Usa Tkinter para crear la GUI del simulador

.gitignore

@@ -1,3 +1,13 @@
+# Images
+*.png
+*.ico
+
+# IntelliJ project files
+.idea
+*.iml
+out
+gen
+
 # Byte-compiled / optimized / DLL files
 __pycache__/
 *.py[cod]
@@ -127,3 +137,77 @@ dmypy.json
 
 # Pyre type checker
 .pyre/
+
+
+### JetBrains template
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# User-specific stuff
+.idea/**/workspace.xml
+.idea/**/tasks.xml
+.idea/**/usage.statistics.xml
+.idea/**/dictionaries
+.idea/**/shelf
+
+# Generated files
+.idea/**/contentModel.xml
+
+# Sensitive or high-churn files
+.idea/**/dataSources/
+.idea/**/dataSources.ids
+.idea/**/dataSources.local.xml
+.idea/**/sqlDataSources.xml
+.idea/**/dynamic.xml
+.idea/**/uiDesigner.xml
+.idea/**/dbnavigator.xml
+
+# Gradle
+.idea/**/gradle.xml
+.idea/**/libraries
+
+# Gradle and Maven with auto-import
+# When using Gradle or Maven with auto-import, you should exclude module files,
+# since they will be recreated, and may cause churn.  Uncomment if using
+# auto-import.
+# .idea/artifacts
+# .idea/compiler.xml
+# .idea/jarRepositories.xml
+# .idea/modules.xml
+# .idea/*.iml
+# .idea/modules
+# *.iml
+# *.ipr
+
+# CMake
+cmake-build-*/
+
+# Mongo Explorer plugin
+.idea/**/mongoSettings.xml
+
+# File-based project format
+*.iws
+
+# IntelliJ
+out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Cursive Clojure plugin
+.idea/replstate.xml
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+
+# Editor-based Rest Client
+.idea/httpRequests
+
+# Android studio 3.1+ serialized cache file
+.idea/caches/build_file_checksums.ser

README.md

@@ -1 +1,3 @@
-# mlf-sim
+# mlf-sim
+
+Simulador del robot MK2. Las imágenes utilizadas en el código se encuentran en <a href="https://drive.google.com/drive/folders/15hEw-D7YEgFCm1U_-46KibJb-yGSLQgf?usp=sharing">esta carpeta de Google Drive</a>.

RepeatButton.py

@@ -0,0 +1,31 @@
+import tkinter.ttk as ttk
+
+'''
+Wrapper for ttk.Button which repeatinterval and repeatdelay options.
+Taken from https://stackoverflow.com/a/29824277
+'''
+
+
+class RepeatButton(ttk.Button):
+    def __init__(self, *args, **kwargs):
+
+        self.callback = kwargs.pop('command', None)
+        self.repeatinterval = kwargs.pop('repeatinterval', 100)
+        self.repeatdelay = kwargs.pop('repeatdelay', 300)
+
+        ttk.Button.__init__(self, *args, **kwargs)
+
+        if self.callback:
+            self.bind('<ButtonPress-1>', self.click)
+            self.bind('<ButtonRelease-1>', self.release)
+
+    def click(self, event=None):
+        self.callback()
+        self.after_id = self.after(self.repeatdelay, self.repeat)
+
+    def repeat(self):
+        self.callback()
+        self.after_id = self.after(self.repeatinterval, self.repeat)
+
+    def release(self, event=None):
+        self.after_cancel(self.after_id)

tarea_2.py

@@ -1,33 +1,54 @@
-import numpy as np
+from tkinter import *
+from tkinter import ttk
+from PIL import Image, ImageTk
+
 import matplotlib.pyplot as plt
-from matplotlib.pyplot import Slider, Button
+from matplotlib.pyplot import Figure
+from matplotlib.pyplot import Slider
+from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
 
 from mk2robot import MK2Robot
+from RepeatButton import RepeatButton
+
+# Create main window
+root = Tk()
+root.iconbitmap("MLF.ico")
+root.title("My Little Factory")
+
+# A Frame that's going to contain the other widgets.
+mainframe = ttk.Frame(root)
+mainframe.grid(column=0, row=0, sticky=(N, W, E, S))
+
+root.columnconfigure(0, weight=1)
+root.rowconfigure(0, weight=1)
 
