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#https://pysimplegui.readthedocs.io/en/latest/cookbook/#realtime-buttons-good-for-raspberry-pi
#https://github.com/adafruit/Adafruit_Python_PCA9685
from __future__ import division
import RPi.GPIO as GPIO
import time
import Adafruit_PCA9685
import PySimpleGUI as sg
import time
# Uncomment to enable debug output.
#import logging
#logging.basicConfig(level=logging.DEBUG)
# Initialise the PCA9685 using the default address (0x40).
pwm = Adafruit_PCA9685.PCA9685(address=0x40, busnum=1)
pwm1 = Adafruit_PCA9685.PCA9685(address=0x41, busnum = 1)
GPIO.setmode(GPIO.BOARD)
GPIO.setup(10, GPIO.IN, pull_up_down=GPIO.PUD_UP)
#Laser setup
laserpin = 7
GPIO.setup(laserpin, GPIO.OUT)
GPIO.setup(11, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.setup(13, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.setup(15, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.setup(18, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.setup(16, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.setup(12, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
# Alternatively specify a different address and/or bus:
#pwm = Adafruit_PCA9685.PCA9685(address=0x41, busnum=2)
# Helper function to make setting a servo pulse width simpler.
def set_servo_pulse(channel, pulse):
pulse_length = 1000000 # 1,000,000 us per second
pulse_length //= 60 # 60 Hz
print('{0}us per period'.format(pulse_length))
pulse_length //= 4096 # 12 bits of resolution
print('{0}us per bit'.format(pulse_length))
pulse *= 1000
pulse //= pulse_length
pwm.set_pwm(channel, 0, pulse)
pwm1.set_pwm(channel, 0, pulse)
# Set frequency to 60hz, good for servos.
pwm.set_pwm_freq(60)
pwm1.set_pwm_freq(60)
#Variables:
servo_start = 400
schritte = 0
x = 0.3
wait = False
keys_entered = ''
cam_start = 400
camera_movement=2
laser_start = False
#timepoint = time.time()
#movement switches:
go_crab = False
startup = True
standby = False
go = False
action = True
#Funktions:
def start():
#Startup Servos:
pwm.set_pwm(0, 0, servo_start-20) # left front shoulder
pwm.set_pwm(1, 0, servo_start) # left front upper leg
pwm.set_pwm(2, 0, servo_start) # left front lower leg
pwm.set_pwm(3, 0, servo_start) # left mid shoulder
pwm.set_pwm(4, 0, servo_start) # left mid upper leg
pwm.set_pwm(5, 0, servo_start) # left mid lower leg
pwm.set_pwm(12, 0, servo_start) # left back shoulder
pwm.set_pwm(13, 0, servo_start) # left back upper leg
pwm.set_pwm(14, 0, servo_start) # left back lower leg
pwm.set_pwm(11, 0, 400) # camera
pwm1.set_pwm(15, 0, servo_start+20) # right front shoulder
pwm1.set_pwm(14, 0, servo_start) # right front upper leg
pwm1.set_pwm(13, 0, servo_start) # right front lower leg
pwm1.set_pwm(12, 0, servo_start) # right mid shoulder
pwm1.set_pwm(11, 0, servo_start) # right mid upper leg
pwm1.set_pwm(10, 0, servo_start) # right mid lower leg
pwm1.set_pwm(3, 0, servo_start) # right back shoulder
pwm1.set_pwm(2, 0, servo_start) # right back upper leg
