Proyecto 1 2024 » Grupo 2 A

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h1=. %{color: purple}Desarrollo del Prototipo%

h1=. %{color: purple}Avance del robot EV3%

h1=. "Robot se mueve solo":https://youtube.com/shorts/gr5waMOEi_Q?si=b0sV5mOU094Sfs_I (video)

h1=. "Movimiento de la Garra":https://youtube.com/shorts/DefEWpvIxXI?si=5R5jll9lt9r1wHsJ (video)

table{border-collapse: collapse; width: 100%; text-align:center}.

|{border: 1px solid black; background-color:#D8BFD8; font-size: 15px; text-align:center}. *Versión*    |{border: 1px solid black; background-color:#D8BFD8; font-size: 15px; text-align:center}. *Imagen* |

|{border: 1px solid black;text-align:center; background-color: #F7F2F7;}. _Versión Beta_ |{border: 1px solid black; text-align:center; background-color: #F7F2F7;}. !vprueba.jpg! |

|{border: 1px solid black;text-align:center; background-color: #F7F2F7;}. _Versión 1_    |{border: 1px solid black;text-align:center; background-color: #F7F2F7;}. !V1.jpg!      |

|{border: 1px solid black;text-align:center; background-color: #F7F2F7;}. _Versión 2_    |{border: 1px solid black;text-align:center; background-color: #F7F2F7;}. !V2.jpg!      |

|{border: 1px solid black;text-align:center; background-color: #F7F2F7;}. _Versión 3_    |{border: 1px solid black;text-align:center; background-color: #F7F2F7;}. !V3.jpg!      |

|{border: 1px solid black;text-align:center; background-color: #F7F2F7;}. _Versión 4_    |{border: 1px solid black;text-align:center; background-color: #F7F2F7;}. !V4.jpg!      |

|{border: 1px solid black;text-align:center; background-color: #F7F2F7;}. _Versión 5_    |{border: 1px solid black;text-align:center; background-color: #F7F2F7;}. !V5.jpg!      |

|{border: 1px solid black;text-align:center; background-color: #F7F2F7;}. _Versión 6_    |{border: 1px solid black;text-align:center; background-color: #F7F2F7;}. !V6A.jpg!     |

|{border: 1px solid black;text-align:center; background-color: #F7F2F7;}. _Versión 7_    |{border: 1px solid black;text-align:center; background-color: #F7F2F7;}. !V7final.jpg!     |

h1=. **Código Utilizado**

Interfaz Gráfica 

<pre>

import socket

import tkinter as tk

from tkinter import font, messagebox

import threading

class EV3ControlApp:

    contador_subir = 0

    contador_bajar = 1

    contador_abrir = 1

    contador_cerrar = 0

    def __init__(self, master):

        self.master = master

        self.master.title("EV3 Control Panel")

        self.master.configure(bg='#1a1a1a')

        self.master.geometry('600x400')

        self.sock = None

        # Configuración de columnas y filas

        self.master.grid_columnconfigure(0, weight=1)

        self.master.grid_columnconfigure(1, weight=1)

        self.master.grid_columnconfigure(2, weight=1)

        self.master.grid_columnconfigure(3, weight=1)

        self.master.grid_rowconfigure(10, weight=1)

        self.master.grid_rowconfigure(11, weight=1)

        self.master.grid_rowconfigure(12, weight=1)

        self.master.grid_rowconfigure(13, weight=1)

        self.master.grid_rowconfigure(14, weight=1)

        self.master.grid_rowconfigure(15, weight=1)

        # Configuración de fuentes y estilo

        self.btn_font = font.Font(family='Helvetica', size=14, weight='bold')

        self.bg_color = '#2e2e2e'

        self.fg_color = 'white'

        self.active_bg = '#4d4d4d'

        self.padx = 15

        self.pady = 15

        # Crear widgets

        self.create_widgets()

    def create_widgets(self):

        self.ip_label = tk.Label(self.master, text="IP del EV3:", font=self.btn_font, bg=self.master['bg'], fg=self.fg_color)

        self.ip_label.grid(row=10, column=1, padx=self.padx, pady=self.pady)

        self.ip_entry = tk.Entry(self.master, font=self.btn_font, bg=self.bg_color, fg=self.fg_color)

        self.ip_entry.grid(row=10, column=2, padx=self.padx, pady=self.pady)

        self.btn_connect = tk.Button(self.master, text="Conectar", font=self.btn_font, bg=self.bg_color, fg=self.fg_color,

