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Greifer2.0.ino

@@ -0,0 +1,480 @@
+#include <AS5600.h>
+#include "AX12A.h"
+
+#define DirectionPin   (14u)
+#define BaudRate      (1000000ul)
+#define ID1       (4u)
+#define ID2       (5u)
+#include <SoftwareSerial.h>
+#include <XYZrobotServo.h>
+
+
+//AS5600 Sensor
+#include <Wire.h>
+
+SoftwareSerial servoSerial(2, 4); //(18,19)
+
+
+int input = 0;
+XYZrobotServo servo1(servoSerial, 2);
+
+const uint8_t playtime = 100;
+const int max_angle = 712,min_angle = 312;
+
+const byte numChars = 32;
+int dir = 25; //16
+//int brake = 5;
+int pwma = 27;
+int speed = 0;
+int i;
+//int Turns = 7;
+//bool State = 0;
+volatile bool Startup = 0;
+volatile bool richtung;
+const byte Test_button = 14;
+const byte button_oben = 13; //25
+const byte button_unten = 26;
+int magnetStatus = 0; //value of the status register (MD, ML, MH)
+
+int lowbyte; //raw angle 7:0
+word highbyte; //raw angle 7:0 and 11:8
+int rawAngle; //final raw angle 
+float degAngle; //raw angle in degrees (360/4096 * [value between 0-4095])
+
+int quadrantNumber, previousquadrantNumber; //quadrant IDs
+int numberofTurns = 0; //number of turns
+int lastnumberofTurns = 0;
+float correctedAngle = 0; //tared angle - based on the startup value
+float startAngle = 0; //starting angle
+float totalAngle = 0; //total absolute angular displacement
+float previoustotalAngle = 0; //for the display printing
+
+int sollposition; //von 0 bis 1 * totalTurns
+
+ // initialize prozent to an invalid value
+int previousProzent = -1; // variable to store the previous valid value
+int prozent;
+int totalTurns; // number of Turns after Kalibration sollte ungefähr 33 entsprechen (23/0.7)
+
+int x ,position;
+int val[10] = {0,0,0,0,0};
+int choice;
+
+
+void IRAM_ATTR nachUnten(){
+  richtung = HIGH;
+  speed = 255;
+  //sollposition = sollposition - 3;
+}
+void IRAM_ATTR nachOben(){
+  richtung = LOW;
+  speed = 255;
+  //sollposition = sollposition + 3;
+}
+void IRAM_ATTR Start(){
+  Startup = 1;
+
+}
+
+
+void setup() {
+  Serial.begin(115200); //start serial - tip: don't use serial if you don't need it (speed considerations)
+  Wire.begin();
+
+   ax12a.begin(BaudRate, DirectionPin, &Serial2);
+  ax12a.setEndless(ID1, OFF);
+  ax12a.setEndless(ID2, OFF);
+  ax12a.setMaxTorque(ID1, 1000);
+  ax12a.setMaxTorque(ID2, 1000);
+
+  servoSerial.begin(115200);
+
+  ax12a.move(ID1,512);
+  ax12a.move(ID2,512);
+  servo1.setPosition(512, playtime);
+  
+//  pinMode(Turns, OUTPUT);
+  pinMode(dir, OUTPUT);
+//  pinMode(brake, OUTPUT);
+  pinMode(pwma, OUTPUT);
+  pinMode(button_oben, INPUT_PULLUP);
+  pinMode(button_unten, INPUT_PULLUP);
+  pinMode(Test_button, INPUT_PULLUP);
+
+  //Kalibrieren();
+
+  attachInterrupt(digitalPinToInterrupt(button_oben), nachUnten, FALLING);
+  attachInterrupt(digitalPinToInterrupt(button_unten), nachOben, FALLING);
+  attachInterrupt(digitalPinToInterrupt(Test_button), Start, FALLING);
+  
+    //start i2C  
+	//Wire.setClock(800000L); //fast clock
+
+checkMagnetPresence(); //check the magnet (blocks until magnet is found)
+
+  ReadRawAngle(); //make a reading so the degAngle gets updated
+  startAngle = degAngle; //update startAngle with degAngle - for taring
+
+}
+
+/*void motor(int prozent) {
+
+  sollposition = (totalTurns * prozent * 0.01);
+  Serial.print("sollposition: ");
+  Serial.println(sollposition);
+  if (sollposition > numberofTurns) {
+    richtung = LOW;
+    speed = 255;
+    //Serial.println("Bewegung nach Oben");
+  } else if (sollposition < numberofTurns) {
+    richtung = HIGH;
+    speed = 255;
+    //Serial.println("Bewegung nach Unten");
+  } else {