pwm1.set_pwm(1, 0, servo_start) # right back lower leg
def start_to_standby(a):
if a == True:
pwm.set_pwm(2, 0, 500) # left front lower leg
pwm.set_pwm(5, 0, 500) # left mid lower leg
pwm.set_pwm(14, 0, 500) # left back lower leg
pwm1.set_pwm(13, 0, 300) # right front lower leg
pwm1.set_pwm(1, 0, 300) # right back lower leg
pwm1.set_pwm(10, 0, 300) # right mid lower leg
time.sleep(x)
pwm.set_pwm(1, 0, 200) # left front upper leg
pwm.set_pwm(4, 0, 200) # left mid upper leg
pwm.set_pwm(13, 0, 200) # left back upper leg
pwm1.set_pwm(14, 0, 600) # right front upper leg
pwm1.set_pwm(11, 0, 600) # right mid upper leg
pwm1.set_pwm(2, 0, 600) # right back upper leg
time.sleep(x)
pwm.set_pwm(2, 0, 400) # left front lower leg
pwm.set_pwm(5, 0, 400) # left mid lower leg
pwm.set_pwm(14, 0, 400) # left back lower leg
pwm1.set_pwm(13, 0, 400) # right front lower leg
pwm1.set_pwm(1, 0, 400) # right back lower leg
pwm1.set_pwm(10, 0, 400) # right mid lower leg
time.sleep(x)
if a == False:
pwm.set_pwm(0, 0, 500) # left front shoulder
pwm.set_pwm(12, 0, 300) # left back shoulder
pwm1.set_pwm(15, 0, 300) # right front shoulder
pwm1.set_pwm(3, 0, 500) # right back shoulder
time.sleep(x)
pwm.set_pwm(2, 0, 500) # left front lower leg
pwm.set_pwm(5, 0, 500) # left mid lower leg
pwm.set_pwm(14, 0, 500) # left back lower leg
pwm1.set_pwm(13, 0, 300) # right front lower leg
pwm1.set_pwm(1, 0, 300) # right back lower leg
pwm1.set_pwm(10, 0, 300) # right mid lower leg
time.sleep(x)
pwm.set_pwm(1, 0, 200) # left front upper leg
pwm.set_pwm(4, 0, 200) # left mid upper leg
pwm.set_pwm(13, 0, 200) # left back upper leg
pwm1.set_pwm(14, 0, 600) # right front upper leg
pwm1.set_pwm(11, 0, 600) # right mid upper leg
pwm1.set_pwm(2, 0, 600) # right back upper leg
time.sleep(x)
pwm.set_pwm(2, 0, 400) # left front lower leg
pwm.set_pwm(5, 0, 400) # left mid lower leg
pwm.set_pwm(14, 0, 400) # left back lower leg
pwm1.set_pwm(13, 0, 400) # right front lower leg
pwm1.set_pwm(1, 0, 400) # right back lower leg
pwm1.set_pwm(10, 0, 400) # right mid lower leg
def go_to_go_crab():
pwm1.set_pwm(12, 0, 400) # right mid shoulder
pwm.set_pwm(0, 0, 500) # left front shoulder
pwm.set_pwm(12, 0, 300) # left back shoulder
time.sleep(x)
pwm1.set_pwm(10, 0, 400) # right mid lower leg
pwm1.set_pwm(11, 0, 600) # right mid upper leg
pwm.set_pwm(13, 0, 200) # left back upper leg
pwm.set_pwm(1, 0, 200) # left front upper leg
pwm.set_pwm(2, 0, 400) # left front lower leg
pwm.set_pwm(14, 0, 400) # left back lower leg
time.sleep(x)
pwm1.set_pwm(13, 0, 300) # right front lower leg
pwm1.set_pwm(1, 0, 300) # right back lower leg
pwm1.set_pwm(14, 0, 500) # right front upper leg
pwm1.set_pwm(2, 0, 500) # right back upper leg
time.sleep(x)
pwm1.set_pwm(15, 0, 300) # right front shoulder
pwm1.set_pwm(3, 0, 500) # right back shoulder
time.sleep(x)
pwm1.set_pwm(13, 0, 400) # right front lower leg
pwm1.set_pwm(1, 0, 400) # right back lower leg
