Proyecto I 2022 » Grupo 2 B 2022

h1=. Código e implementación

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h2. Interfaz de usuario (GUI)

Código de la interfaz de usuario del proyecto. Permite controlar al robot mediante una conexión wi-fi usando teclas o botones. Posee diversas funciones que incluyen movimiento, utilidad y manejo de conexión con el robot.

<pre><code class="python">

#//Proyecto Robot Robo-Cleaner

# //Imports

from tkinter import *

from tkinter import messagebox

from tkinter import ttk

import socket

from setuptools import Command

root = Tk()

root.title("Robo-Cleaner")

root.resizable(False, False)

root.geometry("900x400")

# //Conexión Socket

client = socket.socket()

port = 12345

def get_IP():

    vtn_ip = Tk()

    vtn_ip.geometry("275x100")

    vtn_ip.resizable(False,False)

    vtn_ip.title("Ajustes de la Conexión IP")

    inform = Label(vtn_ip,text="Dirección IP: ").place(x=10, y=10)

    addr = StringVar(vtn_ip)

    ip = ttk.Entry(vtn_ip, textvariable = addr).place(x=100, y=10)

    boton = Button(vtn_ip, text = "Establecer", command = lambda:[conection(addr.get()+""), vtn_ip.destroy()]).place(x=98, y=50)

    print(addr.get())

def conection(addr):

    port = 12345

    try:

        client.connect((addr, port))

        messagebox.showinfo("Mensaje Recibido", "El host se conectó al robot: \nDirección IP: {0}\nPuerto: {1}".format(addr,port))

    except socket.error:

        messagebox.showwarning("Error de conexión", "No se logró realizar la conexión. \nRevise la dirección IP e intentelo nuevamente. \nDirección IP: " + addr)

        get_IP()

        client.close()

# //Funciones 

def Upward(event):

    client.send(bytes([ord('i')]))

def Backwards(event):

    client.send(bytes([ord('k')]))

def LeftTurn(event):

    client.send(bytes([ord('j')]))

def RightTurn(event):

    client.send(bytes([ord('l')]))

def Rotate(event):

    client.send(bytes([ord('p')]))

def Automatic():

    client.send(bytes([ord('a')]))

def disconection():

    client.send(bytes([ord('q')]))

def Halt(event):

    client.send(bytes([ord('w')]))

# //Diseño de botones

check_photo = PhotoImage(file="checked.png")

exit_photo = PhotoImage(file="exit.png")

automatic_photo = PhotoImage(file="letter-a.png")

root_canvas = Canvas(root, width=900, height=400)

root_canvas.pack(fil="both", expand=True)

root_canvas.create_image(260, 100, image=check_photo, anchor="nw")

root_canvas.create_image(260, 140, image=exit_photo, anchor="nw")

root_canvas.create_image(260, 180, image=automatic_photo, anchor="nw")

# //Botones y texto de la interfaz tkinter

title_label = Label(root, text="[ Robo-Cleaner Interface ]", font=("Helvetica", 14), width=20, foreground="#757575").place(x=330, y=30)

version_label = Label(root, text="Version 1.1", font=("Helvetica", 12), width=12, foreground="#757575").place(x=120, y=340)

botton_connect = Button(root, text="Conectar", font=("Helvetica", 12), width=12, bg="RoyalBlue1", foreground="white", command=get_IP).place(x=120, y=100)

botton_disconect = Button(root, text="Desconectar", font=("Helvetica", 12), width=12, bg="RoyalBlue1", foreground="white", command=disconection).place(x=120, y=140)

botton_automatic = Button(root, text="Automatico", font=("Helvetica", 12), width=12, bg="RoyalBlue1", foreground="white",command=Automatic).place(x=120, y=180)

botton_forward = Button(root, text="Adelante", font=("Helvetica",12), width=12, bg="RoyalBlue1", foreground="white")

botton_forward.place(x=550, y=100)

