Robot arm

.gitignore

@@ -1,7 +1,16 @@
-
+.idea/*
+pyUI/.idea/*
+pyUI/logfile*
+pyUI/genApp4Mac/*
+pyUI/genApp4Win/*
+pyUI/lib/*
 *.DS_Store
 *.pyc
 pyUI/defaultConfig.txt
+pyUI/README.txt
+pyUI/README_Mac.txt
+pyUI/README_Windows.txt
+pyUI/PetoiDesktopApp/*
 *.cfg
 *.svd
 ModuleTests/testDoubleLight/debug_custom.json

pyUI/Calibrator.py

@@ -4,6 +4,54 @@
 
 language = languageList['English']
 
+BittleRWinSet = {
+    "imageW": 360,       # The width of image
+    "sliderW": 260,      # The width of the slider rail corresponding to joint numbers 0 to 3
+    "rowJoint1": 2,      # The row number of the label with joint number 2 and 3
+    "sliderLen": 260,    # The length of the slider rail corresponding to joint numbers 4 to 15
+    "rowJoint2": 4       # The row number of the label with joint number 4 or 15 is located
+}
+
+RegularWinSet = {
+    "imageW": 250,
+    "sliderW": 200,
+    "rowJoint1": 11,
+    "sliderLen": 150,
+    "rowJoint2": 2
+}
+
+BittleRMacSet = {
+    "imageW": 300,       # The width of image
+    "sliderW": 200,      # The width of the slider rail corresponding to joint numbers 0 to 3
+    "rowJoint1": 2,      # The row number of the label with joint number 2 and 3
+    "sliderLen": 200,    # The length of the slider rail corresponding to joint numbers 4 to 15
+    "rowJoint2": 4       # The row number of the label with joint number 4 or 15 is located
+}
+
+RegularMacSet = {
+    "imageW": 190,
+    "sliderW": 140,
+    "rowJoint1": 11,
+    "sliderLen": 140,
+    "rowJoint2": 2
+}
+
+parameterWinSet = {
+    "Nybble": RegularWinSet,
+    "Bittle": RegularWinSet,
+    "BittleR": BittleRWinSet,
+    "DoF16": RegularWinSet,
+}
+
+parameterMacSet = {
+    "Nybble": RegularMacSet,
+    "Bittle": RegularMacSet,
+    "BittleR": BittleRMacSet,
+    "DoF16": RegularMacSet,
+}
+
+frontJointIdx = [4, 5, 8, 9, 12, 13]
+
 def txt(key):
     return language.get(key, textEN[key])
 
@@ -18,9 +66,18 @@ def __init__(self,model,lan):
         while config.model_ == '':
             if time.time() - start > 5:
                 config.model_ = model
+                config.version_ = "N_210101"
                 print('Use the model set in the UI interface.')
             time.sleep(0.01)
-        self.model = config.model_
+        self.configName = config.model_
+        self.boardVersion = config.version_
+        config.model_ = config.model_.replace(' ', '')
+        if config.model_ == 'BittleX':
+            self.model = 'Bittle'
+        elif config.model_ == 'BittleRN':
+            self.model = 'BittleR'
+        else:
+            self.model = config.model_
 
         self.winCalib = Tk()
         self.winCalib.title(txt('calibTitle'))
@@ -50,11 +107,33 @@ def __init__(self,model,lan):
         abortButton.grid(row=11, column=2)
 #        quitButton.grid(row=11, column=2)
 
-        imageW = 250
-        self.imgWiring = createImage(self.frameCalibButtons, resourcePath + self.model + 'Wire.jpeg', imageW)
+        self.OSname = self.winCalib.call('tk', 'windowingsystem')
+        print(self.OSname)
+        if self.OSname == 'win32':
+            self.parameterSet = parameterWinSet[self.model]
+        else:
+            self.parameterSet = parameterMacSet[self.model]
+
+        if self.model == 'BittleR':
+            # self.parameterSet = parameterSet['BittleR']
+            scaleNames = BittleRScaleNames
+        else:
+            # self.parameterSet = parameterSet['Regular']
+            scaleNames = RegularScaleNames
+
+        if "B" in self.boardVersion:
+            self.imgWiring = createImage(self.frameCalibButtons,
+                                         resourcePath + config.model_ + self.boardVersion[1] + '_Wire.jpeg',
+                                         self.parameterSet['imageW'])
+        else:
+            self.imgWiring = createImage(self.frameCalibButtons,
+                                         resourcePath + config.model_ + '_Wire.jpeg',
+                                         self.parameterSet['imageW'])
+
         self.imgWiring.grid(row=0, column=0, rowspan=5, columnspan=3)
         Hovertip(self.imgWiring, txt('tipImgWiring'))
-        self.imgPosture = createImage(self.frameCalibButtons, resourcePath + self.model + 'Ruler.jpeg', imageW)
+
+        self.imgPosture = createImage(self.frameCalibButtons, resourcePath + self.model + '_Ruler.jpeg', self.parameterSet['imageW'])
         self.imgPosture.grid(row=7, column=0, rowspan=3, columnspan=3)
 