+    speed = 0;
+    Serial.println("In Sollposition");
+  }
+  }*/
+  /*void Positionsabfrage() {
+  if (prozent == -1 && Serial.available() > 0) { // check if prozent is not set and data is available to read
+    int newProzent = Serial.parseInt(); // read the integer value from serial buffer
+
+    if (newProzent >= 1 && newProzent <= 100) { // check if the value is within the valid range
+      prozent = newProzent; // assign the new valid value to prozent
+      previousProzent = prozent; // update previousProzent with the new valid value
+      Serial.print("Received percentage value: ");
+      Serial.println(prozent);
+    } else {
+      Serial.println("Invalid percentage value! Please enter a number between 0 and 100.");
+      if (previousProzent != -1) { // check if there's a previous valid value
+        prozent = previousProzent; // restore prozent to its previous valid value
+      }
+    }
+  sollposition = (totalTurns * prozent * 0.01);
+  Serial.print("sollposition: ");
+  Serial.println(sollposition);
+  prozent = -1;
+  }
+
+
+}*/
+
+
+
+void loop() {
+
+  /*if(Startup){
+   
+    
+    Kalibrieren();
+
+    Startup = 0;
+    }
+    //Positionsabfrage();
+    */
+    /*  i++;
+    if (i == 50) {
+    Serial.print("NumberofTurns:");
+    Serial.println(numberofTurns);
+    //Serial.print("correctedAngle: ");
+    //Serial.println(correctedAngle, 2);
+    if (speed == 0) {
+    Serial.println("In Sollposition");
+    } else if (richtung == HIGH && speed == 255) {
+    Serial.println("Bewegung nach Unten");
+    } else if (richtung == LOW && speed == 255) {
+    Serial.println("Bewegung nach Oben");
+    }
+    i = 0;*/
+  
+ if (Serial.available()){
+    for(int n = 0; n < 10 ; n++){
+    val[n] = Serial.read() - 48; //convert ASCII to int and assigns into array
+   }
+    position = 0;
+    for (int i = 2; i < 5; i++) {
+      position = position * 10 + val[i];
+    }
+    choice = val[0];
+    Serial.print("Motor: ");
+    Serial.print(choice);
+    Serial.print(" position: ");
+    Serial.print(position);
+    switch (val[0]) {
+      case 1:
+        ax12_1(position);
+        Serial.print("Ready");
+        break;
+      case 2:
+        a116(position);
+        Serial.print("Ready");
+        break;
+      case 3:
+        ax12_2(position);
+        Serial.print("Ready");
+        break;
+      case 4:
+        //motor(position); 
+        prozent = position;
+        sollposition = (totalTurns * prozent * 0.01);
+        Serial.print("sollposition: ");
+        Serial.println(sollposition);
+        Serial.print("Ready");
+        break;
+      case 5:
+        //auto_close();
+        Serial.print("Ready");
+        break;
+      case 6:
+        Kalibrieren();
+        Serial.print("Ready");
+        break;
+    }
+  }
+
+
+
+ if (sollposition > numberofTurns) {
+    richtung = LOW;
+    speed = 255;
+    //Serial.println("Bewegung nach Oben");
+  } else if (sollposition < numberofTurns) {
+    richtung = HIGH;
+    speed = 255;
+    //Serial.println("Bewegung nach Unten");
+  } 
+  else {
+    speed = 0;
+    //Serial.println("In Sollposition");
+   
+  }
+    digitalWrite(dir,richtung);
+    analogWrite(pwma,speed);
+    delay(50);
+    ReadRawAngle(); //ask the value from the sensor
+    correctAngle(); //tare the value
+    checkQuadrant(); //check quadrant, check rotations, check absolute angular position
+  i++;
+  if (i == 50) {
+  Serial.print("NumberofTurns:");
+  Serial.println(numberofTurns);
+  //Serial.print("correctedAngle: ");
+  //Serial.println(correctedAngle, 2);
+  if (speed == 0) {
+    Serial.println("In Sollposition");
