Roboterarm/Gripper_gui_test.py

import PySimpleGUI as sg
import serial
import numpy
import time
slider_width = 100
slider_hight = 40
button_width = 10
button_hight = 3

open_value = 650
close_value = 350


layout = [
    [sg.Text('Servomotor 1')],
    [sg.Text('CLOSE'),sg.Slider(range=(312, 712), size=(slider_width, slider_hight), default_value=512, orientation='h', key='-SLIDER1-'),sg.Text('OPEN'), sg.Button('Reset', key='-BUTTON1-',size=(button_width,button_hight))],    #enable_events=True,
    [sg.Text('Servomotor 2')],
    [sg.Text('CLOSE'),sg.Slider(range=(312, 712), size=(slider_width, slider_hight), default_value=512, orientation='h', key='-SLIDER2-'),sg.Text('OPEN'), sg.Button('Reset', key='-BUTTON2-',size=(button_width,button_hight))],     #enable_events=True,
    [sg.Text('Servomotor 3')],
    [sg.Text('CLOSE'),sg.Slider(range=(312, 712), size=(slider_width, slider_hight), default_value=512, orientation='h', key='-SLIDER3-'),sg.Text('OPEN'), sg.Button('Reset', key='-BUTTON3-',size=(button_width,button_hight))], #enable_events=True,
    [sg.Text('Motor')],
    [sg.Text('DOWN'),sg.Slider(range=(-254, 254), size=(slider_width, slider_hight), default_value=0, orientation='h', key='-SLIDER4-'),sg.Text('   UP  '), sg.Button('Reset', key='-BUTTON4-',size=(button_width,button_hight))],
    [sg.Text('Rotation')],
    [sg.Text('LEFT'),sg.Slider(range=(0, 360), size=(slider_width, slider_hight), default_value=180, orientation='h', key='-SLIDER5-'),sg.Text('   RIGHT  '), sg.Button('Reset', key='-BUTTON10-',size=(button_width,button_hight))],
    [sg.Button('OK',key='-BUTTON9-',size=(button_width,button_hight)),sg.Button('Reset',key='-BUTTON5-',size=(button_width,button_hight)),sg.Button('Open',key='-BUTTON6-',size=(button_width,button_hight)),sg.Button('Close',key='-BUTTON7-',size=(button_width,button_hight)),sg.Button('auto Close',key='-BUTTON8-',size=(button_width,button_hight))]
]
arduino = serial.Serial(port='/dev/ttyUSB0', baudrate=9600, timeout=.1)
def write_read(x):
    arduino.write(bytes(x, 'utf-8'))
    time.sleep(0.1)
    data = arduino.readline()
    print(data)
    return data
# GUI erstellen
window = sg.Window('Slider GUI', layout,resizable=True,ttk_theme='classic')
def write():
        # Werte der Schieberegler abrufen
    slider1_value = 512+(512-values['-SLIDER1-'])
    slider2_value = 512+(512-values['-SLIDER2-'])
    slider3_value = values['-SLIDER3-']
    slider4_value = values['-SLIDER4-']
    slider5_value = values['-SLIDER5-']

    # Beispiel: Ausgabe der aktuellen Werte der Schieberegler
    print("Slider 1:", slider1_value)
    print("Slider 2:", slider2_value)
    print("Slider 3:", slider3_value)
    print("Slider 4:", slider4_value)
    print("Slider 5:", slider5_value)
    val_1 = "0"
    if slider4_value < 0:
        slider4_value = numpy.abs(slider4_value)
        val_1 = "1"
    print("1 " + str(int(slider1_value)))
    print("2 " + str(int(slider2_value)))
    print( "3 " + str(int(slider3_value)))
    print("4" +val_1+ str(int(slider4_value)))
    print( "6 " + str(int(slider5_value)))
    write_read(str("1 "+str(int(slider1_value))))
    write_read(str("2 "+str(int(slider2_value))))
    write_read(str("3 "+str(int(slider3_value))))
    write_read(str("4"+val_1+str(int(slider4_value))))
    if slider5_value < 100:
        slider5_value = "0"+str(int(slider5_value))
    write_read(str("6 "+str(slider5_value)))
# GUI-Ereignisschleife
while True:
    event, values = window.read()  
    if event == sg.WINDOW_CLOSED:
        break
    if event == '-BUTTON9-':
        print('Button OK was clicked')
        write()
    if event == '-BUTTON1-':
        print('Button 1 was clicked')
        window['-SLIDER1-'].update(512)
        values['-SLIDER1-']=512.0
        write()
    elif event == '-BUTTON2-':
        print('Button 2 was clicked')
        window['-SLIDER2-'].update(512)
        values['-SLIDER2-']=512.0
        write()
    elif event == '-BUTTON3-':
        print('Button 3 was clicked')
        window['-SLIDER3-'].update(512)
        values['-SLIDER3-']=512.0
        write()
    elif event == '-BUTTON4-':
        print('Button 4 was clicked')
        window['-SLIDER4-'].update(0)
        values['-SLIDER4-']=0
        write()
    elif event == '-BUTTON5-':
        print('Button 5 was clicked')
        window['-SLIDER1-'].update(512)
        values['-SLIDER1-']=512.0
        window['-SLIDER2-'].update(512)
        values['-SLIDER2-']=512.0
        window['-SLIDER3-'].update(512)
        values['-SLIDER3-']=512.0
        window['-SLIDER4-'].update(0)
        values['-SLIDER4-']=0
        write()
    elif event == '-BUTTON6-':
        print('Button 6 was clicked')
        window['-SLIDER1-'].update(open_value)
        values['-SLIDER1-']=open_value
        window['-SLIDER2-'].update(open_value)
        values['-SLIDER2-']=open_value
        window['-SLIDER3-'].update(open_value)
        values['-SLIDER3-']=open_value
        window['-SLIDER4-'].update(0)
        values['-SLIDER4-']=0
        write()
    elif event == '-BUTTON7-':
        print('Button 7 was clicked')
        window['-SLIDER1-'].update(close_value)
        values['-SLIDER1-']=close_value
        window['-SLIDER2-'].update(close_value)
        values['-SLIDER2-']=close_value
        window['-SLIDER3-'].update(close_value)
        values['-SLIDER3-']=close_value
        window['-SLIDER4-'].update(0)
        values['-SLIDER4-']=0
        write()
    elif event == '-BUTTON8-':
        print('Button 8 was clicked')
        value = "50000" 
        write_read(str(value))
        while(arduino.readline() != b"" ):
            print(arduino.readline()) 
            print(arduino.readline())       
    elif event == '-BUTTON10-':
        print('Button 10 was clicked')
        window['-SLIDER5-'].update(180)
        values['-SLIDER5-']=180.0
        write()

# GUI schließen
window.close()