elias/robomaster-python
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Update controller/main.py

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elias 2025-04-03 08:01:11 +02:00
parent b92c075e88
commit 341bb034fd
1 changed files with 11 additions and 14 deletions
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controller/main.py
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@ -78,9 +78,6 @@ class RobomasterUI:
if isinstance(focused_widget, tk.Entry) and event.widget != focused_widget: if isinstance(focused_widget, tk.Entry) and event.widget != focused_widget:
self.master.focus_set() self.master.focus_set()
def _run_command(self, func, *args, **kwargs):
self._command_executor(func, *args, **kwargs)
def _command_executor(self, func, *args, **kwargs): def _command_executor(self, func, *args, **kwargs):
try: try:
result = func(*args, **kwargs) result = func(*args, **kwargs)
@ -96,22 +93,22 @@ class RobomasterUI:
x_str, y_str = self.x_entry.get(), self.y_entry.get() x_str, y_str = self.x_entry.get(), self.y_entry.get()
try: x, y = float(x_str), float(y_str) try: x, y = float(x_str), float(y_str)
except ValueError: return self._display_output("Error: Invalid X or Y") except ValueError: return self._display_output("Error: Invalid X or Y")
self._run_command(self.cmd.arm_move, x=x, y=y) self._command_executor(self.cmd.arm_move, x=x, y=y)
def moveto_arm(self): def moveto_arm(self):
x_str, y_str = self.x_entry.get(), self.y_entry.get() x_str, y_str = self.x_entry.get(), self.y_entry.get()
try: x, y = float(x_str), float(y_str) try: x, y = float(x_str), float(y_str)
except ValueError: return self._display_output("Error: Invalid X or Y") except ValueError: return self._display_output("Error: Invalid X or Y")
self._run_command(self.cmd.arm_moveto, x=x, y=y) self._command_executor(self.cmd.arm_moveto, x=x, y=y)
def recenter_arm(self): def recenter_arm(self):
self._run_command(self.cmd.arm_recenter) self._command_executor(self.cmd.arm_recenter)
def stop_arm(self): def stop_arm(self):
self._run_command(self.cmd.arm_stop) self._command_executor(self.cmd.arm_stop)
def get_arm_pos(self): def get_arm_pos(self):
self._run_command(self.cmd.arm_pos) self._command_executor(self.cmd.arm_pos)
def open_gripper(self): def open_gripper(self):
force_str = self.force_entry.get() force_str = self.force_entry.get()
@ -121,7 +118,7 @@ class RobomasterUI:
force = int(force_str) force = int(force_str)
if force not in range(1, 5): raise ValueError if force not in range(1, 5): raise ValueError
except ValueError: return self._display_output("Error: Force must be 1-4") except ValueError: return self._display_output("Error: Force must be 1-4")
self._run_command(self.cmd.gripper_open, force=force) self._command_executor(self.cmd.gripper_open, force=force)
def close_gripper(self): def close_gripper(self):
force_str = self.force_entry.get() force_str = self.force_entry.get()
@ -131,10 +128,10 @@ class RobomasterUI:
force = int(force_str) force = int(force_str)
if force not in range(1, 5): raise ValueError if force not in range(1, 5): raise ValueError
except ValueError: return self._display_output("Error: Force must be 1-4") except ValueError: return self._display_output("Error: Force must be 1-4")
self._run_command(self.cmd.gripper_close, force=force) self._command_executor(self.cmd.gripper_close, force=force)
def get_gripper_status(self): def get_gripper_status(self):
self._run_command(self.cmd.gripper_status) self._command_executor(self.cmd.gripper_status)
def move_chassis_button(self): def move_chassis_button(self):
try: try:
@ -143,10 +140,10 @@ class RobomasterUI:
z = float(self.chassis_z_speed_entry.get()) z = float(self.chassis_z_speed_entry.get())
except ValueError: except ValueError:
return self._display_output("Error: Invalid speed value") return self._display_output("Error: Invalid speed value")
self._run_command(self.cmd.chassis_move, x=x, y=y, z=z) self._command_executor(self.cmd.chassis_move, x=x, y=y, z=z)
def stop_chassis(self): def stop_chassis(self):
self._run_command(self.cmd.chassis_move, x=0, y=0, z=0) self._command_executor(self.cmd.chassis_move, x=0, y=0, z=0)
def chassis_move_arrow(self, x=None, y=None, z=None): def chassis_move_arrow(self, x=None, y=None, z=None):
try: try:
@ -156,7 +153,7 @@ class RobomasterUI:
current_x = xs * (x or 0) current_x = xs * (x or 0)
current_y = ys * (y or 0) current_y = ys * (y or 0)
current_z = zs * (z or 0) current_z = zs * (z or 0)
self._run_command(self.cmd.chassis_move, x=current_x, y=current_y, z=current_z, speed_xy=None, speed_z=None) self._command_executor(self.cmd.chassis_move, x=current_x, y=current_y, z=current_z, speed_xy=None, speed_z=None)
except ValueError: except ValueError:
self._display_output("Error: Invalid speed value") self._display_output("Error: Invalid speed value")