Recordable Cardboard Robot Arm

1#include <Servo.h>
2
3Servo servo1;
4Servo servo2;
5Servo servo3;
6Servo servo4;
7Servo servo5;
8
9int servoPositions[5];
10
11void setup() {
12  Serial.begin(9600);
13  servo1.attach(3);
14  servo2.attach(5);
15  servo3.attach(6);
16  servo4.attach(9);
17  servo5.attach(10);
18}
19
20void loop() {
21  while(Serial.available()){
22    String input = Serial.readStringUntil('\n');
23    servoPositions[0] = input.substring(0,3).toInt();
24    servoPositions[1] = input.substring(3,6).toInt();
25    servoPositions[2] = input.substring(6,9).toInt();
26    servoPositions[3] = input.substring(9,12).toInt();
27    servoPositions[4] = input.substring(12,15).toInt();
28  }
29
30  servo1.write(servoPositions[0]);
31  servo2.write(servoPositions[1]);
32  servo3.write(servoPositions[2]);
33  servo4.write(servoPositions[3]);
34  servo5.write(servoPositions[4]);
35  
36  delay(500);
37}

1from tkinter import *
2from tkinter import filedialog
3import serial
4import time
5
6port_opened=False
7
8def set_port():
9    global port_opened,arduino
10    com_port= port_input.get()
11    arduino=serial.Serial(com_port,9600)
12    port_opened=True
13    print ("COM port set to: "+com_port)
14
15def send_positions(position):
16    message = "{0:0=3d}".format(position[0])+"{0:0=3d}".format(position[1])+"{0:0=3d}".format(position[2])+"{0:0=3d}".format(position[3])+"{0:0=3d}".format(position[4])+"\n"
17    arduino.write(str.encode(message))
18    print(message, end='')
19    time.sleep(0.2)
20
21saved_positions = []
22
23def save_positions():
24    saved_positions.append([servo1_slider.get(), servo2_slider.get(), servo3_slider.get(), servo4_slider.get(), servo5_slider.get()]);
25    print("saved positions: "+str(saved_positions))
26
27def play_positions():
28    for position in saved_positions:
29        print("playing: "+str(position))
30        send_positions(position);
31        time.sleep(1)
32
33def clear_all_positions():
34    global saved_positions
35    saved_positions = []
36    print("cleared all positions")
37
38def clear_last_positions():
39    global saved_positions
40    removed = saved_positions.pop()
41    print("removed: "+str(removed))
42    print("saved positions: "+str(saved_positions))
43
44def open_file():
45    global saved_positions
46    filename = filedialog.askopenfilename(initialdir = "/", title = "Select a File", filetypes = (("Text files","*.txt*"),("all files","*.*")))
47    file = open(filename, "r")
48    data=file.read()
49    saved_positions=eval(data)
50    file.close()
51    print("opened: "+filename)
52
53def save_file():
54    save_file = filedialog.asksaveasfile(mode='w', defaultextension=".txt")
55    save_file.write(str(saved_positions))
56    save_file.close()
57    print("saved file")
58
59def instructions():
60    print("1.) Set the Arduino's COM port and click Enter. This can be found in Device Manager in Windows")
61    print("2.) Move the arm's servos using the sliders")
62    print("3.) To record a position, click on Record Position")
63    print("4.) To replay the recorded positions, click on Replay Positions")
64    print("\nTo save what you've recorded, got to File > Save File.")
65    print("To open a previously saved file, got to File > Open File.")
66
67window = Tk()
68window.title("Robot Arm Controller 2")
69window.minsize(355,300)
70
71port_label=Label(window,text="Set Port:");
72port_label.place(x=10,y=10);
73port_input=Entry(window)
74port_input.place(x=10,y=35)
75port_button=Button(window, text="Enter", command=set_port)
76port_button.place(x=135,y=32)
77
78servo1_slider = Scale(window, from_=180, to=0)
79servo1_slider.place(x=0, y=100)
80servo1_label=Label(window,text="Servo 1")
81servo1_label.place(x=10, y=80)
82
83servo2_slider = Scale(window, from_=180, to=0)
84servo2_slider.place(x=70, y=100)
85servo2_label=Label(window,text="Servo 2")
86servo2_label.place(x=80, y=80)
87
88servo3_slider = Scale(window, from_=180, to=0)
89servo3_slider.place(x=140, y=100)
90servo3_label=Label(window,text="Servo 3")
91servo3_label.place(x=150, y=80)
92
93servo4_slider = Scale(window, from_=180, to=0)
94servo4_slider.place(x=210, y=100)
95servo4_label=Label(window,text="Servo 4")
96servo4_label.place(x=220, y=80)
97
98servo5_slider = Scale(window, from_=180, to=0)
99servo5_slider.place(x=280, y=100)
100servo5_label=Label(window,text="Servo 5")
101servo5_label.place(x=290, y=80)
102
103save_button=Button(window, text="Record Position", command=save_positions)
104save_button.place(x=10,y=220)
105
106clear_button=Button(window, text="Clear Last Position", command=clear_last_positions)
107clear_button.place(x=120,y=220)
108
109clear_button=Button(window, text="Clear All Positions", command=clear_all_positions)
110clear_button.place(x=120,y=255)
111
112play_button=Button(window, text="Replay Positions", command=play_positions, height=3)
113play_button.place(x=250,y=220)
114
115menubar = Menu(window)
116filemenu = Menu(menubar, tearoff=0)
117filemenu.add_command(label="Open File", command=open_file)
118filemenu.add_command(label="Save File", command=save_file)
119menubar.add_cascade(label="File", menu=filemenu)
120
121editmenu = Menu(menubar, tearoff=0)
122editmenu.add_command(label="Clear last position", command=clear_last_positions)
123editmenu.add_command(label="Clear all positions", command=clear_all_positions)
124menubar.add_cascade(label="Edit", menu=editmenu)
125
126helpmenu = Menu(menubar, tearoff=0)
127helpmenu.add_command(label="How to use (printed in console)", command=instructions)
128menubar.add_cascade(label="Help", menu=helpmenu)
129
130window.config(menu=menubar)
131
132while True:
133    window.update()
134    if(port_opened):
135        send_positions([servo1_slider.get(), servo2_slider.get(), servo3_slider.get(), servo4_slider.get(), servo5_slider.get()])