 
 """ 1. Useful functions """
 
+
 def update(val):
     # This function is called ny time a slider value changes
     robot.update_pose(q0_slider.val, q1_slider.val, q2_slider.val)
     [X_pos, Y_pos, Z_pos] = robot.get_joint_positions()
     plot_robot(X_pos, Y_pos, Z_pos)
     fig.canvas.draw_idle()
 
+
 def plot_robot(X_pos, Y_pos, Z_pos):
-
     # Clear figure
     ax.clear()
 
     # Plot the data
-    ax.scatter(0, 0, 0, zdir='z', s=30)                                     # Origin
-    ax.plot([0,X_pos[0]],[0,Y_pos[0]],[0,Z_pos[0]])                         # L0
-    ax.plot([X_pos[0],X_pos[1]],[Y_pos[0],Y_pos[1]],[Z_pos[0],Z_pos[1]])    # L1
-    ax.plot([X_pos[1],X_pos[2]],[Y_pos[1],Y_pos[2]],[Z_pos[1],Z_pos[2]])    # L2
-    ax.plot([X_pos[2],X_pos[3]],[Y_pos[2],Y_pos[3]],[Z_pos[2],Z_pos[3]])    # L3
-    ax.scatter(X_pos, Y_pos, Z_pos, zdir='z', s=20)                         # Joints
+    ax.scatter(0, 0, 0, zdir='z', s=30)                                          # Origin
+    ax.plot([0, X_pos[0]], [0, Y_pos[0]], [0, Z_pos[0]])                         # L0
+    ax.plot([X_pos[0], X_pos[1]], [Y_pos[0], Y_pos[1]], [Z_pos[0], Z_pos[1]])    # L1
+    ax.plot([X_pos[1], X_pos[2]], [Y_pos[1], Y_pos[2]], [Z_pos[1], Z_pos[2]])    # L2
+    ax.plot([X_pos[2], X_pos[3]], [Y_pos[2], Y_pos[3]], [Z_pos[2], Z_pos[3]])    # L3
+    ax.scatter(X_pos, Y_pos, Z_pos, zdir='z', s=20)                              # Joints
 
     # Make it prettier
+    ax.set_title('MK2 Arm Simulator')
+
     ax.set_ylabel('Y [mm]')
     ax.set_xlabel('X [mm]')
     ax.set_zlabel('Z [mm]')
@@ -38,29 +59,40 @@ def plot_robot(X_pos, Y_pos, Z_pos):
     ax.set_zlim(0, 300)
 
 
-
 """ 2. The actual script """
 
 # Spawn a robot!
 robot = MK2Robot(link_lengths=[55, 39, 135, 147, 66.3])
 robot.update_pose(0, 0, 90)
 [X_pos, Y_pos, Z_pos] = robot.get_joint_positions()
 
+# Change the style of the plots.
+plt.style.use('ggplot')
+
 # Create the figure
-fig = plt.figure()
+fig = Figure()
 ax = fig.add_subplot(111, projection='3d')
+fig.set_facecolor(ax.get_facecolor())
 
 # Plot the robot for the first time
 plot_robot(X_pos, Y_pos, Z_pos)
 
 axcolor = 'lightgoldenrodyellow'
 ax.margins(x=0)
 
-# Adjust the main plot to make room for the sliders
-plt.subplots_adjust(bottom=0.4)
+# Add to the mainframe
+canvas = FigureCanvasTkAgg(fig, mainframe)
+canvas.get_tk_widget().grid(row=0, column=0, columnspan=3)
+
+
+""" 3. Sliders creation """
+
+# Create a Figure for the sliders
+fig_slider = Figure(figsize=(6, 1))
+fig_slider.set_facecolor(ax.get_facecolor())
 
 # Make horizontal sliders
-axq0 = plt.axes([0.1, 0.1, 0.8, 0.03], facecolor=axcolor)
+axq0 = fig_slider.add_axes([0.1, 0.1, 0.8, 0.08])
 q0_slider = Slider(
     ax=axq0,
     label='q0 [º]',
@@ -69,7 +101,7 @@ def plot_robot(X_pos, Y_pos, Z_pos):
     valinit=0,
 )
 
