class MainWindow(QWidget):
def __init__(self):
super(MainWindow, self).__init__()
self.ur = None
# self.whole_layout = None
self.clear_button = None
self.paint_button = None
self.paint_widget = None
self._init_sdk()
self._init_window()
self._init_widget() # widget 在 layout 前面
self._init_layout()
def _init_sdk(self):
self.ur = UR()
self.ur.connect()
def _init_window(self):
self.setWindowTitle('robot paint self')
self.setFixedSize(640, 480)
def _init_layout(self):
whole_layout = QVBoxLayout()
top_layout = QHBoxLayout()
self.setLayout(whole_layout)
whole_layout.addLayout(top_layout)
whole_layout.addWidget(self.paint_widget)
top_layout.addWidget(self.clear_button)
top_layout.addWidget(self.paint_button)
def _init_widget(self):
self.paint_widget = MyPaintWidget()
self.clear_button = QPushButton('清理')
self.paint_button = QPushButton('绘制')
self.clear_button.clicked.connect(self.clear)
self.paint_button.clicked.connect(self.paint)
def clear(self):
self.paint_widget.clear()
def scale_data(self, x, y):
"""
画板坐标映射到机器人坐标
:param x: 画板 x 坐标
:param y: 画板 y 坐标
:return: 机器人 x，y 坐标
"""
x = 0.3 - 0.6 * x / 640
y = -0.5 + 0.4 * y / 480
return x, y
def paint(self):
"""
调用机器人sdk
:return:
"""
# 使用move_j移动至放松位置
self.ur.move_j([-84.56, -87.06, -89.02, -96.33, 90.87, 89.87])
# PaintWidget(自定义)对象paint_widget 获取所有绘画点
points = self.paint_widget.points[::10] # 每隔十个点选取
# 开启sdk轨迹
self.ur.enable_trail()
# 绘制这些点
for point in points: # points 字典吗？
px = point['x']
py = point['y']
# 使用move_p 方式移动可以提高效率的同时精确画图
x, y = self.scale_data(px, py)
self.ur.move_p([x, y, 0.45422, 180, 0, 90])
# 放松姿态 ur.move_j([-84.56, -87.06, -89.02, -96.33, 90.87, 89.87]) # 定义四个点 pos = [0.3, 0, 0, 180, 0, 90] ur.clear_points() ur.disable_trail() ur.show_point((0, 0, 0), 0.1, [0, 255, 0, 0]) # 原点 ur.show_point((0.3, 0, 0)) # 移动到第一个点 # ur.move_p(pos) # 开启线路显示 ur.enable_trail() pos_1 = [0, 0, 0, 0, 0, 0] pos_2 = [0, 0, 0, 0, 0, 0] pos_3 = [0, 0, 0, 0, 0, 0] pos_4 = [0, 0, 0, 0, 0, 0] alpha = 0.5 delta = 0.01 # pos_1[0] -= delta # pos_1[1] += delta # # pos_2[0] += delta # pos_2[1] += delta
class MainWindow(QWidget):
def __init__(self):
super(MainWindow, self).__init__()
# 机器人驱动
self.ur = UR()
# 连接
self.ur.connect()
# 设置标题
self.setWindowTitle('机器人绘制')
# 设置窗口大小
self.setFixedSize(640, 480)
# 创建整体布局
wholeLayout = QVBoxLayout()
# 设置布局
self.setLayout(wholeLayout)
# 创建上部布局
topLayout = QHBoxLayout()
# 添加布局到整体布局中
wholeLayout.addLayout(topLayout)
# 创建两个按钮
clearBtn = QPushButton('清理')
paintBtn = QPushButton('绘制')
# 按钮添加到布局中
topLayout.addWidget(clearBtn)
topLayout.addWidget(paintBtn)
# 创建自定义控件
self.paintWidget = PaintWidget()
# 添加到整体布局中
wholeLayout.addWidget(self.paintWidget)
# 设置按钮点击事件
# 槽函数可以是普通函数 也可以是类的方法
clearBtn.clicked.connect(self.clear)
# 绘制事件
paintBtn.clicked.connect(self.paint)
def clear(self):
'''
清理
:return:
'''
self.paintWidget.clear()
def scaleData(self, x, y):
'''
对数据缩放处理
:param cal:
:return:
'''
x = 0.3 - 0.6 * x / 640
y = -0.5 + 0.4 * y / 480
return x, y
def paint(self):
'''
调用机器人绘制
:return:
'''
self.ur.disable_trail()
self.ur.move_j([-84.56, -87.06, -89.02, -96.33, 90.87, 89.87])
# 获取所有的点
points = self.paintWidget.points[::10]
self.ur.enable_trail()
# 绘制点的数量
# 遍历所有的点,移动过去
for point in points:
px = point['x']
py = point['y']
# print(px, py)
# 移动 采用哪一种移动方式? movel movep
# pose:[x,y,z,rx,ry,rz]
# 缩放x和y
x, y = self.scaleData(px, py)
# print(x, y)
print("(px, py)::({}, {}), (x, y)::({}, {})".format(px, py, x, y))
# x y z 单位:m
self.ur.move_p([x, y, 0.45422, 180, 0, 90])