Code for Hacksburg's Python Two class

hacksburg-servo.ino

#include <Servo.h>

// The actual location of Servo #1.
int position1 = 0;
// The actual location of Servo #2.
int position2 = 0;
// The target location of Servo #1.
int target1 = 0;
// The target location of Servo #2.
int target2 = 0;
Servo s1;
Servo s2;

void setup()
{
  // Start the serial link at 115200 baud.
  Serial.begin(115200);
}

void loop()
{
  // If we have data...
  if (Serial.available()){
    // Read the opcode
    unsigned char cmd = Serial.read();
    switch (cmd){
      // If it's a Set command
      case 'S':
        // Read the target of Servo #1
        target1 = Serial.parseInt();
        // Read and discard the separator symbol
        Serial.read();
        // Read the target of Servo #2
        target2 = Serial.parseInt();
        break;
      // If it's an enable command
      case 'X':
        // Enable Servo #1
        s1.attach(5);
        // Enable Servo #2
        s2.attach(6);
        break;
      // If it's a disable command
      case 'x':
        // Disable Servo #1
        s1.detach();
        // Disable Servo #2
        s2.detach();
        break;
    }
  }
  // Flush the Serial buffer, removing all contents
  while (Serial.available()) Serial.read();

  // How far away from our target are we?
  int error1 = position1 - target1;
  // If we aren't at our target...
  if (error1) {
    // Move one unit per timestep (10ms) towards our target
    position1 = error1 > 0 ? position1-1 : position1+1;
  }

  // How far away from our target are we?
  int error2 = position2 - target2;
  if (error2) {
    // Move one unit per timestep (10ms) towards our target
    position2 = error2 > 0 ? position2-1 : position2+1;
  }

  // Tell Servo #1 to go to the location we are expecting to be at
  s1.write(position1);
  // Tell Servo #2 to go to the location we are expecting to be at
  s2.write(position2);

  // Output Servo #1 position to the host
  Serial.print(position1);
  // Spacer
  Serial.print(";");
  // Output Servo #2 position to the host, along with a newline
  Serial.println(position2);

  // Wait 10ms so that this loop runs at roughly 100Hz.
  delay(10);
}

pythonTwo.py

# Use the pyserial library
import serial

# The data in position #1 is an int, the data in position #2 is an int
format = [int, int]

# Open the serial port
# This is machine-specific
with serial.Serial("COM12",115200) as ser:
    # Forever
    while True:
        # 1) Read one line from the serial port
        # 2) Convert from bytes to string
        # 3) Remove trailing whitespace (the newline character)
        # 4) Group based on the spacer character we used on the Arduino
        line = ser.readline().decode('ascii').strip().split(';')
        # Format each data element based on the format specifier above
        line = [func(x) for func,x in zip(format,line)]
        # Output to the console
        print(line)

pythonTwoGui.py

# Mostly derived from
# https://github.com/swistakm/pyimgui/blob/master/doc/examples/integrations_pygame.py


# Used for quitting
import sys

# Used for GUI display
import pygame
import OpenGL.GL as gl

# Used for actually rendering the GUI
from imgui.integrations.pygame import PygameRenderer
import imgui

# pyserial library
import serial




# GUI Setup
pygame.init()
size = 800, 600
pygame.display.set_mode(size, pygame.DOUBLEBUF | pygame.OPENGL | pygame.RESIZABLE)

# GUI Rendering Setup
imgui.create_context()
impl = PygameRenderer()
io = imgui.get_io()
io.display_size = size

# Servo Application Setup

# The data in position #1 is an int, the data in position #2 is an int
format = [int, int]
servo1 = 0
servo2 = 0

# Open the serial port
with serial.Serial("COM12",115200) as ser:
    # Forever
    while True:
        # 1) Read one line from the serial port
        # 2) Convert from bytes to string
        # 3) Remove trailing whitespace (the newline character)
        # 4) Group based on the spacer character we used on the Arduino
        line = ser.readline().decode('ascii').strip().split(';')
        # Format each data element based on the format specifier above
        line = [func(x) for func,x in zip(format,line)]
            
        # Process GUI events
        for event in pygame.event.get():
            if event.type == pygame.QUIT:
                sys.exit()

        impl.process_event(event)

        # Show GUI to user and get data

        imgui.new_frame()

        imgui.begin("Custom window", True)
        imgui.text("Servo1: {}".format(line[0]))
        imgui.text("Servo2: {}".format(line[1]))
        changed1, servo1 = imgui.slider_int("Servo 1",servo1,0,180,format="%.0f")
        changed2, servo2 = imgui.slider_int("Servo 2",servo2,0,180,format="%.0f")
        imgui.end()

        # If data changed, output to Arduino

        if changed1 or changed2:
            # Build the command string to be sent to the Arduino
            # There is deliberately no trailing newline, the semicolon is
            # the separator character. Newlines have different lengths on
            # different platforms.
            ser.write("S{};{};".format(servo1,servo2).encode('ascii'))

        # PyGame Boilerplate
        gl.glClearColor(1, 1, 1, 1)
        gl.glClear(gl.GL_COLOR_BUFFER_BIT)
        imgui.render()
        impl.render(imgui.get_draw_data())

        pygame.display.flip()