                                      activebackground=self.active_bg, command=self.start_connect_thread)

        self.btn_connect.grid(row=10, column=3, padx=self.padx, pady=self.pady)

        # Botones de control de movimiento

        self.btn_up = tk.Button(self.master, text="▲", font=self.btn_font, bg=self.bg_color, fg=self.fg_color,

                                activebackground=self.active_bg, command=self.move_up)

        self.btn_up.grid(row=11, column=1, padx=self.padx, pady=self.pady, sticky="nsew")

        self.btn_left = tk.Button(self.master, text="", font=self.btn_font, bg=self.bg_color, fg=self.fg_color,

                                  activebackground=self.active_bg, command=self.move_left)

        self.btn_left.grid(row=12, column=0, padx=self.padx, pady=self.pady, sticky="nsew")

        self.btn_stop = tk.Button(self.master, text="■", font=self.btn_font, bg=self.bg_color, fg=self.fg_color,

                                  activebackground=self.active_bg, command=self.stop)

        self.btn_stop.grid(row=12, column=1, padx=self.padx, pady=self.pady, sticky="nsew")

        self.btn_right = tk.Button(self.master, text="", font=self.btn_font, bg=self.bg_color, fg=self.fg_color,

                                   activebackground=self.active_bg, command=self.move_right)

        self.btn_right.grid(row=12, column=2, padx=self.padx, pady=self.pady, sticky="nsew")

        self.btn_down = tk.Button(self.master, text="▼", font=self.btn_font, bg=self.bg_color, fg=self.fg_color,

                                  activebackground=self.active_bg, command=self.move_down)

        self.btn_down.grid(row=13, column=1, padx=self.padx, pady=self.pady, sticky="nsew")

        self.btn_claw_updown = tk.Button(self.master, text="Subir/Bajar garra", font=self.btn_font, bg=self.bg_color, fg=self.fg_color,

                                          activebackground=self.active_bg, command=self.handle_updown)

        self.btn_claw_updown.grid(row=12, column=3, padx=self.padx, pady=self.pady, sticky="nsew")

        self.btn_claw_openclose = tk.Button(self.master, text="Abrir/Cerrar garra", font=self.btn_font, bg=self.bg_color, fg=self.fg_color,

                                             activebackground=self.active_bg, command=self.handle_openclose)

        self.btn_claw_openclose.grid(row=13, column=3, padx=self.padx, pady=self.pady, sticky="nsew")

        self.btn_stop_handle = tk.Button(self.master, text="Parar garra", font=self.btn_font, bg=self.bg_color, fg=self.fg_color,

                                          activebackground='#ff4c4c', command=self.stop_handle)

        self.btn_stop_handle.grid(row=14, column=3, columnspan=2, padx=self.padx, pady=self.pady, sticky="nsew")

        self.btn_quit = tk.Button(self.master, text="Cerrar servidor", font=self.btn_font, bg='#ff5c5c', fg=self.fg_color,

                                  activebackground='#ff4c4c', command=self.quit_app)

        self.btn_quit.grid(row=15, column=1, columnspan=2, padx=self.padx, pady=self.pady, sticky="nsew")

    def start_connect_thread(self):

        ip = self.ip_entry.get()

        if self.is_valid_ip(ip):

            threading.Thread(target=self.connect, args=(ip,), daemon=True).start()

        else:

            messagebox.showerror("Error de entrada", "La dirección IP ingresada no es válida.")

    def is_valid_ip(self, ip):

        parts = ip.split('.')

        if len(parts) != 4:

            return False

        for part in parts:

            if not part.isdigit() or not (0 <= int(part) < 256):

                return False

        return True

    def connect(self, ip):

        try:

            if self.sock is not None:

                self.sock.close()

            self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

            self.sock.connect((ip, 8080))

            messagebox.showinfo("Conexión", "Conectado correctamente al EV3.")

