Proyecto I 2022 » Grupo 6 A 2022

*Índice:* 

* [[Introducción]]

* [[Organización y planificación]]

* [[Análisis y diseño]]

* [[Código e implementación]]

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h1. Código e implementación

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{{collapse(Interfaz gráfica (GUI))

<pre><code class="python">

import tkinter as tk

from tkinter import ttk

from tkinter import *

import socket 

ventana = tk.Tk()

ventana.config(width=900, height=700)

ventana.title("Interfaz -> Gorilla-Tank")

ventana.configure(bg="gray25")

def Arriba(event= None):

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

def Abajo(event=None):

    clientSocket.send(bytes([ord('s')]))

def Izquierda(event=None):

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

def Derecha(event=None):

    clientSocket.send(bytes([ord('d')]))

def Disparar(event=None):

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

def Angulo():

    if(opcion.get()=="45"):

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

    elif(opcion.get() == "0"):

        clientSocket.send(bytes([ord('o')]))

def Luciano():

    clientSocket.send(bytes([ord('f')]))

def Distancia():

    clientSocket.send(bytes([ord('m')]))

def on_realese(event):

    print("click realese")

    clientSocket.send(bytes([ord(' ')]))

def Cannon(event):

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

def getAddres():

    w_ip = Tk()

    w_ip.geometry("300x100")

    dato = StringVar(w_ip)

    w_ip.title("Configurar Ip")

    ip = ttk.Entry(w_ip,textvariable=dato).place(x=10,y=10)

    button = Button(w_ip,text =" Aplicar",command=lambda:[conectar(dato.get()),w_ip.destroy()]).place(x=170,y=9)

    print(dato.get())

def conectar(adress):

    port = 19999

    try:

        clientSocket.connect((adress,port))

        messagebox.showinfo("Mensaje Servido","Cliente conectado al robot: {0} : {1}".format(adress,port))

    except socket.error:

        messagebox.showwarning("Conexión erronea","No se ha logrado al conexíon, verifique la Ip {0}".format(adress))

        getAddres()

        clientSocket.close()

img2 = tk.PhotoImage(file="gorilla.png")

lnl_img2 = tk.Label(ventana,image = img2, bg = "gray25").place(x=80,y=0)

img3 = tk.PhotoImage(file="Angulo.png")

lnl_img3 = tk.Label(ventana,image = img3,bg = "gray25").place(x=600,y=100)

opcion=StringVar()

angulo = Spinbox(ventana,state="readonly",values=("0","45"),textvariable=opcion).place(x=600,y=270)

boton_angulo = Button(ventana, text="Ingresar", command=Angulo,background = "gray25",fg="white",font=("Arial Black",10)).place(x=600, y=300)

img4 = tk.PhotoImage(file="ONOFF.png")

boton_salir = Button(ventana,image=img4, command=ventana.destroy,bg = "gray25").place(x=600, y=390)

img_boton_arri = tk.PhotoImage(file="Arriba.png")

boton_arriba = tk.Button(repeatdelay=50,repeatinterval=50,image=img_boton_arri,command=Arriba, background = "gray25")

boton_arriba.place(x=170, y=340)

boton_arriba.bind('<ButtonRelease-1>',on_realese)

img_boton_abaj = tk.PhotoImage(file="Abajo.png")

boton_abajo = tk.Button(repeatdelay=50,repeatinterval=50,image=img_boton_abaj,command=Abajo, background = "gray25")

boton_abajo.place(x=170, y=450)

boton_abajo.bind('<ButtonRelease-1>',on_realese)

img_boton_izq = tk.PhotoImage(file="Izquierda.png")

boton_izq = tk.Button(repeatdelay=50,repeatinterval=50,image=img_boton_izq,command=Izquierda, background = "gray25")

boton_izq.place(x=60, y=400)

boton_izq.bind('<ButtonRelease-1>',on_realese)

img_boton_derech = tk.PhotoImage(file="Derecha.png")

boton_derech = tk.Button(repeatdelay=50,repeatinterval=50,image=img_boton_derech,command=Derecha, background = "gray25")

boton_derech.place(x=280, y=400)

boton_derech.bind('<ButtonRelease-1>',on_realese)

ventana.mainloop()

</code></pre>

}}

{{collapse(Servidor)

<pre><code class="python">

import socket

from Function import *

s = socket.socket()

print("Socket creado")

port = 19999

s.bind( ("", port) )

print("El socket se creo con puerto:{}".format(port))

s.listen(5)

print("EL socket is listening....")

connect, addr = s.accept()

print("Se conecto a {}".format(addr))

while True:

    rawByte = connect.recv(1)

    char = rawByte.decode('utf-8')

    if (char == 'w'):

        moveUp()

    if (char == 's'):

        moveDown()

    if (char == 'd'):

        moveRight()

    if (char == 'a'):

        moveLeft()

    if (char == 'p'):

        Disparar()

    if (char == 'f'):

        Luciano()  

    if (char == 'i'):

        Inclinacion45()

    if (char == 'o'):

        Inclinacion0()

    if (char == ' '):

        Stop()

    if (char == 'm'):

        Distancia()

    if (char == 'l'):

        StopCannon()

</code></pre>

}}

{{collapse(Movimientos del robot)

<pre><code class="python">

#!/usr/bin/env python3

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

from ev3dev2.sensor import INPUT_1

from ev3dev2.sensor .lego import UltrasonicSensor

from ev3dev2.sound import Sound

from ev3dev2.led import Leds

motor_angle= LargeMotor(OUTPUT_A)

cannon = MediumMotor(OUTPUT_D)

sonido = Sound()

sensor = UltrasonicSensor(INPUT_1)

sensor.mode = "US-DIST-CM"

tankmoves = MoveTank(OUTPUT_B,OUTPUT_C)

print(sensor.value()/10)

def moveUp():

    print("Moving up...")

    tankmoves.on(SpeedPercent(100),SpeedPercent(100))

def moveDown():

    print("Moving down...")

    tankmoves.on(SpeedPercent(-100),SpeedPercent(-100))

def moveRight():

    print("Moving right...")

    tankmoves.on(SpeedPercent(100),SpeedPercent(-100))

def moveLeft():

    print("Moving left...")

    tankmoves.on(SpeedPercent(-100),SpeedPercent(100))

def Inclinacion0():

    motor_angle.on_for_degrees(7,55,brake=True)

def Inclinacion45():

    motor_angle.on_for_degrees(7,-55,brake=True)

def Disparar():    

    cannon.on(SpeedPercent(-100))

def Apuntar():

    sensor.value #valor del sensor en milimetro

def Luciano():

    sonido.speak("gorila tank mak two")

def Distancia():

    while(sensor.value()/10 <= 100 or sensor.value()/10 >= 110):

        print(sensor.value()/10)

        if(sensor.value()/10 < 100):

            tankmoves.on(SpeedPercent(-40),SpeedPercent(-40))

        else:

            tankmoves.on(SpeedPercent(40),SpeedPercent(40))

    Stop()

def Stop():

    tankmoves.stop()

def StopCannon():

    cannon.stop()

    sonido.play_file("misioncumplida.wav",100,1)

</code></pre>

}}