+  } else if (richtung == HIGH && speed == 255) {
+    Serial.println("Bewegung nach Unten");
+  } else if (richtung == LOW && speed == 255) {
+    Serial.println("Bewegung nach Oben");
+  }
+  i = 0;
+  }
+
+
+
+}
+
+void ax12_1(int position){
+     if((position<min_angle) || (position>max_angle)){
+    Serial.print("invalide position. Try again");
+    return;
+    }
+  ax12a.moveSpeed(ID1,position, playtime);
+}
+
+void ax12_2(int position){
+     if((position<min_angle) || (position>max_angle)){
+    Serial.print("invalide position. Try again");
+    return;
+    }
+  ax12a.moveSpeed(ID2,position, playtime);
+}
+
+void a116(int position){
+    if((position<min_angle) || (position>max_angle)){
+    Serial.print("invalide position. Try again");
+    return;
+  }
+  servo1.setPosition(position, playtime);
+}
+
+void Kalibrieren(){
+  Serial.print("Start Kalibrieren");
+  digitalWrite(dir,HIGH);
+  analogWrite(pwma,255); 
+  Serial.println(digitalRead(button_unten));
+  while(digitalRead(button_unten)){
+  ReadRawAngle(); //ask the value from the sensor
+  correctAngle(); //tare the value
+  checkQuadrant();
+  digitalWrite(dir,HIGH);
+  analogWrite(pwma,255); 
+  }
+
+  Serial.println("Archieved 0");
+  numberofTurns = 0;
+
+  while(digitalRead(button_oben)){
+  ReadRawAngle(); //ask the value from the sensor
+  correctAngle(); //tare the value
+  checkQuadrant();
+  digitalWrite(dir,LOW);
+  analogWrite(pwma,255);
+  }
+
+  totalTurns = numberofTurns;
+  Serial.print("TotalTurns:");
+  Serial.println(totalTurns);
+
+  sollposition = totalTurns * 0.5;
+  while(numberofTurns != sollposition) {
+  digitalWrite(dir,HIGH);
+  analogWrite(pwma,255);
+    ReadRawAngle(); //ask the value from the sensor
+    correctAngle(); //tare the value
+    checkQuadrant();
+  }
+
+  Serial.println("Kalib end");
+}
+
+
+
+
+void ReadRawAngle()
+{ 
+  //7:0 - bits
+  Wire.beginTransmission(0x36); //connect to the sensor
+  Wire.write(0x0D); //figure 21 - register map: Raw angle (7:0)
+  Wire.endTransmission(); //end transmission
+  Wire.requestFrom(0x36, 1); //request from the sensor
+  
+  while(Wire.available() == 0); //wait until it becomes available 
+  lowbyte = Wire.read(); //Reading the data after the request
+ 
+  //11:8 - 4 bits
+  Wire.beginTransmission(0x36);
+  Wire.write(0x0C); //figure 21 - register map: Raw angle (11:8)
+  Wire.endTransmission();
+  Wire.requestFrom(0x36, 1);
+  
+  while(Wire.available() == 0);  
+  highbyte = Wire.read();
+  
+  highbyte = highbyte << 8; //shifting to left
+
+  rawAngle = highbyte | lowbyte; //int is 16 bits (as well as the word)
+  //360/4096 = 0.087890625
+  degAngle = rawAngle * 0.087890625; 
+  
+  //Serial.print("Deg angle: ");
+  //Serial.println(degAngle, 2); //absolute position of the encoder within the 0-360 circle
+  
+}
+
+void correctAngle()
+{
+  //recalculate angle
+  correctedAngle = degAngle - startAngle; //this tares the position
+
+  if(correctedAngle < 0) //if the calculated angle is negative, we need to "normalize" it
+  {
+  correctedAngle = correctedAngle + 360; //correction for negative numbers (i.e. -15 becomes +345)
+  }
+  else
+  {
+    //do nothing
+  }
+  //Serial.print("Corrected angle: ");
+  //Serial.println(correctedAngle, 2); //print the corrected/tared angle  
+}
+
+void checkQuadrant()
+{
+  /*
+  //Quadrants:
+  4  |  1
+  ---|---
+  3  |  2
+  */
+
+  //Quadrant 1
+  if(correctedAngle >= 0 && correctedAngle <=90)
+  {
+    quadrantNumber = 1;
+  }
+
+  //Quadrant 2
+  if(correctedAngle > 90 && correctedAngle <=180)
+  {
+    quadrantNumber = 2;
+  }
+
+  //Quadrant 3
+  if(correctedAngle > 180 && correctedAngle <=270)
+  {
+    quadrantNumber = 3;
