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# BROBOT PC CONTROL python script

# Exampe 3: Graphic User Interface to control BROBOT (using Tkinter python UI)

# Before running the script you need to connect the PC to the BROBOT wifi

# Remember, default password for Wifi network JJROBOTS_XX is 87654321

# author: JJROBOTS 2016

# version: 1.01 (28/10/2016)

# Licence: Open Source (GNU LGPLv3)

import socket

import time

import struct

import Tkinter as tk

from Tkinter import IntVar

from BROBOT_Class import BROBOT # Import CLASS to control BROBOT

# GRAPHIC USER INTERFACE

class MainApplication(tk.Frame):

throttle = 0

steering = 0

mode = 0

myRobot = BROBOT()

def draw(self):

print "DRAW"

def __init__(self,parent,*args,**kwargs):

tk.Frame.__init__(self,parent,*args,**kwargs)

self.parent = parent

# GUI INIT: 2 sliders and 1 button

self.t = tk.Scale(troughcolor="light yellow",from_=100,to=-100,width=40,length=200)

self.t.pack(side=tk.LEFT,fill=tk.BOTH,expand=1)

self.s = tk.Scale(troughcolor="light cyan",from_=-100,to=100,width=40,length=250,orient=tk.HORIZONTAL)

self.s.pack(side=tk.LEFT,fill=tk.X)

self.after(50,self.timer)

self.b = tk.Button(bg="light green",repeatdelay=1,repeatinterval=50,width=10,height=2,text="SERVO",command=self.buttonCallback)

self.b.pack(side=tk.LEFT)

self.mode_control = IntVar()

self.m = tk.Checkbutton(text="PRO MODE",variable=self.mode_control)

self.m.pack()

def buttonCallback(self):

self.myRobot.servo(1)

time.sleep(0.2)

self.myRobot.servo(0)

def timer(self): # Timer at 50ms interval to read slider values

if (self.t.get()!=self.throttle):

self.throttle = self.t.get()

self.myRobot.throttle(self.throttle/100.0)

#print "THROTTLE:",self.throttle

if (self.s.get()!=self.steering):

self.steering = self.s.get()

self.myRobot.steering(self.steering/100.0)

#print "STEERING:",self.steering

if (self.mode_control.get()!=self.mode):

self.mode = self.mode_control.get()

self.myRobot.mode(self.mode)

#print "MODE:",self.mode

self.after(50,self.timer)

# START APPLICATION

if __name__=="__main__":

root = tk.Tk()

root.wm_title("BROBOT CONTROL")

MainApplication(root).pack(side="top",fill="both",expand=True)

root.mainloop()