製作控制介面，控制虛擬端的Vrep
使用Tkinter
由4023250做出的控制方法，將他改寫成class呼叫的方法，以便未來的開發方便，接下來會針對，手臂的控制下去寫，opencv部分可能要等第三組，稍微有點進度再開始，目前主要就是使用python3去控制我們的機械手臂，將外部和內部同動，利用自己寫的控制介面，讓未來學弟妹也可以使用。
會將控制手臂的程式和方法放在這個倉儲 https://github.com/smpss91341/Vrep_python3_control
import matplotlib
matplotlib.use("TkAgg")
from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg,NavigationToolbar2TkAgg
from matplotlib.figure import Figure
import matplotlib.animation as animation
from matplotlib import style
import numpy as np
import tkinter as tk
from tkinter import ttk
from matplotlib import pyplot, rcParams
import serial
import sys
import vrep
LARGE_FONT = ("Verdana",12)
style.use("ggplot")
f = Figure(figsize = (5,5),dpi = 100)
a = f.add_subplot(111)
#def animate(i):
# pullData = open("sampleData.txt","r").read()
# dataList = pullData.split('\n')
# xList = []
# yList = []
# for eachLine in dataList:
# if len(eachLine)>1:
# x, y = eachLine.split(',')
# xList.append(int(x))
# yList.append(int(y))
# a.clear()
# a.plot(xList,yList)
class Seaofbt(tk.Tk):
def __init__(self, *args, **kwargs): #程式執行時先預載入的參數或者動作
tk.Tk.__init__(self, *args, **kwargs)
# tk.Tk.iconbitmap(self,default = "client.ico") 改變左上角的圖示
tk.Tk.wm_title(self,"My works")
container = tk.Frame(self)
container.pack(side="top",fill="both",expand = True)
container.grid_rowconfigure(0,weigh=1)
container.grid_columnconfigure(0,weigh=1)
self.frames = {}
for F in (StartPage, PageOne,PageTwo,PageThree):
frame = F(container,self)
self.frames[F] = frame
frame.grid(row=0, column = 0, sticky="nsew")
self.show_frame(StartPage)
def show_frame(self,cont):
frame = self.frames[cont]
frame.tkraise()
def qf(param):
print(param)
class StartPage(tk.Frame):
def __init__(self,parent,controller):
tk.Frame.__init__(self,parent)
label = tk.Label(self,text="PageOne",font = LARGE_FONT)
label.pack(pady = 10,padx = 10)
button1 = ttk.Button(self,text = "Visit Page 1",
command = lambda: controller.show_frame(PageOne))
button1.pack()
button2 = ttk.Button(self,text = "Visit Page 2",
command = lambda: controller.show_frame(PageTwo))
button2.pack()
button3 = ttk.Button(self,text = "Graph Page",
command = lambda: controller.show_frame(PageThree))
button3.pack()
class PageOne(tk.Frame):
def __init__(self,parent,controller):
tk.Frame.__init__(self,parent)
label = tk.Label(self,text="Start Page",font = LARGE_FONT)
label.pack(pady = 10,padx = 10)
button1 = ttk.Button(self,text = "Back to Home",
command = lambda: controller.show_frame(StartPage))
button1.pack()
button2 = ttk.Button(self,text = "Visit Page2",
command = lambda: controller.show_frame(PageTwo))
button2.pack()
class PageTwo(tk.Frame):
def __init__(self, parent,controller):
tk.Frame.__init__(self, parent)
self.createWidgets()
self.getNumber1 = 0
self.getNumber2 = 0
self.getNumber3 = 0
label1 = tk.Label(self,text="").grid(column=0, row=1)
label2 = tk.Label(self,text="X").grid(column=0, row=2)
label3 = tk.Label(self,text="").grid(column=0, row=3)
label4 = tk.Label(self,text="Y").grid(column=0, row=4)
label5 = tk.Label(self,text="").grid(column=0, row=5)
label6 = tk.Label(self,text="Z").grid(column=0, row=6)
button1 = ttk.Button(self,text = "Back",
command = lambda: controller.show_frame(StartPage))
button1.grid(row = 20,column = 3)
button2 = ttk.Button(self, text='Quit', width=5, command=self.quit)
button2.grid(row = 20,column = 2)
button3 = ttk.Button(self, text='Go', width=5, command =lambda:self.show_entry_fields())
button3.grid(row = 20,column = 1)
def createWidgets(self):
self.entry1 = tk.Entry(self)
self.entry1["width"] = 12
self.entry1.grid(row=2, column=1)
self.entry2 = tk.Entry(self)
self.entry2["width"] = 12
self.entry2.grid(row=4, column=1)
self.entry3 = tk.Entry(self)
self.entry3["width"] = 12
self.entry3.grid(row=6, column=1)
def show_entry_fields(self):
self.getNumber1 = self.entry1.get()
self.getNumber2 = self.entry2.get()
self.getNumber3 = self.entry3.get()
x = self.getNumber1
y = self.getNumber2
z = self.getNumber3
if x =='' or y==''or z =='':
x = 0
y = 0
z = 0
print("Error")
else:
x = float(self.getNumber1)
y = float(self.getNumber2)
z = float(self.getNumber3)
if float(x) >= 100: # set x&y&z limit
x = 100
if float(y) >= 100:
y = 100
if float(z) >= 400:
z = 400
if float(x) <= -100:
x = -100
if float(y) <= -100:
y = -100
if float(z) <= 0:
z = 0
e=x/1222
r=y/1222
t=z/889
if t <= 0.11656:
t = t+0.11656
vrep.simxFinish(-1)
clientID = vrep.simxStart('127.0.0.1', 19999, True, True, 5000, 5)
if clientID!= -1:
print("Connected to remote server")
else:
print('Connection not successful')
sys.exit('Could not connect')
errorCode,plate=vrep.simxGetObjectHandle(clientID,'plate',vrep.simx_opmode_oneshot_wait)
if errorCode == -1:
print('Can not find left or right motor')
sys.exit()
errorCode=vrep.simxSetObjectPosition(clientID,plate,-1,[e,r,t], vrep.simx_opmode_oneshot)
print(x,y,z)
class PageThree(tk.Frame):
def __init__(self,parent,controller):
tk.Frame.__init__(self,parent)
label = tk.Label(self,text="Graph Pages",font = LARGE_FONT)
label.pack(pady = 10,padx = 10)
button1 = ttk.Button(self,text = "Back to Home",
command = lambda: controller.show_frame(StartPage))
button1.pack()
#f = Figure(figsize = (5,5),dpi = 100)
#a = f.add_subplot(111)
#a.plot([1,2,3,4,5,6,7,8],[5,6,1,3,8,9,3,5])
canvas = FigureCanvasTkAgg(f,self)
canvas.show()
canvas.get_tk_widget().pack(side=tk.TOP , fill=tk.BOTH,expand=True)
toolbar = NavigationToolbar2TkAgg(canvas,self)
toolbar.update()
canvas._tkcanvas.pack(side = tk.TOP,fill = tk.BOTH,expand =True)
app = Seaofbt()
#ani = animation.FuncAnimation(f,animate,interval = 1000)
app.mainloop()
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