botton_forward.bind('<ButtonPress>',Upward)

botton_forward.bind('<ButtonRelease>',Halt)

botton_rotate = Button(root, text="Rotar Helice", font=("Helvetica", 12), width=12, bg="RoyalBlue1", foreground="white")

botton_rotate.place(x=550, y=140)

botton_rotate.bind('<ButtonPress>',Rotate)

botton_rotate.bind('<ButtonRelease>',Halt)

botton_rotate_left = Button(root, text="Rotar Izq", font=("Helvetica", 12), width=12, bg="RoyalBlue1", foreground="white")

botton_rotate_left.place(x=420, y=140)

botton_rotate_left.bind('<ButtonPress>',LeftTurn)

botton_rotate_left.bind('<ButtonRelease>',Halt)

botton_rotate_right = Button(root, text="Rotar Dere", font=("Helvetica", 12), width=12, bg="RoyalBlue1", foreground="white")

botton_rotate_right.place(x=680, y=140)

botton_rotate_right.bind('<ButtonPress>',RightTurn)

botton_rotate_right.bind('<ButtonRelease>',Halt)

botton_backward = Button(root, text="Atras", font=("Helvetica", 12), width= 12, bg="RoyalBlue1", foreground="white")

botton_backward.place(x=550, y=180)

botton_backward.bind('<ButtonPress>',Backwards)

botton_backward.bind('<ButtonRelease>',Halt)

botton_close = Button(root, text=" Salir ", command=root.destroy, font=("Helvetica", 14), width=12).place(x=700, y=340)

#Protocolos y mainloop

root.protocol("WM_DELETE_WINDOWS")

root.mainloop()

</code></pre>

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h2. Parte operacional (código órdenes del robot)

Parte del código perteneciente a los movimientos y acciones que puede realizar el robot.

<pre><code class="python">

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

from ev3dev2.sensor import INPUT_1, INPUT_4

from ev3dev2.sensor.lego import UltrasonicSensor, ColorSensor

tank = MoveTank(OUTPUT_A, OUTPUT_B)

mot_rot= MediumMotor(OUTPUT_D)

prox = UltrasonicSensor(INPUT_1)

col = ColorSensor(INPUT_4)

def Automatic():

    while (col.color != 6):

        while (prox.distance_centimeters_continuous > 5):

            tank.on(left_speed= 90, right_speed= 90)

            if (col.color == 6):

                tank.off(brake=True)

                break

        else:

            tank.off(brake=True)

            mot_rot.on_for_seconds(speed = 75, seconds = 1, brake=True)

    tank.off(brake=True)

def Upward():

    tank.on(left_speed= 90, right_speed= 90)

def Backwards():

    tank.on(left_speed= -90, right_speed= -90)

def LeftTurn():

    tank.on(left_speed= 90, right_speed= -90)

def RightTurn():

    tank.on(left_speed= -90, right_speed= 90)

def Rotate():

    mot_rot.on(speed = 75, brake=True)

def Halt():

    tank.off(brake=True)

    mot_rot.off(brake=True)

</code></pre>

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h2. Receptor de operaciones (ladrillo EV3)

Parte del código perteneciente a la lectura o interpretación de órdenes enviadas desde el PC en el ladrillo EV3

<pre><code class="python">

#!/usr/bin/env python3

import socket

from operations import *

conector = socket.socket()

puerto = 12345

conector.bind(('', puerto))

conector.listen(5)

conexion, addr = conector.accept()

while True:

    dato_puro = conexion.recv(1)

    key = dato_puro.decode("utf-8")

    if (key == 'i'):

        Upward()

    if (key == 'k'):

        Backwards()

    if (key == 'j'):

        LeftTurn()

    if (key == 'l'):

        RightTurn()

    if (key == 'p'):

        Rotate()

    if (key == 'a'):

        Automatic()

    if (key == 'q'):

        break

    if (key == 'w'):

        Halt()

</code></pre>

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