         for i in range(16):
@@ -64,14 +143,15 @@ def __init__(self,model,lan):
                 if i < 2:
                     ROW = 0
                 else:
-                    ROW = 11
+                    ROW = self.parameterSet['rowJoint1']
+
                 if 0 < i < 3:
                     COL = 4
                 else:
                     COL = 0
                 rSPAN = 1
                 ORI = HORIZONTAL
-                LEN = 200
+                LEN = self.parameterSet['sliderW']
                 ALIGN = 'we'
 
             else:
@@ -81,14 +161,18 @@ def __init__(self,model,lan):
                 upperQ = i / 4 < 3
 
                 rSPAN = 3
-                ROW = 2 + (1 - frontQ) * (rSPAN + 2)
+                cSPAN = 1
+                ROW = self.parameterSet['rowJoint2'] + (1 - frontQ) * (rSPAN + 2)
+
                 if leftQ:
                     COL = 3 - i // 4
+                    ALIGN = 'sw'
                 else:
                     COL = 3 + i // 4
+                    ALIGN = 'se'
                 ORI = VERTICAL
-                LEN = 150
-                ALIGN = 'sw'
+                LEN = self.parameterSet['sliderLen']
+                # ALIGN = 'sw'
             stt = NORMAL
             if i in NaJoints[self.model]:
                 clr = 'light yellow'
@@ -102,12 +186,27 @@ def __init__(self,model,lan):
                           text=sideLabel + '(' + str(i) + ')\n' + txt(scaleNames[i]))
 
             value = DoubleVar()
-            sliderBar = Scale(self.winCalib, state=stt, fg='blue', bg=clr, variable=value, orient=ORI,
-                              borderwidth=2, relief='flat', width=8, from_=-25 * tickDirection, to=25 * tickDirection,
-                              length=LEN, tickinterval=10, resolution=1, repeatdelay=100, repeatinterval=100,
-                              command=lambda value, idx=i: self.setCalib(idx, value))
+            if i in frontJointIdx:
+                if self.model == 'BittleR':
+                    LEN = LEN + 30
+                sliderBar = Scale(self.winCalib, state=stt, fg='blue', bg=clr, variable=value, orient=ORI,
+                                  borderwidth=2, relief='flat', width=8, from_=-25 * tickDirection,
+                                  to=25 * tickDirection,
+                                  length=LEN, tickinterval=10, resolution=1, repeatdelay=100, repeatinterval=100,
+                                  command=lambda value, idx=i: self.setCalib(idx, value))
+            else:
+                sliderBar = Scale(self.winCalib, state=stt, fg='blue', bg=clr, variable=value, orient=ORI,
+                                  borderwidth=2, relief='flat', width=8, from_=-25 * tickDirection, to=25 * tickDirection,
+                                  length=LEN, tickinterval=10, resolution=1, repeatdelay=100, repeatinterval=100,
+                                  command=lambda value, idx=i: self.setCalib(idx, value))
             self.calibSliders.append(sliderBar)
-            label.grid(row=ROW, column=COL, columnspan=cSPAN, pady=2, sticky=ALIGN)
+            if i == 2 and scaleNames == BittleRScaleNames:
+                autoCalibButton = Button(self.winCalib, text=txt('Auto'), fg='blue',
+                                         width=self.calibButtonW, command=lambda cmd='c-2': self.calibFun(cmd))
+                label.grid(row=ROW, column=COL, columnspan=2, pady=2, sticky='e')
+                autoCalibButton.grid(row=ROW, column=COL+2,  pady=2, sticky='w')    # padx=5,
+            else:
+                label.grid(row=ROW, column=COL, columnspan=cSPAN, pady=2, sticky=ALIGN)
             sliderBar.grid(row=ROW + 1, column=COL, rowspan=rSPAN, columnspan=cSPAN, sticky=ALIGN)
         time.sleep(3) # wait for the robot to reboot
         self.calibFun('c')
@@ -119,42 +218,55 @@ def __init__(self,model,lan):
 