            self.enable_controls(True)

        except Exception as e:

            messagebox.showerror("Error de conexión", f"No se pudo conectar a {ip}. \n{str(e)}")

            self.enable_controls(False)

    def enable_controls(self, state):

        self.btn_up.config(state=tk.NORMAL if state else tk.DISABLED)

        self.btn_left.config(state=tk.NORMAL if state else tk.DISABLED)

        self.btn_stop.config(state=tk.NORMAL if state else tk.DISABLED)

        self.btn_right.config(state=tk.NORMAL if state else tk.DISABLED)

        self.btn_down.config(state=tk.NORMAL if state else tk.DISABLED)

        self.btn_claw_updown.config(state=tk.NORMAL if state else tk.DISABLED)

        self.btn_claw_openclose.config(state=tk.NORMAL if state else tk.DISABLED)

        self.btn_stop_handle.config(state=tk.NORMAL if state else tk.DISABLED)

        self.btn_quit.config(state=tk.NORMAL if state else tk.DISABLED)

    def send_command(self, command):

        if self.sock:

            self.sock.sendall(command.encode('utf-8'))

    def move_up(self):

        self.send_command('w')

    def move_down(self):

        self.send_command('s')

    def move_left(self):

        self.send_command('a')

    def move_right(self):

        self.send_command('d')

    def stop(self):

        self.send_command('x')

    def handle_updown(self):

        if EV3ControlApp.contador_bajar == 0:

            self.send_command('g')

            EV3ControlApp.contador_bajar += 1

            EV3ControlApp.contador_subir = 0

        else:

            self.send_command('t')

            EV3ControlApp.contador_subir += 1

            EV3ControlApp.contador_bajar = 0

    def handle_openclose(self):

        if EV3ControlApp.contador_cerrar == 0:

            self.send_command('f')

            EV3ControlApp.contador_cerrar += 1

            EV3ControlApp.contador_abrir = 0

        else:

            self.send_command('r')

            EV3ControlApp.contador_abrir += 1

            EV3ControlApp.contador_cerrar = 0

    def stop_handle(self):

        self.send_command('c')

    def quit_app(self):

        if EV3ControlApp.contador_abrir == 0:

            self.send_command('r')

        if EV3ControlApp.contador_bajar == 0:

            self.send_command('g')

        self.send_command('c')

        self.send_command('q')

        self.sock.close()

        self.master.quit()

if __name__ == "__main__":

    root = tk.Tk()

    app = EV3ControlApp(root)

    root.mainloop()

</pre>

EV3

<pre>

from ev3dev2.motor import MoveTank , OUTPUT_A, OUTPUT_B, LargeMotor , OUTPUT_C, MediumMotor, OUTPUT_D

import time

mov_garra = LargeMotor(OUTPUT_C)

garra = MediumMotor(OUTPUT_D)

tankmoves = MoveTank(OUTPUT_A, OUTPUT_B)

def move_up():

    """Mueve el robot hacia adelante."""

    print("Avanzar")

    tankmoves.on(25, 25)

def move_down():

    """Mueve el robot hacia atrás."""

    print("Retroceder")

    tankmoves.on(-25, -25)

def move_right():

    """Gira el robot a la derecha."""

    print("Derecha")

    tankmoves.on(5, -5)

def move_left():

    """Gira el robot a la izquierda."""

    print("Izquierda")

    tankmoves.on(-5, 5)

def handle_up():

    """Gira el robot a la izquierda."""

    print("Subiendo")

    mov_garra.on(-7)

    time.sleep(4)

    mov_garra.off()

def handle_down():

    """Gira el robot a la izquierda."""

    print("Bajando")

    mov_garra.on(7)

    time.sleep(4)

    mov_garra.off()

def handle_open():

    print("Abriendo")

    garra.on(3)

def handle_close():

    print("Cerrando")

    garra.on(-3)

def stop_handle():

    print("Deteniendo garra")

    garra.off()

def stop():

    print("Detenido")

    tankmoves.off()

</pre>

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