pwm1.set_pwm(14, 0, 600) # right front upper leg
pwm1.set_pwm(2, 0, 600) # right back upper leg
def go_crab_to_go():
pwm.set_pwm(2, 0, 500) # left front lower leg
pwm.set_pwm(14, 0, 500) # left back lower leg
pwm.set_pwm(1, 0, 400) # left front upper leg
pwm.set_pwm(13, 0, 400) # left back upper leg
time.sleep(x)
pwm.set_pwm(0, 0, 400) # left front shoulder
pwm.set_pwm(12, 0, 400) # left back shoulder
time.sleep(x)
pwm.set_pwm(1, 0, 200) # left front upper leg
pwm.set_pwm(13, 0, 200) # left back upper leg
pwm.set_pwm(2, 0, 400) # left front lower leg
pwm.set_pwm(14, 0, 400) # left back lower leg
time.sleep(x)
pwm1.set_pwm(13, 0, 300) # right front lower leg
pwm1.set_pwm(1, 0, 300) # right back lower leg
pwm1.set_pwm(14, 0, 400) # right front upper leg
pwm1.set_pwm(2, 0, 400) # right back upper leg
time.sleep(x)
pwm1.set_pwm(15, 0, 400) # right front shoulder
pwm1.set_pwm(3, 0, 400) # right back shoulder
time.sleep(x)
pwm1.set_pwm(13, 0, 400) # right front lower leg
pwm1.set_pwm(1, 0, 400) # right back lower leg
pwm1.set_pwm(14, 0, 600) # right front upper leg
pwm1.set_pwm(2, 0, 600) # right back upper leg
time.sleep(x)
def go_forward():
global standby
global schritte
print(schritte)
pwm.set_pwm(1, 0, 400) # left front upper leg
pwm.set_pwm(2, 0, 500) # left front lower leg
pwm.set_pwm(13, 0, 400) # left back upper leg
pwm.set_pwm(14, 0, 500) # left back lower leg
pwm1.set_pwm(11, 0, 400) # right mid upper leg
pwm1.set_pwm(10, 0, 300) # right mid lower leg
time.sleep(x)
pwm.set_pwm(12, 0, 400) # left back shoulder
pwm.set_pwm(0, 0, 400) # left front shoulder
pwm1.set_pwm(12, 0, 400) # right mid shoulder
pwm.set_pwm(3, 0, 450) # left mid shoulder
pwm1.set_pwm(3, 0, 350) # right front shoulder
pwm1.set_pwm(15, 0, 330) # right back shoulder
time.sleep(x)
pwm.set_pwm(1, 0, 200) # left front upper leg
pwm.set_pwm(2, 0, 400) # left front lower leg
pwm.set_pwm(13, 0, 200) # left back upper leg
pwm.set_pwm(14, 0, 400) # left back lower leg
pwm1.set_pwm(11, 0, 600) # right mid upper leg
pwm1.set_pwm(10, 0, 400) # right mid lower leg
time.sleep(x)
pwm.set_pwm(4, 0, 400) # left mid upper leg
pwm.set_pwm(5, 0, 400) # left mid lower leg
pwm1.set_pwm(14, 0, 400) # right front upper leg
pwm1.set_pwm(13, 0, 400) # right front lower leg
pwm1.set_pwm(2, 0, 400) # right back upper leg
pwm1.set_pwm(1, 0, 400) # right back lower leg
time.sleep(x)
pwm.set_pwm(3, 0, 400) # left mid shoulder
pwm1.set_pwm(3, 0, 400) # right front shoulder
pwm1.set_pwm(15, 0, 400) # right back shoulder
pwm.set_pwm(12, 0, 450) # left back shoulder
pwm.set_pwm(0, 0, 450) # left front shoulder
pwm1.set_pwm(12, 0, 350) # right mid shoulder
time.sleep(x)
pwm.set_pwm(4, 0, 200) # left mid upper leg
pwm.set_pwm(5, 0, 400) # left mid lower leg
pwm1.set_pwm(14, 0, 600) # right front upper leg
pwm1.set_pwm(13, 0, 400) # right front lower leg
pwm1.set_pwm(2, 0, 600) # right back upper leg
pwm1.set_pwm(1, 0, 400) # right back lower leg
time.sleep(x)
