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This commit is contained in:
weijian 2022-08-31 19:57:09 +08:00
parent b6ab7a9dad
commit 0064082778
1 changed files with 8 additions and 20 deletions
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28
Mira/mira/scripts/simple_gui.py
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@ -33,7 +33,7 @@ class Window:
# 计算 Tk 根窗口的 x 和 y 坐标 # 计算 Tk 根窗口的 x 和 y 坐标
x = (self.ws / 2) - 190 x = (self.ws / 2) - 190
y = (self.hs / 2) - 250 y = (self.hs / 2) - 250
self.win.geometry("430x350+{}+{}".format(int(x), int(y))) self.win.geometry("450x350+{}+{}".format(int(x), int(y)))
# layout. 布局 # layout. 布局
self.set_layout() self.set_layout()
# input. 输入部分 # input. 输入部分
@ -52,12 +52,12 @@ class Window:
) )
# Gripper Switch. 夹爪开关按钮 # Gripper Switch. 夹爪开关按钮
tk.Button(self.frmLB, text="Gripper Open", command=self.gripper_open, width=10).grid( # tk.Button(self.frmLB, text="Gripper Open", command=self.gripper_open, width=10).grid(
row=1, column=0, sticky="w", padx=3, pady=50 # row=1, column=0, sticky="w", padx=3, pady=50
) # )
tk.Button(self.frmLB, text="Gripper Close", command=self.gripper_close, width=10).grid( # tk.Button(self.frmLB, text="Gripper Close", command=self.gripper_close, width=10).grid(
row=1, column=1, sticky="w", padx=3, pady=2 # row=1, column=1, sticky="w", padx=3, pady=2
) # )
def connect_ser(self): def connect_ser(self):
rospy.init_node("simple_gui", anonymous=True, disable_signals=True) rospy.init_node("simple_gui", anonymous=True, disable_signals=True)
@ -257,23 +257,11 @@ class Window:
# show label"mm" .mm 单位展示 # show label"mm" .mm 单位展示
self.unit = tk.StringVar() self.unit = tk.StringVar()
self.unit.set("mm") self.unit.set("mm")
for i in range(4): for i in range(3):
tk.Label(self.frmLC, textvariable=self.unit, font=("Arial", 9)).grid( tk.Label(self.frmLC, textvariable=self.unit, font=("Arial", 9)).grid(
row=i, column=5 row=i, column=5
) )
def gripper_open(self):
try:
self.switch_gripper(True)
except ServiceException:
pass
def gripper_close(self):
try:
self.switch_gripper(False)
except ServiceException:
pass
def get_coord_input(self): def get_coord_input(self):
# Get the data input by coord and send it to the robotic arm # Get the data input by coord and send it to the robotic arm
# 获取 coord 输入的数据，发送给机械臂 # 获取 coord 输入的数据，发送给机械臂