+  }
+
+  //Quadrant 4
+  if(correctedAngle > 270 && correctedAngle <360)
+  {
+    quadrantNumber = 4;
+  }
+  //Serial.print("Quadrant: ");
+  //Serial.println(quadrantNumber); //print our position "quadrant-wise"
+
+  if(quadrantNumber != previousquadrantNumber) //if we changed quadrant
+  {
+    if(quadrantNumber == 1 && previousquadrantNumber == 4)
+    {
+      numberofTurns--; // 4 --> 1 transition: CW rotation
+    }
+
+    if(quadrantNumber == 4 && previousquadrantNumber == 1)
+    {
+      numberofTurns++; // 1 --> 4 transition: CCW rotation
+    }
+    //this could be done between every quadrants so one can count every 1/4th of transition
+
+    previousquadrantNumber = quadrantNumber;  //update to the current quadrant
+  
+  }  
+  //Serial.print("Turns: ");
+  //Serial.println(numberofTurns,0); //number of turns in absolute terms (can be negative which indicates CCW turns)  
+
+  //after we have the corrected angle and the turns, we can calculate the total absolute position
+  totalAngle = (numberofTurns*360) + correctedAngle; //number of turns (+/-) plus the actual angle within the 0-360 range
+  //Serial.print("Total angle: ");
+  //Serial.println(totalAngle, 2); //absolute position of the motor expressed in degree angles, 2 digits
+  
+}
+
+void checkMagnetPresence()
+{  
+  //This function runs in the setup() and it locks the MCU until the magnet is not positioned properly
+
+  while((magnetStatus & 32) != 32) //while the magnet is not adjusted to the proper distance - 32: MD = 1
+  {
+    magnetStatus = 0; //reset reading
+
+    Wire.beginTransmission(0x36); //connect to the sensor
+    Wire.write(0x0B); //figure 21 - register map: Status: MD ML MH
+    Wire.endTransmission(); //end transmission
+    Wire.requestFrom(0x36, 1); //request from the sensor
+
+    while(Wire.available() == 0); //wait until it becomes available 
+    magnetStatus = Wire.read(); //Reading the data after the request
+
+    Serial.print("Magnet status: ");
+    Serial.println(magnetStatus, BIN); //print it in binary so you can compare it to the table (fig 21)      
+  }      
+  
+  //Status register output: 0 0 MD ML MH 0 0 0  
+  //MH: Too strong magnet - 100111 - DEC: 39 
+  //ML: Too weak magnet - 10111 - DEC: 23     
+  //MD: OK magnet - 110111 - DEC: 55
+
+  //Serial.println("Magnet found!");
+  //delay(1000);  
+}

Gripper_gui_test.py

@@ -1,87 +1,140 @@
-import PySimpleGUI as sg
-import serial
-import time
-slider_width = 100
-slider_hight = 40
-button_width = 10
-button_hight = 3
-# GUI-Layout definieren
-#sg.theme('DarkGreen')
-layout = [
-    [sg.Text('Servomotor 1')],
-    [sg.Slider(range=(300, 700), size=(slider_width, slider_hight), default_value=512, orientation='h', key='-SLIDER1-'), sg.Button('Reset', key='-BUTTON1-',size=(button_width,button_hight))],    #enable_events=True,
-    [sg.Text('Servomotor 2')],
-    [sg.Slider(range=(300, 700), size=(slider_width, slider_hight), default_value=512, orientation='h', key='-SLIDER2-'), sg.Button('Reset', key='-BUTTON2-',size=(button_width,button_hight))],     #enable_events=True,
-    [sg.Text('Servomotor 3')],
-    [sg.Slider(range=(300, 700), size=(slider_width, slider_hight), default_value=512, orientation='h', key='-SLIDER3-'), sg.Button('Reset', key='-BUTTON3-',size=(button_width,button_hight))], #enable_events=True,
-    [sg.Text('Motor')],
-    [sg.Slider(range=(300, 700), size=(slider_width, slider_hight), default_value=512, orientation='h', key='-SLIDER4-'), sg.Button('Reset', key='-BUTTON4-',size=(button_width,button_hight))],
-    [sg.Button('OK',size=(button_width,button_hight)),sg.Button('Reset',key='-BUTTON5-',size=(button_width,button_hight))]