-axq1 = plt.axes([0.1, 0.2, 0.8, 0.03], facecolor=axcolor)
+axq1 = fig_slider.add_axes([0.1, 0.45, 0.8, 0.08])
 q1_slider = Slider(
     ax=axq1,
     label='q1 [º]',
@@ -78,7 +110,7 @@ def plot_robot(X_pos, Y_pos, Z_pos):
     valinit=0,
 )
 
-axq2 = plt.axes([0.1, 0.3, 0.8, 0.03], facecolor=axcolor)
+axq2 = fig_slider.add_axes([0.1, 0.8, 0.8, 0.08])
 q2_slider = Slider(
     ax=axq2,
     label='q2 [º]',
@@ -92,8 +124,102 @@ def plot_robot(X_pos, Y_pos, Z_pos):
 q1_slider.on_changed(update)
 q2_slider.on_changed(update)
 
-# Now we are ready to go
-plt.show()
+# Add the sliders to the mainframe
+canvas2 = FigureCanvasTkAgg(fig_slider, mainframe)
+canvas2.get_tk_widget().grid(row=1, column=2, rowspan=3, sticky=W)
+
+
+""" 4. Buttons creation """
+
+
+def slider_setter(slider):
+    def move_left_slider():
+        return slider.set_val(max(slider.val - 1, slider.valmin))
+
+    def move_right_slider():
+        return slider.set_val(min(slider.val + 1, slider.valmax))
+    return move_left_slider, move_right_slider
+
+
+# Set the functions called from the Buttons.
+left_q0, right_q0 = slider_setter(q0_slider)
+left_q1, right_q1 = slider_setter(q1_slider)
+left_q2, right_q2 = slider_setter(q2_slider)
+
+# Icons made by Freepik from www.flaticon.com
+left_img = Image.open("left.png")
+left_img = left_img.resize((16, 16))
+right_img = Image.open("right.png")
+right_img = right_img.resize((16, 16))
+
+left_img = ImageTk.PhotoImage(left_img)
+right_img = ImageTk.PhotoImage(right_img)
+
+# Make Buttons
+left_q0_btn = RepeatButton(
+    mainframe,
+    image=left_img,
+    command=left_q0,
+    repeatinterval=100,
+    repeatdelay=10
+)
+
+right_q0_btn = RepeatButton(
+    mainframe,
+    image=right_img,
+    command=right_q0,
+    repeatinterval=100,
+    repeatdelay=10
+)
+
+left_q1_btn = RepeatButton(
+    mainframe,
+    image=left_img,
+    command=left_q1,
+    repeatinterval=100,
+    repeatdelay=10
+)
+
+right_q1_btn = RepeatButton(
+    mainframe,
+    image=right_img,
+    command=right_q1,
+    repeatinterval=100,
+    repeatdelay=10
+)
+
+left_q2_btn = RepeatButton(
+    mainframe,
+    image=left_img,
+    command=left_q2,
+    repeatinterval=100,
+    repeatdelay=10)
+
+right_q2_btn = RepeatButton(
+    mainframe,
+    image=right_img,
+    command=right_q2,
+    repeatinterval=100,
+    repeatdelay=10
+)
+
+left_q0_btn.grid(row=3, column=0, sticky=E, padx=(20, 5), pady=5)
+right_q0_btn.grid(row=3, column=1, sticky=W, padx=5, pady=5)
+left_q1_btn.grid(row=2, column=0, sticky=E, padx=(20, 5), pady=5)
+right_q1_btn.grid(row=2, column=1, sticky=W, padx=5, pady=5)
+left_q2_btn.grid(row=1, column=0, sticky=E, padx=(20, 5), pady=5)
+right_q2_btn.grid(row=1, column=1, sticky=W, padx=5, pady=5)
+
+
+# Create an style to get the background of matplotlib plots.
+background = fig.get_facecolor()
+background = [int(background[i]*255) for i in range(3)]
+background = [hex(background[i])[2:] for i in range(3)]
+bg = f"#{background[0]}{background[1]}{background[2]}"
 
+s = ttk.Style()
+s.configure('.', background=bg)
 
 
+# Start the loop to print on screen.
+root.mainloop()