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


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=(-254, 254), size=(slider_width, slider_hight), default_value=0, 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='/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')
# GUI-Ereignisschleife
while True:
    event, values = window.read()       
    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()
        values['-SLIDER4-']=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)
    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 " + 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))))
    write_read(str("4"+val_1+str(int(slider4_value))))

# GUI schließen
window.close()