-]
-arduino = serial.Serial(port='COM7', baudrate=9600, timeout=.1)
-def write_read(x):
-    arduino.write(bytes(x, 'utf-8'))
-    time.sleep(0.5)
-    data = arduino.readline()#
-    print(data)
-    return data
-# GUI erstellen
-window = sg.Window('Slider GUI', layout,resizable=True,ttk_theme='classic')
-# GUI-Ereignisschleife
-while True:
-    event, values = window.read()       #timeout=20
-    if event == sg.WINDOW_CLOSED:
-        break
-    if event == '-BUTTON1-':
-        print('Button 1 was clicked')
-        window['-SLIDER1-'].update(512)
-        values['-SLIDER1-']=512.0
-    elif event == '-BUTTON2-':
-        print('Button 2 was clicked')
-        window['-SLIDER2-'].update(512)
-        values['-SLIDER2-']=512.0
-    elif event == '-BUTTON3-':
-        print('Button 3 was clicked')
-        window['-SLIDER3-'].update(512)
-        values['-SLIDER3-']=512.0
-    elif event == '-BUTTON4-':
-        print('Button 4 was clicked')
-        window['-SLIDER4-'].update(512)
-        values['-SLIDER4-']=512.0
-    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(512)
-        values['-SLIDER4-']=512.0
-    # Werte der Schieberegler abrufen
-    slider1_value = values['-SLIDER1-']
-    slider2_value = values['-SLIDER2-']
-    slider3_value = values['-SLIDER3-']
-    slider4_value = values['-SLIDER4-']
-
-    # 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("1 " + str(int(slider1_value)))
-    print("2 " + str(int(slider2_value)))
-    print( "3 " + str(int(slider3_value)))
-    print("4 " + str(int(slider4_value)))
-    write_read(str("1 "+str(int(slider1_value))))
-    time.sleep(1)
-    write_read(str("2 "+str(int(slider2_value))))
-    time.sleep(1)
-    write_read(str("3 "+str(int(slider3_value))))
-    time.sleep(1)
-    write_read(str("4 "+str(int(slider4_value))))
-
-# GUI schließen
-window.close()
-
-
+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=(1, 99), size=(slider_width, slider_hight), default_value=50, orientation='h', key='-SLIDER4-'),sg.Text('   UP  '), sg.Button('Reset', key='-BUTTON4-',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)),sg.Button('KALIB',key='-BUTTON10-',size=(button_width,button_hight))]
+]
+arduino = serial.Serial(port='COM5', baudrate=115200, 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-']
+
+    # 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("1 " + str(int(slider1_value)))
+    print("2 " + str(int(slider2_value)))
+    print("3 " + str(int(slider3_value)))
+    print("4 " + str(int(slider4_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))))
+    if int(slider4_value) < 10:
+        write_read("4 00" + str(int(slider4_value)))
+    else:
+        write_read("4 0" + str(int(slider4_value)))
+    #data = "<" + str(0) + "," + str(slider1_value) + "," + str(slider2_value) \
+     #   + "," + str(slider3_value) + "," + str(slider4_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(95)
+        values['-SLIDER4-']=95
+        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(5)
+        values['-SLIDER4-']=5
+        write()
+    elif event == '-BUTTON8-':
+        print('Button 8 was clicked')
+        value = "50000"  + '\n'
+        write_read(str(value))
+        while(arduino.readline() != b"" ):
+            print(arduino.readline()) 
+            print(arduino.readline())
+    elif event == '-BUTTON10-':
+        print('Button 10 was clicked')
+        value = "60000"  + '\n'
+        write_read(str(value))
+        while(arduino.readline() != b"" ):
+            print(arduino.readline())
+            print(arduino.readline())
+# GUI schließen
+window.close()
+
+