     def calibFun(self, cmd):
 #        global ports
-        imageW = 250
+        imageW = self.parameterSet['imageW']
+
         self.imgPosture.destroy()
-        if cmd == 'c':
-            self.imgPosture = createImage(self.frameCalibButtons, resourcePath + self.model + 'Ruler.jpeg', imageW)
-            result = send(goodPorts, ['c', 0])
+        if cmd == 'c' or cmd == 'c-2':
+            self.imgPosture = createImage(self.frameCalibButtons, resourcePath + self.model + '_Ruler.jpeg', imageW)
+            if cmd == 'c-2':
+                send(goodPorts, ['c', [-2], 0])
+                time.sleep(1)
+                result = send(goodPorts, ['c', 0])
+            else:
+                result = send(goodPorts, [cmd, 0])
+
             if result != -1:
                 offsets = result[1]
-                printH('re',result)
-                printH('of',offsets)
+                # printH('re',result)
+                # printH('of',offsets)
                 idx = offsets.find(',')
                 l1 = offsets[:idx].split()[-1]
                 offsets = ''.join(offsets[idx + 1:].split()).split(',')[:15]
                 offsets.insert(0, l1)
-            #                print(offsets)
-            #                print(len(offsets))
+                print(offsets)
+                # print(len(offsets))
             else:
                 offsets = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, ]
-            for i in range(16):
-                self.calibSliders[i].set(offsets[i])
 
+            if cmd == 'c-2':
+                printH("offset2:", offsets[2])
+                if int(offsets[2]) > 25:
+                    tk.messagebox.showwarning(title=txt('Warning'), message=txt('AutoCali failed'))
+                else:
+                    self.calibSliders[2].set(offsets[2])
+            else:
+                for i in range(16):
+                    self.calibSliders[i].set(offsets[i])
         elif cmd == 'd':
-            self.imgPosture = createImage(self.frameCalibButtons, resourcePath + self.model + 'Rest.jpeg', imageW)
+            self.imgPosture = createImage(self.frameCalibButtons, resourcePath + self.model + '_Rest.jpeg', imageW)
             send(goodPorts, ['d', 0])
         elif cmd == 'balance':
-            self.imgPosture = createImage(self.frameCalibButtons, resourcePath + self.model + 'Stand.jpeg', imageW)
+            self.imgPosture = createImage(self.frameCalibButtons, resourcePath + self.model + '_Stand.jpeg', imageW)
             send(goodPorts, ['kbalance', 0])
         elif cmd == 'walk':
-            self.imgPosture = createImage(self.frameCalibButtons, resourcePath + self.model + 'Walk.jpeg', imageW)
+            self.imgPosture = createImage(self.frameCalibButtons, resourcePath + self.model + '_Walk.jpeg', imageW)
             send(goodPorts, ['kwkF', 0])
         self.imgPosture.grid(row=7, column=0, rowspan=3, columnspan=3)
         Hovertip(self.imgPosture, txt('tipImgPosture'))
         self.winCalib.update()
 
     def setCalib(self, idx, value):
         if self.calibratorReady:
-#            global ports
             value = int(value)
             send(goodPorts, ['c', [idx, value], 0])
 

pyUI/Debugger.py

@@ -22,10 +22,10 @@ def __init__(self,model,lan):
         start = time.time()
         while config.model_ == '':
             if time.time() - start > 5:
-                config.model_ = model
-                print('Use the model set in the UI interface.')
+                config.model_ = model    # If can not get the model name, use the model set in the UI interface.
             time.sleep(0.01)
-        self.model = config.model_
+        self.configName = config.model_
+
 
         self.winDebug = Tk()
         self.debuggerReady = False
@@ -47,7 +47,7 @@ def __init__(self,model,lan):
         self.winDebug.title(txt('Debugger'))
         self.createMenu()
         bw = 23
-        self.modelLabel = Label(self.winDebug, text=self.model, font=self.myFont)
+        self.modelLabel = Label(self.winDebug, text=displayName(self.configName), font=self.myFont)
         self.modelLabel.grid(row=0, column=0, pady=10)
         voiceResetButton = Button(self.winDebug, text=txt('Reset voice module'), font=self.myFont, fg='blue', width=bw, relief='raised',
                    command=lambda: self.resetVoice())
@@ -66,8 +66,8 @@ def createMenu(self):
         self.menubar = Menu(self.winDebug, background='#ff8000', foreground='black', activebackground='white',
                             activeforeground='black')
         file = Menu(self.menubar, tearoff=0, background='#ffcc99', foreground='black')
-        for key in NaJoints:
-            file.add_command(label=key, command=lambda model=key: self.changeModel(model))
+        for m in modelOptions:
+            file.add_command(label=m, command=lambda model=m: self.changeModel(model))
         self.menubar.add_cascade(label=txt('Model'), menu=file)
 
         lan = Menu(self.menubar, tearoff=0)
@@ -83,9 +83,7 @@ def createMenu(self):
 
 
     def changeModel(self, modelName):
-        self.model = copy.deepcopy(modelName)
-        self.modelLabel.configure(text=self.model)
-        print(self.model)
+        self.modelLabel.configure(text=modelName)
 
 
     def changeLan(self, l):