pwm.set_pwm(1, 0, 400) # left front upper leg
pwm.set_pwm(2, 0, 500) # left front lower leg
pwm.set_pwm(13, 0, 400) # left back upper leg
pwm.set_pwm(14, 0, 500) # left back lower leg
pwm1.set_pwm(11, 0, 400) # right mid upper leg
pwm1.set_pwm(10, 0, 300) # right mid lower leg
schritte = schritte +1
#time.sleep(x)
def go_back():
global schritte
pwm.set_pwm(1, 0, 400) # left front upper leg
pwm.set_pwm(2, 0, 500) # left front lower leg
pwm.set_pwm(13, 0, 400) # left back upper leg
pwm.set_pwm(14, 0, 500) # left back lower leg
pwm1.set_pwm(11, 0, 400) # right mid upper leg
pwm1.set_pwm(10, 0, 300) # right mid lower leg
time.sleep(x)
pwm.set_pwm(3, 0, 350) # left mid shoulder
pwm1.set_pwm(3, 0, 450) # right front shoulder
pwm1.set_pwm(15, 0, 450) # right back shoulder
time.sleep(x)
pwm.set_pwm(1, 0, 200) # left front upper leg
pwm.set_pwm(2, 0, 400) # left front lower leg
pwm.set_pwm(13, 0, 200) # left back upper leg
pwm.set_pwm(14, 0, 400) # left back lower leg
pwm1.set_pwm(11, 0, 600) # right mid upper leg
pwm1.set_pwm(10, 0, 400) # right mid lower leg
time.sleep(x)
pwm.set_pwm(4, 0, 400) # left mid upper leg
pwm.set_pwm(5, 0, 500) # left mid lower leg
pwm1.set_pwm(14, 0, 400) # right front upper leg
pwm1.set_pwm(13, 0, 300) # right front lower leg
pwm1.set_pwm(2, 0, 400) # right back upper leg
pwm1.set_pwm(1, 0, 300) # right back lower leg
time.sleep(x)
pwm.set_pwm(3, 0, 400) # left mid shoulder
pwm1.set_pwm(3, 0, 400) # right front shoulder
pwm1.set_pwm(15, 0, 400) # right back shoulder
pwm.set_pwm(12, 0, 350) # left back shoulder
pwm.set_pwm(0, 0, 350) # left front shoulder
pwm1.set_pwm(12, 0, 450) # right mid shoulder
time.sleep(x)
pwm.set_pwm(4, 0, 200) # left mid upper leg
pwm.set_pwm(5, 0, 400) # left mid lower leg
pwm1.set_pwm(14, 0, 600) # right front upper leg
pwm1.set_pwm(13, 0, 400) # right front lower leg
pwm1.set_pwm(2, 0, 600) # right back upper leg
pwm1.set_pwm(1, 0, 400) # right back lower leg
time.sleep(x)
pwm.set_pwm(1, 0, 400) # left front upper leg
pwm.set_pwm(2, 0, 500) # left front lower leg
pwm.set_pwm(13, 0, 400) # left back upper leg
pwm.set_pwm(14, 0, 500) # left back lower leg
pwm1.set_pwm(11, 0, 400) # right mid upper leg
pwm1.set_pwm(10, 0, 300) # right mid lower leg
time.sleep(x)
pwm.set_pwm(12, 0, 400) # left back shoulder
pwm.set_pwm(0, 0, 400) # left front shoulder
pwm1.set_pwm(12, 0, 400) # right mid shoulder
#pwm.set_pwm(1, 0, 400) # left front upper leg
schritte = schritte +1
def go_left():
global schritte
pwm.set_pwm(1, 0, 400) # left front upper leg
pwm.set_pwm(2, 0, 500) # left front lower leg
pwm.set_pwm(13, 0, 400) # left back upper leg
pwm.set_pwm(14, 0, 500) # left back lower leg
pwm1.set_pwm(11, 0, 400) # right mid upper leg
pwm1.set_pwm(10, 0, 300) # right mid lower leg
time.sleep(x)
pwm.set_pwm(3, 0, 350) # left mid shoulder
pwm1.set_pwm(3, 0, 350) # right front shoulder
pwm1.set_pwm(15, 0, 330) # right back shoulder
time.sleep(x)
pwm.set_pwm(1, 0, 200) # left front upper leg
