def try_connect(self):
if not self.usbc:
try:
self.usbc = USBCommunications()
self.connect_status.set("Connected!")
except ValueError:
print("No connection found...")
self.usbc = None
class simpleapp_tk(Tkinter.Tk):
def __init__(self, parent):
Tkinter.Tk.__init__(self, parent)
self.parent = parent
self.initialize()
self.usbc = None
def initialize(self):
self.grid()
self.connect_status = Tkinter.StringVar(value="No device connected")
button_connect = Tkinter.Button(self, text=u"Connect to Device", command=self.try_connect)
button_connect.grid(column=0, row=0, columnspan=2)
self.connection_label = Tkinter.Label(textvariable=self.connect_status, justify="center")
self.connection_label.grid(column=2, row=0, columnspan=2)
# self.spring_constant_scale = Tkinter.Scale(
# self, from_=0, to=0.5, resolution=.01)
# self.spring_constant_scale.grid(column=0, row=2)
self.wall_angle_scale = Tkinter.Scale(self, from_=-40, to=40, resolution=0.1)
self.wall_angle_scale.grid(column=1, row=2)
# self.Ki_constant_scale = Tkinter.Scale(
# self, from_=0, to=0.5, resolution=.01)
# self.Ki_constant_scale.grid(column=2, row=2)
# self.Kd_constant_scale = Tkinter.Scale(
# self, from_=0, to=0.5, resolution=.01)
# self.Kd_constant_scale.grid(column=3, row=2)
button_k = Tkinter.Button(self, text=u"Set Wall Angle", command=self.set_wall_ang)
button_k.grid(column=0, row=4, columnspan=3)
# button_kp = Tkinter.Button(self, text=u"Set Kp",
# command=self.set_pid_p)
# button_kp.grid(column=1, row=4)
# button_ki = Tkinter.Button(self, text=u"Set Ki",
# command=self.set_pid_i)
# button_ki.grid(column=2, row=4)
# button_kd = Tkinter.Button(self, text=u"Set Kd",
# command=self.set_pid_d)
# button_kd.grid(column=3, row=4)
# self.grid_columnconfigure(0,weight=1)
self.resizable(True, False)
self.update()
self.geometry(self.geometry())
# self.entry.focus_set()
# self.entry.selection_range(0, Tkinter.END)
def try_connect(self):
if not self.usbc:
try:
self.usbc = USBCommunications()
self.connect_status.set("Connected!")
except ValueError:
print("No connection found...")
self.usbc = None
def set_wall_ang(self):
new_constant = self.wall_angle_scale.get()
self.usbc.set_wall_angle(new_constant)
class simpleapp_tk(Tkinter.Tk):
def __init__(self, parent):
Tkinter.Tk.__init__(self, parent)
self.parent = parent
self.initialize()
self.usbc = None
def initialize(self):
self.grid()
self.connect_status = Tkinter.StringVar(value="No device connected")
button_connect = Tkinter.Button(self, text=u"Connect to Device",
command=self.try_connect)
button_connect.grid(column=0, row=0, columnspan=2)
self.connection_label = Tkinter.Label(textvariable=self.connect_status, justify='center')
self.connection_label.grid(column=2, row=0, columnspan=2)
self.light_stick_scale = Tkinter.Scale(
self, from_=-40, to=40, resolution=.1)
self.light_stick_scale.grid(column=0, row=2)
button_ls = Tkinter.Button(self, text=u"Set Light Stick Angle",
command=self.set_ls_ang)
button_ls.grid(column=0, row=3)
self.heavy_stick_scale = Tkinter.Scale(
self, from_=-40, to=40, resolution=.1)
self.heavy_stick_scale.grid(column=1, row=2)
button_hs = Tkinter.Button(self, text=u"Set Heavy Stick Angle",
command=self.set_hs_ang)
button_hs.grid(column=1, row=3)
self.light_slip_scale = Tkinter.Scale(
self, from_=-40, to=40, resolution=.1)
self.light_slip_scale.grid(column=2, row=2)
button_lp = Tkinter.Button(self, text=u"Set Light Slip Angle",
command=self.set_lp_ang)
button_lp.grid(column=2, row=3)
self.heavy_slip_scale = Tkinter.Scale(
self, from_=-40, to=40, resolution=.1)
self.heavy_slip_scale.grid(column=3, row=2)
button_hp= Tkinter.Button(self, text=u"Set Heavy Slip Angle",
command=self.set_ls_ang)
button_hp.grid(column=3, row=3)
self.speed_bump_scale = Tkinter.Scale(
self, from_=-40, to=40, resolution=.1)
self.speed_bump_scale.grid(column=4, row=2)
button_hp= Tkinter.Button(self, text=u"Set Speed Bump Angle",
command=self.set_sb_ang)
button_hp.grid(column=4, row=3)
self.resizable(True, False)
self.update()
self.geometry(self.geometry())
def try_connect(self):
if not self.usbc:
try:
self.usbc = USBCommunications()
self.connect_status.set("Connected!")
except ValueError:
print("No connection found...")
self.usbc = None
def set_ls_ang(self):
new_constant = self.light_stick_scale.get()
self.usbc.set_texture_lt_st(new_constant)
def set_hs_ang(self):
new_constant = self.heavy_stick_scale.get()
self.usbc.set_texture_hv_st(new_constant)
def set_lp_ang(self):
new_constant = self.light_slip_scale.get()
self.usbc.set_texture_lt_sl(new_constant)
def set_ls_ang(self):
new_constant = self.heavy_slip_scale.get()
self.usbc.set_texture_hv_sl(new_constant)
def set_sb_ang(self):
new_constant = self.speed_bump_scale.get()
self.usbc.set_texture_sp(new_constant)
#! /usr/bin/env python
import sys
import time
import struct
from usb_haptic import USBCommunications
USB_COMMS = USBCommunications()
while 1:
t0 = time.clock()
sys.stdout.write('\x1b[2J\x1b[1;1f')
encoder_reading = USB_COMMS.enc_readReg(0x3FFF)
print encoder_reading
encoder_reading[1] = encoder_reading[1] & 0x3F
print encoder_reading
print struct.unpack("<H", encoder_reading.tostring())
while time.clock() < t0 + 0.05:
pass
