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Capstone Project

This document summarizes a capstone project code that runs on a laptop to display a graphical user interface (GUI) and communicate with a robot. The code was authored by professors for the framework and Emily Millard for the spring 2018-2019 term. The code defines a class for a laptop delegate to handle methods called by an MQTT listener when it receives messages from the robot. It also defines functions for handling actions like moving the arm up/down, calibrating the arm, moving the arm to a location, and driving forward until a color is detected.

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235 views2 pages

Capstone Project

This document summarizes a capstone project code that runs on a laptop to display a graphical user interface (GUI) and communicate with a robot. The code was authored by professors for the framework and Emily Millard for the spring 2018-2019 term. The code defines a class for a laptop delegate to handle methods called by an MQTT listener when it receives messages from the robot. It also defines functions for handling actions like moving the arm up/down, calibrating the arm, moving the arm to a location, and driving forward until a color is detected.

Uploaded by

api-460349827
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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"""

Capstone Project. Code to run on a LAPTOP (NOT the robot).


Displays the Graphical User Interface (GUI) and communicates with the robot.

Authors: Your professors (for the framework)


and Emily Millard.
Spring term, 2018-2019.
"""
# DONE 1: Put your name in the above.

import tkinter
from tkinter import ttk

import mqtt_remote_method_calls as mqtt


import m1_laptop_code as m1
import m2_laptop_code as m2

def get_my_frame(root, window, mqtt_sender):


# Construct your frame:
frame = ttk.Frame(window, padding=10, borderwidth=5, relief="ridge")
frame_label = ttk.Label(frame, text="Emily Millard")
frame_label.grid()
speed_label = ttk.Label(frame, text="Speed")
speed_label.grid()
# DONE 2: Put your name in the above.

# Add the rest of your GUI to your frame:


# TODO: Put your GUI onto your frame (using sub-frames if you wish).
speed_entry_box = ttk.Entry(frame, width=8)
speed_entry_box.insert(0, "100")
arm_calibrate_button = ttk.Button(frame, text="Calibrate Arm")

location_label = ttk.Label(frame, text="New Arm Location")


arm_location_entry_box = ttk.Entry(frame, width=8)
arm_location_entry_box.insert(0, "5")

arm_to_button = ttk.Button(frame, text="Arm to Location")


arm_up_button = ttk.Button(frame, text="Arm Up")
arm_down_button = ttk.Button(frame, text="Arm Down")

color_label = ttk.Label(frame, text="Color to Stop")


stop_color_entry_box = ttk.Entry(frame, width=8)
stop_color_entry_box.insert(0, "red")
forward_until_color_button = ttk.Button(frame, text="Forward Until Color")

speed_entry_box.grid()
arm_calibrate_button.grid()
arm_calibrate_button['command'] = lambda: arm_calibration(speed_entry_box, mqtt_sender)
location_label.grid()
arm_location_entry_box.grid()
arm_to_button.grid()
arm_to_button['command'] = lambda: arm_to(speed_entry_box, arm_location_entry_box, mqtt_sender)
arm_up_button.grid()
arm_up_button['command'] = lambda: handle_arm_up(speed_entry_box, mqtt_sender)
arm_down_button.grid()
arm_down_button['command'] = lambda: handle_arm_down(speed_entry_box, mqtt_sender)
color_label.grid()
stop_color_entry_box.grid()
forward_until_color_button.grid()
forward_until_color_button['command'] = lambda: \
forward_until_color(speed_entry_box, stop_color_entry_box, mqtt_sender)
# Return your frame:
return frame

class MyLaptopDelegate(object):
"""
Defines methods that are called by the MQTT listener when that listener
gets a message (name of the method, plus its arguments)
from the ROBOT via MQTT.
"""
def __init__(self, root):
self.root = root # type: tkinter.Tk
self.mqtt_sender = None # type: mqtt.MqttClient

def set_mqtt_sender(self, mqtt_sender):


self.mqtt_sender = mqtt_sender

# TODO: Add methods here as needed.


# TODO: Add functions here as needed.
def handle_arm_up(speed_entry_box, mqtt_sender):
print("handle arm up:", speed_entry_box.get())
speed = int(speed_entry_box.get())
mqtt_sender.send_message("arm_up", [speed])

def handle_arm_down(speed_entry_box, mqtt_sender):


print("handle arm down:", speed_entry_box.get())
speed = int(speed_entry_box.get())
mqtt_sender.send_message("arm_down", [speed])

def arm_calibration(speed_entry_box, mqtt_sender):


print("Calibrating")
speed = int(speed_entry_box.get())
mqtt_sender.send_message("arm_calibrate", [speed])

def arm_to(speed_entry_box, arm_location_entry_box, mqtt_sender):


print("moving arm to:", arm_location_entry_box.get())
speed = int(speed_entry_box.get())
location = int(arm_location_entry_box.get())
mqtt_sender.send_message("arm_to", [speed, location])

def forward_until_color(speed_entry_box, stop_color_entry_box, mqtt_sender):


print("forward until detection of color:", stop_color_entry_box.get())
speed = int(speed_entry_box.get())
color = str(stop_color_entry_box.get())
mqtt_sender.send_message("forward_to_color", [speed, color])

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