pwm.set_pwm(2, 0, 400) # left front lower leg
pwm.set_pwm(13, 0, 200) # left back upper leg
pwm.set_pwm(14, 0, 400) # left back lower leg
pwm1.set_pwm(11, 0, 600) # right mid upper leg
pwm1.set_pwm(10, 0, 400) # right mid lower leg
time.sleep(x)
pwm.set_pwm(4, 0, 400) # left mid upper leg
pwm.set_pwm(5, 0, 500) # left mid lower leg
pwm1.set_pwm(14, 0, 400) # right front upper leg
pwm1.set_pwm(13, 0, 400) # right front lower leg
pwm1.set_pwm(2, 0, 400) # right back upper leg
pwm1.set_pwm(1, 0, 400) # right back lower leg
time.sleep(x)
pwm.set_pwm(3, 0, 400) # left mid shoulder
pwm1.set_pwm(3, 0, 400) # right front shoulder
pwm1.set_pwm(15, 0, 400) # right back shoulder
#schultern richten kann gemeinsam passieren
pwm.set_pwm(12, 0, 350) # left back shoulder
pwm.set_pwm(0, 0, 350) # left front shoulder
pwm1.set_pwm(12, 0, 350) # right mid shoulder
time.sleep(x)
pwm.set_pwm(4, 0, 200) # left mid upper leg
pwm.set_pwm(5, 0, 400) # left mid lower leg
pwm1.set_pwm(14, 0, 600) # right front upper leg
pwm1.set_pwm(13, 0, 400) # right front lower leg
pwm1.set_pwm(2, 0, 600) # right back upper leg
pwm1.set_pwm(1, 0, 400) # right back lower leg
time.sleep(x)
pwm.set_pwm(1, 0, 400) # left front upper leg
pwm.set_pwm(2, 0, 500) # left front lower leg
pwm.set_pwm(13, 0, 400) # left back upper leg
pwm.set_pwm(14, 0, 500) # left back lower leg
pwm1.set_pwm(11, 0, 400) # right mid upper leg
pwm1.set_pwm(10, 0, 300) # right mid lower leg
time.sleep(x)
pwm.set_pwm(12, 0, 400) # left back shoulder
pwm.set_pwm(0, 0, 400) # left front shoulder
pwm1.set_pwm(12, 0, 400) # right mid shoulder
schritte = schritte +1
def go_right():
global schritte
pwm.set_pwm(1, 0, 400) # left front upper leg
pwm.set_pwm(2, 0, 500) # left front lower leg
pwm.set_pwm(13, 0, 400) # left back upper leg
pwm.set_pwm(14, 0, 500) # left back lower leg
pwm1.set_pwm(11, 0, 400) # right mid upper leg
pwm1.set_pwm(10, 0, 300) # right mid lower leg
time.sleep(x)
pwm.set_pwm(3, 0, 450) # left mid shoulder
pwm1.set_pwm(3, 0, 450) # right front shoulder
pwm1.set_pwm(15, 0, 450) # right back shoulder
time.sleep(x)
pwm.set_pwm(1, 0, 200) # left front upper leg
pwm.set_pwm(2, 0, 400) # left front lower leg
pwm.set_pwm(13, 0, 200) # left back upper leg
pwm.set_pwm(14, 0, 400) # left back lower leg
pwm1.set_pwm(11, 0, 600) # right mid upper leg
pwm1.set_pwm(10, 0, 400) # right mid lower leg
time.sleep(x)
pwm.set_pwm(4, 0, 400) # left mid upper leg
pwm.set_pwm(5, 0, 400) # left mid lower leg
pwm1.set_pwm(14, 0, 400) # right front upper leg
pwm1.set_pwm(13, 0, 300) # right front lower leg
pwm1.set_pwm(2, 0, 400) # right back upper leg
pwm1.set_pwm(1, 0, 300) # right back lower leg
time.sleep(x)
pwm.set_pwm(3, 0, 400) # left mid shoulder
pwm1.set_pwm(3, 0, 400) # right front shoulder
pwm1.set_pwm(15, 0, 400) # right back shoulder
pwm.set_pwm(12, 0, 450) # left back shoulder
pwm.set_pwm(0, 0, 450) # left front shoulder
pwm1.set_pwm(12, 0, 450) # right mid shoulder
time.sleep(x)
