149 lines
4.2 KiB
Python
149 lines
4.2 KiB
Python
import serial
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import time
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import tkinter as tk
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import json
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import threading
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test_mode = False
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# Read the joint configuration from the config.json file
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with open('python/config.json', 'r') as f:
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config = json.load(f)
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# Configure the serial port
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try:
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ser = serial.Serial(config["COM_PORT"], 9600) # Replace 'COM9' with your Arduino's serial port
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time.sleep(2) # Wait for the serial connection to initialize
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except serial.SerialException as e:
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print(f"Error opening serial port: {e}")
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print("Starting Test Mode")
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test_mode = True
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def send_potentiometer_values(values):
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if len(values) != 6:
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raise ValueError("Exactly 6 values are required")
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# Convert the values to a comma-separated string
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values_str = ','.join(map(str, values))
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if not test_mode:
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try:
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# Send the values to the Arduino
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ser.write((values_str + '\n').encode())
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log_serial(f"-> {values_str}")
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except serial.SerialException as e:
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print(f"Error writing to serial port: {e}")
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else:
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log_serial(f"-> {values_str} (test)")
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def log_serial(message):
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serial_text.config(state=tk.NORMAL)
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serial_text.insert(tk.END, message + '\n')
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serial_text.config(state=tk.DISABLED)
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serial_text.see(tk.END)
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def read_serial():
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while True:
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if ser.in_waiting > 0:
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try:
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line = ser.readline().decode('utf-8').strip()
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log_serial(f"<- {line}")
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except serial.SerialException as e:
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print(f"Error reading from serial port: {e}")
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time.sleep(0.1)
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# Create the main window
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root = tk.Tk()
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root.title("Potentiometer Sliders" + (f" ({config["COM_PORT"]} Not Found)" if test_mode else f"({config["COM_PORT"]})"))
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# Create a frame for the sliders
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slider_frame = tk.Frame(root)
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slider_frame.pack(side=tk.LEFT, padx=10, pady=10)
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# Create a list to store the slider values
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slider_values = [tk.IntVar() for _ in range(6)]
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# Create and pack the sliders using the configuration from config.json
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sliders = []
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for joint in config['joints']:
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slider = tk.Scale(
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slider_frame,
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from_=joint['step_range'][0],
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to=joint['step_range'][1],
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orient=tk.HORIZONTAL,
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variable=slider_values[joint['id'] - 1],
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label=f"Joint {joint['id']}: {joint['name']}",
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length=400
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)
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slider.pack()
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sliders.append(slider)
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def update_values():
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values = [var.get() for var in slider_values]
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send_potentiometer_values(values)
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# Create a frame for the serial communication
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serial_frame = tk.Frame(root)
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serial_frame.pack(side=tk.RIGHT, padx=10, pady=10)
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# Create a text widget for serial communication
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serial_text = tk.Text(serial_frame, state=tk.DISABLED, width=50, height=20)
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serial_text.pack()
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def home_position():
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# Set all sliders to 0
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for slider in sliders:
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slider.set(0)
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# Send the home position values
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update_values()
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# Create a frame for the buttons
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button_frame = tk.Frame(serial_frame)
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button_frame.pack(side=tk.BOTTOM, pady=10)
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# Create and pack the send button
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send_button = tk.Button(button_frame, text="Send", command=update_values)
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send_button.pack(side=tk.LEFT, padx=5)
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# Create and pack the home button
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home_button = tk.Button(button_frame, text="Home", command=home_position)
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home_button.pack(side=tk.LEFT, padx=5)
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# Loop functionality
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looping = False
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def toggle_loop():
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global looping
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looping = not looping
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if looping:
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loop_button.config(text="Loop: ON")
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start_loop()
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else:
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loop_button.config(text="Loop: OFF")
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def start_loop():
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if looping:
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update_values()
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root.after(1000, start_loop) # Adjust the interval as needed
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# Create and pack the loop button
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loop_button = tk.Button(button_frame, text="Loop: OFF", command=toggle_loop)
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loop_button.pack(side=tk.LEFT, padx=5)
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# Start a thread to read from the serial port
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if not test_mode:
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threading.Thread(target=read_serial, daemon=True).start()
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# Run the Tkinter event loop
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try:
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root.mainloop()
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except Exception as e:
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print(f"Error in Tkinter event loop: {e}")
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# Close the serial port when the program is terminated
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try:
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ser.close()
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except serial.SerialException as e:
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print(f"Error closing serial port: {e}") |