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userI0.py
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userI0.py
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from Tkinter import *
import random
#from pynput import ket,listener
from PyCmdMessenger import PyCmdMessenger
import PyCmdMessenger
import matlab.engine
import serial
#import sys
#sys.exit(0)
#import arduino
pressedB = ""
pressed = FALSE
letter = ""
i = 0
x = []
y = []
z = []
def main():
global pressedB
global pressed
global letter
global i
global x
global y
global z
def find_shortest_path(graph, start, end, path=[]):
path = path + [start]
if start == end:
return path
if not graph.has_key(start):
return None
shortest = None
for node in graph[start]:
if node not in path:
newpath = find_shortest_path(graph, node, end, path)
if newpath:
if not shortest or len(newpath) < len(shortest):
shortest = newpath
return shortest
def dist(start, end):
graph = {
'Q': ['A', 'W'],
'W': ['Q', 'S', 'E'],
'E': ['W', 'D', 'R'],
'R': ['E', 'F', 'T'],
'T': ['R', 'G', 'Y'],
'Y': ['T', 'H', 'U'],
'U': ['Y', 'J', 'I'],
'I': ['U', 'K', 'O'],
'O': ['I', 'L', 'P'],
'P': ['O', ';', '['],
'A': ['T', 'H', 'U'],
'S': ['A', 'X', 'D', 'W'],
'D': ['S', 'C', 'F', 'E'],
'F': ['D', 'V', 'G', 'R'],
'G': ['F', 'T', 'H', 'V'],
'H': ['Y', 'G', 'B', 'J'],
'J': ['H', 'N', 'K', 'U'],
'K': ['J', 'M', 'L', 'I'],
'L': ['K', 'O'],
'Z': ['X', 'A'],
'X': ['Z', 'C', 'S'],
'C': ['X', 'V', 'D'],
'V': ['C', 'B', 'F'],
'B': ['V', 'N', 'G'],
'N': ['B', 'M', 'H'],
'M': ['N', 'J']
}
return len(find_shortest_path(graph, start, end))
def keyPressed(e):
print e.char
global pressedB
global pressed
pressedB = str(e.char)
pressedB = pressedB.upper()
pressed = FALSE
if(i!=0 & pressedB.isdigit() != TRUE):
global z
global letter
z.append(dist(letter, pressedB))
if(i>=3):
normalCommand()
else:
randomCommand()
def randomCommand():
if(i==0):
main()
global letter
letter = input.get()
letter = letter.upper()
print(letter)
global x
global y
x.append(random.randrange(200, 500))
y.append(random.randrange(200, 650))
pressed = TRUE
c.send("Rotate", x[i])
c.send("Wrist", y[i])
c.send("Hammer")
c.send("Return", y[i], x[i])
global i
i += 1
def normalCommand():
eng = matlab.engine.connect_matlab()
eng.cd(r'C:\Users\Joshua Peterson\Documents\GitHub\MachineLearningArm\MatLabScripts')
out = eng.ConeFit(matlab.double(x), matlab.double(y), matlab.double(z))
print(out)
pressed = TRUE
minX = (out % 1000)
out = out - minX
minY = out/1000
print(minX)
print(minY)
#print(outy)
x.append(minX)
y.append(minY)
c.send("Rotate", x[i])
c.send("Wrist", y[i])
c.send("Hammer")
c.send("Return", y[i], x[i])
global i
i += 1
#future = matlab.engine.8uuurrrrrrrrrrrrrrrrrrrrrrrrrrconnect_matlab(async=True)
main()
board = PyCmdMessenger.ArduinoBoard("COM4",baud_rate=9600)
commands = [["Wrist","i"],["Hammer",""],["Rotate","i"],["Return","ii"]]
c = PyCmdMessenger.CmdMessenger(board,commands)
root = Tk()
root.bind('<KeyRelease>', keyPressed)
label = Label(root, text="test a letter")
label.pack(side = LEFT)
input = Entry()
input.pack(side = RIGHT)
#submit = Button(text="submit", command=buttonPressed)
#submit.pack()
root.mainloop()