pwm.set_pwm(4, 0, 200) # left mid upper leg
pwm.set_pwm(5, 0, 400) # left mid lower leg
pwm1.set_pwm(14, 0, 600) # right front upper leg
pwm1.set_pwm(13, 0, 400) # right front lower leg
pwm1.set_pwm(2, 0, 600) # right back upper leg
pwm1.set_pwm(1, 0, 400) # right back lower leg
time.sleep(x)
pwm.set_pwm(1, 0, 400) # left front upper leg
pwm.set_pwm(2, 0, 500) # left front lower leg
pwm.set_pwm(13, 0, 400) # left back upper leg
pwm.set_pwm(14, 0, 500) # left back lower leg
pwm1.set_pwm(11, 0, 400) # right mid upper leg
pwm1.set_pwm(10, 0, 300) # right mid lower leg
time.sleep(x)
pwm.set_pwm(12, 0, 400) # left back shoulder
pwm.set_pwm(0, 0, 400) # left front shoulder
pwm1.set_pwm(12, 0, 400) # right mid shoulder
#pwm.set_pwm(1, 0, 400) # left front upper leg
schritte = schritte +1
#time.sleep(x)
def go_crab_left():
pwm.set_pwm(1, 0, 400) # left front upper leg
pwm.set_pwm(2, 0, 500) # left front lower leg
pwm.set_pwm(13, 0, 400) # left back upper leg
pwm.set_pwm(14, 0, 500) # left back lower leg
pwm1.set_pwm(11, 0, 400) # right mid upper leg
pwm1.set_pwm(10, 0, 300) # right mid lower leg
time.sleep(x)
pwm.set_pwm(4, 0, 200) # left mid upper leg
pwm.set_pwm(5, 0, 450) # left mid lower leg
pwm1.set_pwm(14, 0, 600) # right front upper leg
pwm1.set_pwm(13, 0, 450) # right front lower leg
pwm1.set_pwm(2, 0, 600) # right back upper leg
pwm1.set_pwm(1, 0, 450) # right back lower leg
time.sleep(x)
pwm.set_pwm(1, 0, 200) # left front upper leg
pwm.set_pwm(2, 0, 400) # left front lower leg
pwm.set_pwm(13, 0, 200) # left back upper leg
pwm.set_pwm(14, 0, 400) # left back lower leg
pwm1.set_pwm(11, 0, 600) # right mid upper leg
pwm1.set_pwm(10, 0, 400) # right mid lower leg
time.sleep(x)
pwm.set_pwm(4, 0, 400) # left mid upper leg
pwm.set_pwm(5, 0, 500) # left mid lower leg
pwm1.set_pwm(14, 0, 400) # right front upper leg
pwm1.set_pwm(13, 0, 300) # right front lower leg
pwm1.set_pwm(2, 0, 400) # right back upper leg
pwm1.set_pwm(1, 0, 300) # right back lower leg
time.sleep(x)
pwm.set_pwm(1, 0, 200) # left front upper leg
pwm.set_pwm(2, 0, 450) # left front lower leg
pwm.set_pwm(13, 0, 200) # left back upper leg
pwm.set_pwm(14, 0, 450) # left back lower leg
pwm1.set_pwm(11, 0, 600) # right mid upper leg
pwm1.set_pwm(10, 0, 450) # right mid lower leg
time.sleep(x)
pwm.set_pwm(4, 0, 200) # left mid upper leg
pwm.set_pwm(5, 0, 400) # left mid lower leg
pwm1.set_pwm(14, 0, 600) # right front upper leg
pwm1.set_pwm(13, 0, 400) # right front lower leg
pwm1.set_pwm(2, 0, 600) # right back upper leg
pwm1.set_pwm(1, 0, 400) # right back lower leg
def go_crab_right():
pwm.set_pwm(1, 0, 400) # left front upper leg
pwm.set_pwm(2, 0, 500) # left front lower leg
pwm.set_pwm(13, 0, 400) # left back upper leg
pwm.set_pwm(14, 0, 500) # left back lower leg
pwm1.set_pwm(11, 0, 400) # right mid upper leg
pwm1.set_pwm(10, 0, 300) # right mid lower leg
time.sleep(x)
pwm.set_pwm(4, 0, 200) # left mid upper leg
pwm.set_pwm(5, 0, 350) # left mid lower leg
