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October 31, 2014 20:54
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########################################################################### | |
#Program: TkServo.py | |
#Language: Python | |
#Date: 2014-10-31 | |
# | |
#Description: Test app to understand I/O functionality of Phidgets. | |
#Program looks for a Phidget 8/8/8 interface kit and Advanced Servo kit. | |
#Reads an displays analog input 0 and contract a servo. | |
#Uses Tkinter to create rudimentary GUI | |
############################################################################ | |
#Import Python Libraries___________________________________________________ | |
import Tkinter | |
# Import Phidgets Libraries________________________________________________ | |
from Phidgets.PhidgetException import PhidgetErrorCodes, PhidgetException | |
from Phidgets.Events.Events import AttachEventArgs, DetachEventArgs, ErrorEventArgs, InputChangeEventArgs, OutputChangeEventArgs, SensorChangeEventArgs | |
from Phidgets.Devices.InterfaceKit import InterfaceKit | |
from Phidgets.Devices.AdvancedServo import AdvancedServo | |
#Define GUI parameters____________________________________________________ | |
mywindow = Tkinter.Tk() | |
mywindow.geometry("300x400") | |
positionlabel = Tkinter.Label(mywindow, text = "Servo Position") | |
sliderLabel = Tkinter.Label(mywindow, text = "Slider Position") | |
# Function Definitions_______________________________________________________ | |
def turnup(): | |
global myservoposition | |
myservoposition += 10 | |
try: | |
advancedServo.setPosition(0, myservoposition) | |
except PhidgetException as e: | |
print("Phidget Exception %i: %s" % (e.code, e.details)) | |
print("Servo at maximum position.") | |
myservoposition -= 10 | |
positionlabeltext = ("Servo Position: %d" % myservoposition) | |
positionlabel.configure(text = positionlabeltext) | |
def turndown(): | |
global myservoposition | |
myservoposition -= 10 | |
try: | |
advancedServo.setPosition(0, myservoposition) | |
except PhidgetException as e: | |
print("Phidget Exception %i: %s" % (e.code, e.details)) | |
print("Servo at minimum position.") | |
myservoposition += 10 | |
positionlabeltext = ("Servo Position: %d" % myservoposition) | |
positionlabel.configure(text = positionlabeltext) | |
def exitProgram(): | |
print("Closing Phidgets...") | |
try: | |
interfaceKit.closePhidget() | |
except PhidgetException as e: | |
print("Phidget Exception %i: %s" % (e.code, e.details)) | |
print("Exiting....") | |
exit(1) | |
try: | |
advancedServo.closePhidget() | |
except PhidgetException as e: | |
print("Phidget Exception %i: %s" % (e.code, e.details)) | |
print("Exiting....") | |
exit(1) | |
print("Program successfully shutdown. Goodbye.") | |
exit(0) | |
def interfaceKitAttached(e): | |
attached = e.device | |
print("InterfaceKit %i Attached!" % (attached.getSerialNum())) | |
def interfaceKitDetached(e): | |
detached = e.device | |
print("InterfaceKit %i Detached!" % (detached.getSerialNum())) | |
def interfaceKitError(e): | |
try: | |
source = e.device | |
print("InterfaceKit %i: Phidget Error %i: %s" % (source.getSerialNum(), e.eCode, e.description)) | |
except PhidgetException as e: | |
print("Phidget Exception %i: %s" % (e.code, e.details)) | |
def interfaceKitInputChanged(e): | |
source = e.device | |
print("InterfaceKit %i: Input %i: %s" % (source.getSerialNum(), e.index, e.state)) | |
def interfaceKitSensorChanged(e): | |
source = e.device | |
print("InterfaceKit %i: Sensor %i: %i" % (source.getSerialNum(), e.index, e.value)) | |
if e.index == 0: | |
updateSliderInfo(e.value) | |
def interfaceKitOutputChanged(e): | |
source = e.device | |
print("InterfaceKit %i: Output %i: %s" % (source.getSerialNum(), e.index, e.state)) | |
def updateSliderInfo(sliderVal): | |
sliderLabelText = ("SliderPosition: %d" % sliderVal) | |
sliderLabel.configure(text = sliderLabelText) | |
#Setup______________________________________________________________ | |
#Create a AdvancedServo object___ | |
print("Initialzing Servo...") | |
try: | |
advancedServo = AdvancedServo() | |
except RuntimeError as e: | |
print("Runtime Exception: %s" % e.details) | |
print("Exiting....") | |
exit(1) | |
try: | |
advancedServo.openPhidget() | |
advancedServo.waitForAttach(10000) | |
advancedServo.setEngaged(0, True) | |
except PhidgetException as e: | |
print("Phidget Exception %i: %s" % (e.code, e.details)) | |
try: | |
advancedServo.closePhidget() | |
except PhidgetException as e: | |
print("Phidget Exception %i: %s" % (e.code, e.details)) | |
print("Exiting....") | |
exit(1) | |
print("Exiting....") | |
exit(1) | |
#Initialize servo | |
myservoposition = 0 | |
advancedServo.setPosition(0, 0) | |
print("Servo initialized.") | |
#Create an interfacekit object____ | |
print("Initialzing Interface Kit...") | |
try: | |
interfaceKit = InterfaceKit() | |
except RuntimeError as e: | |
print("Runtime Exception: %s" % e.details) | |
print("Exiting....") | |
exit(1) | |
try: | |
interfaceKit.setOnAttachHandler(interfaceKitAttached) | |
interfaceKit.setOnDetachHandler(interfaceKitDetached) | |
interfaceKit.setOnErrorhandler(interfaceKitError) | |
interfaceKit.setOnInputChangeHandler(interfaceKitInputChanged) | |
interfaceKit.setOnOutputChangeHandler(interfaceKitOutputChanged) | |
interfaceKit.setOnSensorChangeHandler(interfaceKitSensorChanged) | |
except PhidgetException as e: | |
print("Phidget Exception %i: %s" % (e.code, e.details)) | |
print("Exiting....") | |
exit(1) | |
try: | |
interfaceKit.openPhidget() | |
interfaceKit.waitForAttach(10000) | |
except PhidgetException as e: | |
print("Phidget Exception %i: %s" % (e.code, e.details)) | |
try: | |
interfaceKit.closePhidget() | |
except PhidgetException as e: | |
print("Phidget Exception %i: %s" % (e.code, e.details)) | |
print("Exiting....") | |
exit(1) | |
print("Exiting....") | |
exit(1) | |
else: | |
print("Interface Kit initialized.") | |
print("Ready to go!") | |
#Main________________________________________________________ | |
upbutton = Tkinter.Button(mywindow, text="Up", command=turnup) | |
downbutton = Tkinter.Button(mywindow, text="Down", command=turndown) | |
exitButton = Tkinter.Button(mywindow, text="Exit", command=exitProgram) | |
upbutton.pack(padx=10,pady=20) | |
downbutton.pack(padx=10,pady=20) | |
positionlabel.pack(padx=10,pady=20) | |
sliderLabel.pack(padx=10,pady=20) | |
exitButton.pack(padx=10,pady=20) | |
mywindow.mainloop() |
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