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quart.py
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quart.py
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from random import random
from pyqtgraph.Qt import QtCore, QtGui
import pyqtgraph as pg
import pyqtgraph.opengl as gl
from PyQt5 import uic, QtWidgets
from PyQt5.QtWidgets import *
from PyQt5.QtCore import *
from PyQt5.QtGui import *
import serial
import serial.tools.list_ports
import sys, time, math, random
from pathlib import Path
from stl import mesh
import math
import numpy as np
#from Open_GL import PyQtOpenGL #Importovanie OpenGl widgetu !
L1 = 130 #Length of shoulder 1 in mm
L2 = 115 #Length of shoulder 2 in mm
#Find the joint angle for x,y
baudrates = [9600, 14400, 28800, 57600, 115200]
ser = ""
class MainWindow(QtWidgets.QMainWindow):
def __init__(self, *args, **kwargs):
super(MainWindow, self).__init__(*args, **kwargs)
self.setAcceptDrops(True)
#Load the UI Page
uic.loadUi('quart-ui.ui', self)
#open_gl = PyQtOpenGL(parent=self.opengl)
#open_gl.setMinimumSize(481, 451)
self.currentSTL = None
self.lastDir = None
self.droppedFilename = None
self.macro = None
self.creatingMacro = 0
self.x = 0
self.y = 0
self.z = 0
self.a = 0
self.viewer = gl.GLViewWidget(parent=self.opengl)
self.viewer.setMinimumSize(840, 700)
self.viewer.setBackgroundColor(QColor(250, 250, 250))
self.viewer.setCameraPosition(distance=1600)
g = gl.GLGridItem()
g.setSize(1000, 1000)
g.setSpacing(50, 50)
g.setColor(QColor(33, 50, 94))
self.viewer.addItem(g)
self.connect_slider_values()
ports = serial.tools.list_ports.comports(include_links=False)
for port in ports:
self.COM_slot.addItem(port.device)
for j in baudrates:
self.BR_slot.addItem(str(j))
# BUTTONS
self.connButton.clicked.connect(self.Connect_COM)
self.moveButton.clicked.connect(self.calculateAngles)
# MACRO CREATING
self.create_MacroButton.clicked.connect(self.Create_Macro)
self.save_MacroButton.clicked.connect(self.Save_Macro)
self.save_PosButton.clicked.connect(self.Save_Pos)
# SLIDER VALUES UPDATES
self.X_slider.valueChanged.connect(self.updateX)
self.Y_slider.valueChanged.connect(self.updateY)
self.Z_slider.valueChanged.connect(self.updateZ)
self.A_slider.valueChanged.connect(self.updateA)
# CONSOLE LOADING
self.console("Welcome back <b>user</b> !")
def Connect_COM(self):
PORT = self.COM_slot.currentText()
BAUDRATE = self.BR_slot.currentText()
ser = serial.Serial(PORT,BAUDRATE,timeout=2)
time.sleep(2)
ser.write('0'.encode("utf-8"))
self.console("Connected")
def Create_Macro(self):
if(self.creatingMacro != 1):
self.console("Creating Macro...")
self.macro = ""
self.creatingMacro = 1
else:
self.console("Already creating macro... !!")
def Save_Macro(self):
if(self.creatingMacro != 1):
self.console("You are not creating any macro..")
else:
macroName = random.randint(9, 369)
self.macro = self.macro + "END"
f = open(f"MACROS/{macroName}.qcode", "w")
f.write(self.macro)
f.close()
self.console("END")
self.console("Macro succesfully saved !")
self.creatingMacro = 0
self.macro = ""
def Save_Pos(self):
if(self.creatingMacro != 1):
self.console("You are not creating any macro..")
else:
self.console(f"GO({self.x}, {self.y}, {self.z}, {self.a});")
self.macro = self.macro + f"GO({self.x}, {self.y}, {self.z}, {self.a});\n"
print(self.macro)
def updateX(self, event):
self.X_lcd.setText(f'{event}')
self.x = event
if(self.currentSTL):
self.currentSTL.rotate(20, 5, 5, 5)
def updateY(self, event):
self.Y_lcd.setText(f'{event}')
self.y = event
def updateZ(self, event):
self.Z_lcd.setText(f'{event}')
self.z = event
def updateA(self, event):
self.A_lcd.setText(f'{event}')
self.a = event
def connect_slider_values(self):
self.X_lcd.setText(f'{self.X_slider.value()}')
self.Y_lcd.setText(f'{self.Y_slider.value()}')
self.Z_lcd.setText(f'{self.Z_slider.value()}')
self.A_lcd.setText(f'{self.A_slider.value()}')
def sendData(self):
data = str(self.Theta2) \
+","+str(self.Theta1)
print(data)
ser.write(data.encode("utf-8"))
def calculateAngles(self):
if ser != "":
self.Theta2 = math.acos((self.x*self.x + self.y*self.y - L1^2 - L2^2)/(2 * L1 * L2))
print(round(np.degrees(self.Theta2)))
self.Theta1 = math.atan(self.y/self.y) - math.atan((L2 * math.sin(self.Theta2))/(L1 + L2 * math.cos(self.Theta2)))
print(round(np.degrees(self.Theta1)))
self.sendData()
else:
self.console("Not connected.")
def console(self, text):
self.Console.append(text)
def showSTL(self, filename):
if self.currentSTL:
self.viewer.removeItem(self.currentSTL)
points, faces = self.loadSTL(filename)
meshdata = gl.MeshData(vertexes=points, faces=faces)
mesh = gl.GLMeshItem(meshdata=meshdata, smooth=True, drawFaces=True, drawEdges=True, edgeColor=(0, 0, 0, 1))
self.viewer.addItem(mesh)
self.currentSTL = mesh
def loadSTL(self, filename):
m = mesh.Mesh.from_file(filename)
shape = m.points.shape
points = m.points.reshape(-1, 3)
faces = np.arange(points.shape[0]).reshape(-1, 3)
return points, faces
def dragEnterEvent(self, e):
#print("enter")
mimeData = e.mimeData()
mimeList = mimeData.formats()
filename = None
if "text/uri-list" in mimeList:
filename = mimeData.data("text/uri-list")
filename = str(filename, encoding="utf-8")
filename = filename.replace("file:///", "").replace("\r\n", "").replace("%20", " ")
filename = Path(filename)
if filename.exists() and filename.suffix == ".stl":
e.accept()
self.droppedFilename = filename
else:
e.ignore()
self.droppedFilename = None
def dropEvent(self, e):
if self.droppedFilename:
self.showSTL(self.droppedFilename)
def main():
app = QtWidgets.QApplication(sys.argv)
main = MainWindow()
main.show()
sys.exit(app.exec_())
if __name__ == '__main__':
main()