pwm1.set_pwm(14, 0, 600) # right front upper leg
pwm1.set_pwm(13, 0, 350) # right front lower leg
pwm1.set_pwm(2, 0, 600) # right back upper leg
pwm1.set_pwm(1, 0, 350) # right back lower leg
time.sleep(x)
pwm.set_pwm(1, 0, 200) # left front upper leg
pwm.set_pwm(2, 0, 400) # left front lower leg
pwm.set_pwm(13, 0, 200) # left back upper leg
pwm.set_pwm(14, 0, 400) # left back lower leg
pwm1.set_pwm(11, 0, 600) # right mid upper leg
pwm1.set_pwm(10, 0, 400) # right mid lower leg
time.sleep(x)
pwm.set_pwm(4, 0, 400) # left mid upper leg
pwm.set_pwm(5, 0, 500) # left mid lower leg
pwm1.set_pwm(14, 0, 400) # right front upper leg
pwm1.set_pwm(13, 0, 300) # right front lower leg
pwm1.set_pwm(2, 0, 400) # right back upper leg
pwm1.set_pwm(1, 0, 300) # right back lower leg
time.sleep(x)
pwm.set_pwm(1, 0, 200) # left front upper leg
pwm.set_pwm(2, 0, 350) # left front lower leg
pwm.set_pwm(13, 0, 200) # left back upper leg
pwm.set_pwm(14, 0, 350) # left back lower leg
pwm1.set_pwm(11, 0, 600) # right mid upper leg
pwm1.set_pwm(10, 0, 350) # right mid lower leg
time.sleep(x)
pwm.set_pwm(4, 0, 200) # left mid upper leg
pwm.set_pwm(5, 0, 400) # left mid lower leg
pwm1.set_pwm(14, 0, 600) # right front upper leg
pwm1.set_pwm(13, 0, 400) # right front lower leg
pwm1.set_pwm(2, 0, 600) # right back upper leg
pwm1.set_pwm(1, 0, 400) # right back lower leg
def cam_up():
global cam_start
cam_start = cam_start -camera_movement
#time.sleep(2)
if cam_start <= 300:
print('max. Position')
cam_start = cam_start +camera_movement
if cam_start >= 300:
pwm.set_pwm(11, 0, cam_start)
print(cam_start)
def cam_down():
global cam_start
cam_start = cam_start +camera_movement
if cam_start >= 470:
print('min. Position')
cam_start = cam_start -camera_movement
if cam_start <= 470:
pwm.set_pwm(11, 0, cam_start)
print(cam_start)
#Gui
sg.ChangeLookAndFeel('LightGreen')
layout = [
#[sg.T(' ' * 27), sg.Input('', size=(10, 1), do_not_clear=True, justification='right', key='input')],
[sg.T(' ')],
[sg.RealtimeButton('Crab Left', size=(10, 2)), sg.RealtimeButton('Forward', size=(10, 2)), sg.RealtimeButton('Crab Right', size=(10, 2))],
[sg.RealtimeButton('Left', size=(10, 2)), sg.T(' ' * 23), sg.RealtimeButton('Right', size=(10, 2))],
[sg.T(' ' * 24), sg.RealtimeButton('Back', size=(10, 2))],
[sg.T(' ')],
[sg.RealtimeButton('Laser on', size=(5, 2)), sg.T(' ' * 6), sg.RealtimeButton('Camera UP', size=(10, 2))],
[sg.RealtimeButton('Laser off', size=(5, 2)), sg.T(' ' * 6), sg.RealtimeButton('Camera DOWN', size=(10, 2))],
[sg.T(' ')],
[sg.Quit(button_color=('black', 'orange'))],
[sg.T(' ')],
#[sg.Output(size=(80,10))],
#[sg.Slider(range=(1, 10), key = 'camera_movement', orientation='v', size=(10, 5), default_value=camera_movement, disable_number_display=True), sg.Checkbox('Laser', default = False),],
]
window = sg.Window('Spider Remote Control', layout, auto_size_text=True, auto_size_buttons = False, return_keyboard_events = True)
