Lengan Robot Karton yang Dapat Direkam

Kode

• Antarmuka Pengguna Python
• Kode Arduino Lengan Robot

Antarmuka Pengguna PythonPython

from tkinter import *from tkinter import filedialogimport serialimport timeport_opened=Falsedef set_port():global port_opened,arduino com_port=port_input.get() arduino=serial.Serial(com_port,9600) port_opened=True print ("COM port disetel ke :"+com_port)def send_positions(posisi):pesan ="{0:0=3d}".format(posisi[0])+"{0:0=3d}".format(posisi[1])+" {0:0=3d}".format(posisi[2])+"{0:0=3d}".format(posisi[3])+"{0:0=3d}".format(posisi[4 ])+"\n" arduino.write(str.encode(message)) print(message, end='') time.sleep(0.2)saved_positions =[]def save_positions():save_positions.append([servo1_slider.get (), servo2_slider.get(), servo3_slider.get(), servo4_slider.get(), servo5_slider.get()]); print("posisi tersimpan:"+str(posisi_tersimpan))def play_positions():untuk posisi di posisi_simpan:print("bermain:"+str(posisi)) send_positions(posisi); time.sleep(1)def clear_all_positions():global stored_positions saved_positions =[] print("cleared all position")def clear_last_positions():global stored_positions removal =simpanan_posisi.pop() print("dihapus:"+str(dihapus) ) print("posisi tersimpan:"+str(saved_positions))def open_file():global save_positions nama file =filedialog.askopenfilename(initialdir ="/", title ="Pilih File", tipe file =(("File teks", "*.txt*"),("semua file","*.*"))) file =buka(nama file, "r") data=file.read() save_positions=eval(data) file.close() print("opened:"+filename)def save_file():save_file =filedialog.asksaveasfile(mode='w', defaultextension=".txt") save_file.write(str(saved_positions)) save_file.close() print(" file tersimpan")def instruksi():print("1.) Setel port COM Arduino dan klik Enter. Ini dapat ditemukan di Device Manager di Windows") print("2.) Pindahkan servo lengan menggunakan bilah geser") print("3.) Untuk merekam posisi, klik Rekam Posisi") print("4.) Untuk memutar ulang rekaman posisi, klik Putar Ulang Posisi") print("\nUntuk menyimpan apa yang telah Anda rekam, buka File> Simpan File.") print("Untuk membuka file yang disimpan sebelumnya, buka File> Buka File.")window =Tk()window.title("Robot Arm Controller 2")window.minsize(355.300)port_label=Label(window,text="Set Port:");port_label.place(x=10,y=10));port_input=Entry(window)port_input.place(x=10,y=35)port_button=Button(window, text="Enter", command=set_port)port_button.place(x=135,y=32)servo1_slider =Skala(jendela, from_=180, to=0)servo1_slider.place(x=0, y=100)servo1_label=Label(window,text="Servo 1")servo1_label.place(x=10, y=80)servo2_slider =Skala(jendela , from_=180, to=0)servo2_slider.place(x=70, y=100)servo2_label=Label(window,text="Servo 2")servo2_label.place(x=80, y=80)servo3_slider =Skala( jendela, from_=180, to=0)servo3_slider.place(x=140, y=100)servo3_label=Label(window,text="Servo 3")servo3_label.place(x=150, y=80)servo4_slider =Skala (jendela, dari_=180, ke=0)servo4_slider.place(x=210, y=100)servo4_label=Label( window,text="Servo 4")servo4_label.place(x=220, y=80)servo5_slider =Skala(jendela, dari_=180, ke=0)servo5_slider.place(x=280, y=100)servo5_label=Label (window,text="Servo 5")servo5_label.place(x=290, y=80)save_button=Button(window, text="Record Position", command=save_positions)save_button.place(x=10,y=220 )clear_button=Tombol(jendela, teks="Hapus Posisi Terakhir", command=clear_last_positions)clear_button.place(x=120,y=220)clear_button=Tombol(jendela, teks="Hapus Semua Posisi", command=clear_all_positions)clear_button .place(x=120,y=255)play_button=Button(window, text="Replay Positions", command=play_positions, height=3)play_button.place(x=250,y=220)menubar =Menu(window) filemenu =Menu(menubar, tearoff=0)filemenu.add_command(label="Open File", command=open_file)filemenu.add_command(label="Save File", command=save_file)menubar.add_cascade(label="File", menu=filemenu)editmenu =Menu(menubar, tearoff=0)editmenu.add_command(label="Hapus posisi terakhir", command=clear_last_positions)editmenu.add _command(label="Hapus semua posisi", command=clear_all_positions)menubar.add_cascade(label="Edit", menu=editmenu)helpmenu =Menu(menubar, tearoff=0)helpmenu.add_command(label="Cara menggunakan (dicetak di konsol)", command=instructions)menubar.add_cascade(label="Help", menu=helpmenu)window.config(menu=menubar) while True:window.update() if(port_opened):send_positions([servo1_slider.get (), servo2_slider.get(), servo3_slider.get(), servo4_slider.get(), servo5_slider.get()])

Kode Arduino Lengan RobotArduino

#include Servo servo1;Servo servo2;Servo servo3;Servo servo4;Servo servo5;int servoPositions[5];void setup() { Serial.begin(9600); servo1.attach (3); servo2.attach(5); servo3.attach(6); servo4.attach (9); servo5.attach(10);}void loop() { while(Serial.available()){ String input =Serial.readStringUntil('\n'); servoPositions[0] =input.substring(0,3).toInt(); servoPositions[1] =input.substring(3,6).toInt(); servoPositions[2] =input.substring(6,9).toInt(); servoPositions[3] =input.substring(9,12).toInt(); servoPositions[4] =input.substring(12,15).toInt(); } servo1.write(servoPositions[0]); servo2.write(servoPositions[1]); servo3.write(servoPositions[2]); servo4.write(servoPositions[3]); servo5.write(servoPositions[4]); delay(500);}

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Skema

Kubus LED 8x8x8 RGB Mengocok Dadu Arduino