Dateien hochladen nach ''

main.py

@@ -18,10 +18,10 @@ button_width = 10
 button_height = 2
 
 stepper_range = ((0, 360), (-115, 115), (-115, 115), (-115, 115))
-stepper_default_values_rel = [180, 60, 60, -20]
-stepper_og_values_rel = [0, -115, -115, -115]
+stepper_default_values_rel = [0, 0, 0, 0]
+stepper_og_values_rel = [0, 0, 0, 0]
 stepper_moveTo_angels_rel = [0, 0, 0, 0]
-stepper_actual_angels_rel = [0, 120, 60, -40]
+stepper_actual_angels_rel = [0, 0, 0, 0]
 
 segments_length = [15, 50, 40, 30]
 end_effector_pos = [0, 0, 0]  # x,y,z coordination of m4 and rotation angel theta
@@ -190,7 +190,7 @@ IK_column = [
      sg.Button("Down", key="-IK_Down_Button-", size=(button_width, button_height))],
     [sg.Text("")],
     [sg.Text("")],
-    #[sg.Text(ik_m3_actual_pos, key="-m3_pos-")],
+    # [sg.Text(ik_m3_actual_pos, key="-m3_pos-")],
     [sg.Text("")]
 ]
 
@@ -279,13 +279,9 @@ while True:
     stepper_actual_angels_abs = calculate_angels_to_horizon(stepper_actual_angels_rel)
     ik_m3_actual_pos, end_effector_pos = fk_calculate_position(stepper_actual_angels_abs)
 
-   # window["-m3_pos-"].update(ik_m3_actual_pos)  # Update showed position
-
-    print(ik_step_size)
-    print(ik_m3_move_to_pos)
-
     # Formate data before sending
-    data = "<" + str(arm_calibrate) + "," + str(stepper_moveTo_angels_rel[0]) + "," + str(stepper_moveTo_angels_rel[1]) \
+    # str(arm_calibrate)
+    data = "<" + str(0) + "," + str(stepper_moveTo_angels_rel[0]) + "," + str(stepper_moveTo_angels_rel[1]) \
            + "," + str(stepper_moveTo_angels_rel[2]) + "," + str(stepper_moveTo_angels_rel[3]) + ">"
     print(data)
     ser.write(data.encode())
@@ -294,6 +290,7 @@ while True:
     print(received_string)
 
     stepper_moveTo_angels_rel = [0, 0, 0, 0]
+    arm_calibrate = 1
 
 ser.close()
 window.close()