#
# Some place later in your code...
# You need to perform a Read or Refresh on your window every now and then or
# else it will appear your program has hung
#
# your program's main loop
start()
while True:
# This is the code that reads and updates your window
event, values = window.Read()
#uses the event to give the variable keys_entered a letter and than the action gets activated
if GPIO.input(11) == GPIO.HIGH:
print("Button 1")
if event == 'Forward':
print (event)
keys_entered = 'w'
if event == 'Back' or event=='s':
print (event)
keys_entered = 's'
if event == 'Left':
print (event)
keys_entered = 'a'
if event == 'Right':
print (event)
keys_entered = 'd'
if event == 'Crab Left':
print (event)
keys_entered = 'q'
if event == 'Crab Right':
print (event)
keys_entered = 'e'
if event == 'Camera UP':
print (event)
keys_entered = 'r'
if event == 'Camera DOWN':
print (event)
keys_entered = 'f'
if event == 'Laser on':
print (event)
keys_entered = 'o'
#keys_entered = ''
if event == 'Laser off':
print (event)
keys_entered = 'l'
#keys_entered = ''
if keys_entered == 's':
wait = True
#print ('lsl')
while action == True:
if go_crab == True:
print ('crab')
go_crab_to_go()
go = True
go_crab = False
if go == True:
go_back()
go = True
action = False
if standby == True:
print ('standby')
go = True
standby = False
if startup == True:
print ('start')
start_to_standby(True)
standby = True
startup = False
#print ('lsl')
action = True
#keys_entered = ''
wait = False
if keys_entered == 'w':
wait = True
#print ('lwl')
while action == True:
if go_crab == True:
print ('crab')
go_crab_to_go()
go = True
go_crab = False
if go == True:
go_forward()
go = True
action = False
if standby == True:
print ('standby')
go = True
standby = False
if startup == True:
print ('start')
start_to_standby(True)
standby = True
startup = False
#print ('lwl')
action = True
wait = False
#keys_entered == 'b'
if keys_entered == 'a':
wait = True
#print ('lal')
while action == True:
if go_crab == True:
print ('crab')
go_crab_to_go()
go = True
go_crab = False
if go == True:
go_left()
go = True
action = False
if standby == True:
print ('standby')
go = True
standby = False
if startup == True:
print ('start')
start_to_standby(True)
standby = True
startup = False
#print ('lal')
action = True
wait = False
#keys_entered == 'b'
if keys_entered == 'd':
wait = True
#print ('ldl')
while action == True:
if go_crab == True:
print ('crab')
go_crab_to_go()
go = True
go_crab = False
if go == True:
go_right()
go = True
action = False
if standby == True:
print ('standby')
go = True
standby = False
if startup == True:
print ('start')
start_to_standby(True)
standby = True
startup = False
#print ('ldl')
action = True
wait = False
#keys_entered == 'b'
if keys_entered == 'q':
wait = True
#print ('lql')
while action == True:
if go_crab == True:
print ('crab')
go_crab_left()
go = False
go_crab = True
action = False
if go == True:
go_to_go_crab()
go = False
go_crab = True
if standby == True:
print ('standby')
go_crab = True
standby = False
if startup == True:
print ('start')
start_to_standby(False)
standby = True
startup = False
action = True
#print ('lql')
wait = False
#keys_entered == 'b'
if keys_entered == 'e':
wait = True
#print ('lel')
while action == True:
if go_crab == True:
print ('crab')
go_crab_right()
go = False
go_crab = True
action = False
if go == True:
go_to_go_crab()
go = False
go_crab = True
if standby == True:
print ('standby')
go_crab = True
standby = False
if startup == True:
print ('start')
start_to_standby(False)
standby = True
startup = False
action = True
#print ('lel')
wait = False
#keys_entered == 'b'
if keys_entered == 'r':
wait = True
cam_up()
wait = False
#keys_entered == 'b'
if keys_entered == 'f':
wait = True
cam_down()
wait = False
#keys_entered == 'b'
if keys_entered == 'o':
wait = True
GPIO.output(laserpin, GPIO.LOW)
print('Laser on')
wait = False
#keys_entered == 'b'
if keys_entered == 'l' or laser_start == False:
wait = True
GPIO.output(laserpin, GPIO.HIGH)
print('Laser off')
laser_start = True
wait = False
#keys_entered == 'b'
#deletes the letter of the variable after the action is over
if wait == False:
keys_entered = ''
if event == 'Quit' or values is None:
start()
time.sleep(x)
print('GPIO cleanup...')
GPIO.cleanup()
break
#window.Element('input').Update(keys_entered)
#window.Element('camera_movement').Update(values['camera_movement'])
window.Close()