def btnHomeBe(self):
g2.send('g90g0x0')
#lay text tu text edit
a = self.edit_Program.toPlainText()
x = a.split()
print(a)
print(x)
def ScrollBarJerk(self):
self.Jerk = self.ScrollBar_Jerk.value() * 10
jerk = str(self.Jerk)
g2.send('$xjm=' + jerk)
g2.send('$yjm=' + jerk)
g2.send('$zjm=' + jerk)
g2.send('$ajm=' + jerk)
g2.send('$bjm=' + jerk)
def JogReleased(self, joint):
jerk = self.ScrollBar_Jerk.value() * 10
if joint == "X1" or joint == "X2":
self.jogthread.STT = 0
g2.send("$xjm=" + str(jerk))
if joint == "Y1" or joint == "Y2":
self.jogthread.STT = 0
g2.send("$yjm=" + str(jerk))
if joint == "Z1" or joint == "Z2":
self.jogthread.STT = 0
g2.send("$zjm=" + str(jerk))
if joint == "A1" or joint == "A2":
self.jogthread.STT = 0
g2.send("$ajm=" + str(jerk))
if joint == "B1" or joint == "B2":
self.jogthread.STT = 0
g2.send("$bjm=" + str(jerk))
def P_program(self, p):
px = float(self.lb_px.text())
py = float(self.lb_py.text())
pz = float(self.lb_pz.text())
rad = pi / 180
x = float(self.lb_x.text()) * rad
y = float(self.lb_y.text()) * rad
z = float(self.lb_z.text()) * rad
a = float(self.lb_a.text()) * rad
b = float(self.lb_b.text()) * rad - 90 * rad + a
step = self.SpinBox_Step.value()
if self.rb_Left.isChecked():
otp = [1, 1, 0]
else:
otp = [0, 0, 0]
if p == 'PX1':
px = px + step
if p == 'PX2':
px = px - step
if p == 'PY1':
py = py + step
if p == 'PY2':
py = py - step
if p == 'PZ1':
pz = pz + step
if p == 'PZ2':
pz = pz - step
j, limit = R.ikine([px, py, pz], [x, y, z, a, b], otp)
if limit and self.cb_ApplyLimit.isChecked():
QMessageBox.about(self, "Error", "Joint is limit!")
else:
vel = str(self.Speed)
cmd = 'g90g01x' + str(round(j[0], 4)) \
+ 'y' + str(round(j[1], 4)) \
+ 'z' + str(round(j[2], 4)) \
+ 'a' + str(round(j[3], 4)) \
+ 'b' + str(round(j[4] + 90 - j[3], 4)) \
+ 'f' + vel
g2.send(cmd)
def run(self):
if len(w.gcode) > 4:
for n in range(0, 4):
cmd = w.gcode[n]
g2.send(cmd)
else:
self.i = 0
print(w.OK)
while self.sttRun:
time.sleep(0.001)
if w.OK:
w.OK = 0
if self.i == len(w.gcode):
print('#' * 50)
w.lb_Line.setText("Done*********")
self.i = 3
break
w.lb_Line.setText(str(self.i))
cmd = w.gcode[self.i]
g2.send(cmd)
self.i += 1
def btn_Chup(self):
mauphathien = "None"
ret, img = self.cam.read()
ret, img = self.cam.read()
name = self.cbb_Mauthu1.currentText()
data = pg.read_from_db(name)
_, phathien = BoLoc(data, img)
if phathien:
mauphathien = name
g2.send("A")
else:
name = self.cbb_Mauthu2.currentText()
data = pg.read_from_db(name)
_, phathien = BoLoc(data, img)
if phathien:
mauphathien = name
g2.send("B")
else:
name = self.cbb_Mauthu3.currentText()
data = pg.read_from_db(name)
_, phathien = BoLoc(data, img)
if phathien:
mauphathien = name
g2.send("C")
else:
mauphathien = "None"
frame = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
# get frame infos
height, width, channel = frame.shape
step = channel * width
# create QImage from RGB frame
qImg = QImage(frame.data, width, height, step, QImage.Format_RGB888)
self.lb_Img.setPixmap(QPixmap.fromImage(qImg))
self.lb_Mauphathien.setText(mauphathien)
def btnServoON(self):
if self.cb_ServoON.isChecked():
g2.send('$out1=1')
else:
g2.send('$out1=0')
def btnOutput8(self):
if self.cb_Output8.isChecked():
g2.send('$out8=1')
else:
g2.send('$out8=0')
def btnOutput9(self):
if self.cb_Output9.isChecked():
g2.send('$out9=1')
else:
g2.send('$out9=0')
def btnSendMDI(self):
cmd = self.ld_stt.text()
if cmd != '':
g2.send(cmd)
self.ld_stt.setText('')
def run(self):
while self.STT:
dataJog = w.dataJog
g2.send(dataJog)
time.sleep(0.02)
def btnHomeDay(self):
g2.send('g90g0z0')
def btnPause(self):
g2.send('!')
