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main-gui.py
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main-gui.py
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from __future__ import division
import json
from pymemcache.client import base
import time
import tkinter as tk
import Adafruit_PCA9685
client = base.Client(('localhost', 11211))
shape_data_str = client.get('vision_data')
shape_data = json.loads(shape_data_str)
root = tk.Tk()
input_dat = tk.StringVar()
loca = [0,0]
print(shape_data)
color_pattern = ['blue', 'green', 'yellow', 'red']
action_pattern = ['pickup', 'drop', 'dance', 'grab']
obj_pattern = ['cube', 'square', 'cuboid', 'rectangle', 'triangle', 'prism', 'cone', 'hexagon', 'circle', 'sphere', 'ball' ]
pwm = Adafruit_PCA9685.PCA9685(address=0x42, busnum=11)
pwm.set_pwm_freq(50)
min_pulse = 800
max_pulse = 2200
frequency = 60
global i
i = 90
global j
j = 30
global k
k = 90
def map_ard(x, in_min, in_max, out_min, out_max):
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
def pulseWidth(angle):
pulse_wide = map_ard(angle, 0, 180, min_pulse, max_pulse)
analog_value = int(float(pulse_wide) / 1000000 * frequency * 4096)
return analog_value
pwm.set_pwm(0, 0, pulseWidth(i))
pwm.set_pwm(1, 0, pulseWidth(90))
pwm.set_pwm(2, 0, pulseWidth(90))
pwm.set_pwm(3, 0, pulseWidth(j))
pwm.set_pwm(4, 0, pulseWidth(-30))
pwm.set_pwm(5, 0, pulseWidth(0))
def closeMatches(patterns, word):
data = word.split()
for temp in data:
match_list = get_close_matches(temp, patterns)
if len(match_list) != 0:
return match_list[0]
return 1
def not_understood():
print("Sorry, didn't understand that!")
def run():
print(input_dat.get())
instruction = input_dat.get()
if (instruction != 1 or instruction != -1):
action = closeMatches(action_pattern, instruction)
if action != 1:
print("Action: " + action)
else:
not_understood()
return 0
color = closeMatches(color_pattern, instruction)
if color != 1:
print("Color: " + color)
else:
not_understood()
return 0
obj = closeMatches(obj_pattern, instruction)
if obj != 1:
print("Object: " + obj)
voice_dat = [action, color, obj]
return voice_dat
else:
not_understood()
return 0
else:
not_understood()
return 0
def move():
i = 90
j = 30
k = 90
print("ACTIVE")
voice_data = run()
print(voice_data)
if (voice_data != 0):
if (voice_data[1] == "blue"):
col = 0
elif (voice_data[1] == "yellow"):
col = 1
elif (voice_data[1] == "red"):
col = 2
shape_data_str = client.get('vision_data')
shape_data = json.loads(shape_data_str)
loca[0] = shape_data[col][0][0]
loca[1] = shape_data[col][0][1]
if(shape_data[col][0][2] == voice_data[2]):
while ( ( ( loca[0] >= ((600/2)+10) ) or ( loca[0] <= ((600/2)-10) ) ) ):
print("Required Object at X:" + str(loca[0]) + " Y: " + str(loca[1]))
shape_data_str = client.get('vision_data')
shape_data = json.loads(shape_data_str)
loca[0] = shape_data[col][0][0]
loca[1] = shape_data[col][0][1]
if (loca[0] <= ((600/2)+10)):
if (i != 0):
pwm.set_pwm(0, 0, pulseWidth(i))
i = i - 1
elif (loca[0] >= ((600/2)+10)):
if (i != 165):
pwm.set_pwm(0, 0, pulseWidth(i))
i = i + 1
time.sleep(0.1)
while ( ( ( loca[1] >= ((480/2)+10) ) or ( loca[1] <= ((480/2)-10) ) ) ):
print("Required Object at X:" + str(loca[0]) + " Y: " + str(loca[1]))
shape_data_str = client.get('vision_data')
shape_data = json.loads(shape_data_str)
loca[0] = shape_data[col][0][0]
loca[1] = shape_data[col][0][1]
if (loca[1] <= ((480/2)+10)):
if (j != 0):
pwm.set_pwm(3, 0, pulseWidth(j))
j = j - 1
elif (loca[1] >= ((480/2)+10)):
if (j != 165):
pwm.set_pwm(3, 0, pulseWidth(j))
j = j + 1
time.sleep(0.1)
test1=0
while (k <= 140):
if (k != 160):
pwm.set_pwm(1, 0, pulseWidth(k))
pwm.set_pwm(2, 0, pulseWidth(k))
k = k + 1
time.sleep(0.1)
while (test1 != 10):
test1 = test1 + 1
if (j != 10):
pwm.set_pwm(3, 0, pulseWidth(j))
j = j + 1
time.sleep(0.1)
pwm.set_pwm(5, 0, pulseWidth(165))
time.sleep(1)
while (k >= 80):
if (k != 0):
pwm.set_pwm(1, 0, pulseWidth(k))
pwm.set_pwm(2, 0, pulseWidth(k))
k = k - 1
i = 90
j = 30
k = 90
pwm.set_pwm(0, 0, pulseWidth(i))
pwm.set_pwm(1, 0, pulseWidth(90))
pwm.set_pwm(2, 0, pulseWidth(90))
pwm.set_pwm(3, 0, pulseWidth(j))
pwm.set_pwm(4, 0, pulseWidth(-30))
time.sleep(1)
pwm.set_pwm(5, 0, pulseWidth(0))
sbmitbtn = tk.Button(root, text = "Submit", command=lambda : move())
e1 = tk.Entry(root, textvariable=input_dat, width=80)
e1.pack()
sbmitbtn.pack()
root.mainloop()
exit()