo(19 + i * 4, [11, 11 + i * 5])
self.addSpace([11, 12 + i * 5])
#add some spaces for asthetics
self.addSpace([10, 1])
# generate buttons for all move functions
counter = 0
for move_name in dir(self):
if "move_" in move_name:
b = Button(
self.frame,
text=move_name[5:],
command=
lambda func=getattr(self, "move_" + move_name[5:]): servotorComm.runMovement(func)
)
b.grid(row=counter + 8, column=0)
#b.pack()
counter += 1
#servoBars = []
self.poll()
self.estop()
def __init__(self):
self.con = servotorComm.Controller() # Servo controller
self.hexy = hexapod(self.con)
self.loadOffsets()
self.estop()
def __init__(self, master):
self.con = servotorComm.Controller() # Servo controller
self.hexy = hexapod(self.con)
self.master = master
self.frame = Frame(self.master)
self.frame.pack()
#setup menu system
menu = Menu(root)
root.config(menu=menu)
filemenu = Menu(menu)
menu.add_cascade(label="File", menu=filemenu)
filemenu.add_command(label="New")
filemenu.add_command(label="Save Offsets", command=self.saveOffsets)
# TODO: bring these over from servitorGui
#filemenu.add_command(label="Open Offsets", command=self.openOffsets)
#filemenu.add_command(label="Save Positions", command=self.savePositions)
#filemenu.add_command(label="Open Positions", command=self.openPositions)
filemenu.add_separator()
filemenu.add_command(label="Exit", command=self.quitApp)
#setup kill button
self.killButton = Button(self.frame,
text="Kill All Servos",
fg="red",
font=("Helvetica", 20),
command=self.gui_estop)
self.killButton.grid(row=0, column=14)
self.loadOffsets()
self.servos = []
#setup left side, 4 groups of 4 servo controls
for i in xrange(4):
self.newServo(0 + i * 4, [1, 8 + i * 5])
self.newServo(1 + i * 4, [1, 9 + i * 5])
self.newServo(2 + i * 4, [1, 10 + i * 5])
self.newServo(3 + i * 4, [1, 11 + i * 5])
self.addSpace([0, 12 + i * 5])
#setup right side, 4 groups of 4 servo controls
for i in xrange(4):
self.newServo(16 + i * 4, [11, 8 + i * 5])
self.newServo(17 + i * 4, [11, 9 + i * 5])
self.newServo(18 + i * 4, [11, 10 + i * 5])
self.newServo(19 + i * 4, [11, 11 + i * 5])
self.addSpace([11, 12 + i * 5])
#add some spaces for asthetics
self.addSpace([10, 1])
# generate buttons for all move functions
counter = 0
for move_name in dir(self):
if "move_" in move_name:
b = Button(
self.frame,
text=move_name[5:],
command=lambda func=getattr(self, "move_" + move_name[
5:]): servotorComm.runMovement(func))
b.grid(row=counter + 8, column=0)
#b.pack()
counter += 1
#servoBars = []
self.poll()
self.estop()