print('pause')
def btnOutput2(self):
if self.cb_Output2.isChecked():
g2.send('$out2=1')
else:
g2.send('$out2=0')
def btnOutput3(self):
if self.cb_Output3.isChecked():
g2.send('$out3=1')
else:
g2.send('$out3=0')
def btnHomeAll(self):
g2.send('g28.2x0y0z0')
g2.send('g28.3x0y90z0a90b0')
def btnOutput1(self):
if self.cb_Output1.isChecked():
g2.send('$out1=1')
else:
g2.send('$out1=0')
def run(self):
try:
g2.open()
w.lb_stt_com.setText(g2.s.port + " connect OK")
g2.send('$sv=2')
g2.send('$ej=1')
g2.send('g54')
time.sleep(1)
g2.send('$sv=1')
g2.send('$si=100')
# setting
g2.send('$2po=1')
g2.send('$3po=0')
g2.send('$4po=0')
g2.send('$yhd=1')
g2.send('$zhd=1')
g2.send('$xtn=-115')
g2.send('$xtm=115')
g2.send('$ytn=-30')
g2.send('$ytm=225')
g2.send('$ztn=-135')
g2.send('$ztm=135')
g2.send('$atn=-45')
g2.send('$atm=225')
g2.send('$btn=-180')
g2.send('$btm=180')
g2.send('$sl=1')
g2.send('$xzb=35')
g2.send('$yzb=5')
g2.send('$zzb=21')
except:
error = g2.s.port + " connect ERROR"
w.lb_stt_com.setText(error)
self.STT = 0
while self.STT:
if g2.s.in_waiting: # Or: while ser.inWaiting():
data = g2.read()
data = data.decode()
self.data.emit(data)
def btnReady(self):
g2.send('g90g0x0y120z120a120b-30')
def run(self):
print('Run')
# ct = w.program
a = w.edit_Program.toPlainText()
a = a.upper()
ct = a.split()
print(ct)
SL_Dat = w.Step_SL.value()
SL = int(w.edit_SL.text())
try:
for i in range(SL, SL_Dat):
if self.sttRun == 0:
break
for n in range(0, len(ct)):
if n == len(ct) - 1:
w.edit_SL.setText(str(i + 1))
g2.send('g90g0x0y0u0')
g2.send('G10 L20 P2 Z0')
if self.sttRun == 0:
break
line = ct[n]
if line == 'K1':
print('Nâng khuôn ')
w.lb_Stt.setText('Nâng khuôn')
ecd.send('A1B0*')
if line == 'K0':
print('Hạ khuôn ')
w.lb_Stt.setText('Hạ khuôn')
ecd.send('A1B1*')
if line[0] == 'A':
goc = line.lstrip('A')
print('Bẻ trước ' + goc)
w.lb_Stt.setText('Bẻ trước ' + goc)
g2.send('g90g01x' + goc + 'f10000')
while w.lb_stt.text() != 'Next':
time.sleep(0.1)
pass
if line[0] == 'B':
goc = line.lstrip('B')
print('Bẻ sau ' + goc)
w.lb_Stt.setText('Bẻ sau ' + goc)
g2.send('g90g01x' + goc + 'f10000')
while w.lb_stt.text() != 'Next':
time.sleep(0.1)
pass
if line[0] == 'X':
goc = line.lstrip('X')
print('Xoay ' + goc)
w.lb_Stt.setText('Xoay ' + goc)
g2.send('g90g01Y' + goc + 'f1000')
while w.lb_stt.text() != 'Next':
time.sleep(0.1)
pass
if line[0] == 'D':
feed = line.lstrip('D')
print('Đẩy dây ' + feed)
w.lb_Stt.setText('Đẩy dây ' + feed)
g2.send('g91g01Z' + feed + 'f1000')
while w.lb_stt.text() != 'Next':
time.sleep(0.1)
pass
time.sleep(0.1)
except:
print("END")
self.n = 0
self.sttRun = 0
print('Stop....')
w.lb_Stt.setText('Stop ')
def btnHomeAll(self):
g2.send('g90g0x0y0u0')
g2.send('G10 L20 P2 Z0')
def btnSendMDI(self):
cmd = self.ld_stt.text()
print(cmd)
g2.send(cmd)
def btnZeroAll(self):
g2.send('g90g0x0y90z0a90b0c0')
def btnOutput5(self):
if self.cb_Output5.isChecked():
g2.send('$out5=1')
else:
g2.send('$out5=0')
def btnStop(self):
g2.send('!')
time.sleep(0.1)
g2.send('%')
print('Stop')
def btnOutput6(self):
if self.cb_Output6.isChecked():
g2.send('$out6=1')
else:
g2.send('$out6=0')
def btnResume(self):
g2.send('~')
print('resume')
def btnOutput7(self):
if self.cb_Output7.isChecked():
g2.send('$out7=1')
else:
g2.send('$out7=0')
def btnOutput4(self):
if self.cb_Output4.isChecked():
g2.send('$out4=1')
else:
g2.send('$out4=0')
def JogPressed(self, joint):
vel = str(self.Speed)
if joint == "X1":
g2.send("$xjm=2000")
self.dataJog = "g91g1x0.1f" + vel
if joint == "X2":
g2.send("$xjm=2000")
self.dataJog = "g91g1x-0.1f" + vel
if joint == "Y1":
g2.send("$yjm=1000")
self.dataJog = "g91g1y0.1f" + vel
if joint == "Y2":
g2.send("$yjm=1000")
self.dataJog = "g91g1y-0.1f" + vel
if joint == "Z1":
g2.send("$zjm=1000")
self.dataJog = "g91g1z0.1f" + vel
if joint == "Z2":
g2.send("$zjm=1000")
self.dataJog = "g91g1z-0.1f" + vel
if joint == "A1":
g2.send("$ajm=10000")
g2.send("$bjm=10000")
self.dataJog = "g91g1a0.5b-0.5f" + vel
if joint == "A2":
g2.send("$ajm=10000")
g2.send("$bjm=10000")
self.dataJog = "g91g1a-0.5b0.5f" + vel
if joint == "B1":
g2.send("$bjm=10000")
self.dataJog = "g91g1b0.5f" + vel
if joint == "B2":
g2.send("$bjm=10000")
self.dataJog = "g91g1b-0.5f" + vel
self.jogthread.STT = 1
self.jogthread.start()
