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brazo.py
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brazo.py
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from matplotlib.widgets import Slider, RadioButtons
from mpl_toolkits.mplot3d import Axes3D
import matplotlib.pyplot as plt
import numpy as np
from sympy import *
def main():
myRobot=Draw_Robot()
class Draw_Robot():
def __init__(self):
'''VARIABLES'''
ARTICULACIONES = int(3) #numero de ARTICULACIONES
#lo dejo asi con la idea de que se pueda elejir el numero en el futuro
self.l = np.array([0, 100, 100]) # longitudes
self.x = np.array([0]*ARTICULACIONES,dtype=float) #componente x
self.y = np.array([0]*ARTICULACIONES,dtype=float) #componente y
self.z = np.array([0]*ARTICULACIONES,dtype=float) #componente z
#Variables temporales para calcular groebner para guardar los datos de los slidders
self.tx=0
self.ty=100
self.tz=100
self.estado_posible = True
self.modo = 0
#Calculos de Groebner previos para obtener los angulos en funcion de el punto de destino
a,b,c1,c2,s1,s2,l2,l3 = var("a,b,c1,c2,s1,s2,l2,l3")
eq= [a-l3*(c1*c2-s1*s2)-l2*c1, b-l3*(c1*s2+c2*s1)-l2*s1, c1**2+s1**2-1,c2**2+s2**2-1]
R = QQ.frac_field(a,b,l2,l3)
G = groebner(eq,c2,s2,c1,s1,order='lex',domain=R)
self.c2_var = solve(G[0].subs([(l2,self.l[1]),(l3,self.l[2])]),c2)
self.s1_var = solve(G[3].subs([(l2,self.l[1]),(l3,self.l[2]),(c2,self.c2_var)]),s1)
self.s2_var = []
self.s2_var.append(solve(G[1].subs([(l2,self.l[1]),(l3,self.l[2]),(c2,self.c2_var),(s1,self.s1_var[0])]),s2)[0])
self.s2_var.append(solve(G[1].subs([(l2,self.l[1]),(l3,self.l[2]),(c2,self.c2_var),(s1,self.s1_var[1])]),s2)[0])
self.c1_var = []
self.c1_var.append(solve(G[2].subs([(l2,self.l[1]),(l3,self.l[2]),(c2,self.c2_var),(s1,self.s1_var[0]),(s2,self.s2_var[0])]),c1)[0])
self.c1_var.append(solve(G[2].subs([(l2,self.l[1]),(l3,self.l[2]),(c2,self.c2_var),(s1,self.s1_var[1]),(s2,self.s2_var[1])]),c1)[0])
self.fig = plt.figure("Brazo Simple") #create the frame
#self.fig.patch.set_facecolor('white')
self.ax = plt.axes([0, 0.2, 1, .8], projection='3d') #3d ax panel
self.axerror = plt.axes([0.40, 0.92, 0.001, .001])#panel for error message
'''Dibujamos los widgets'''
#dibujamos el slider panel de la X
axxval = plt.axes([0.35, 0.12, 0.45, 0.03])
self.x_val = Slider(axxval, 'X', -150, 150, valinit=self.tx)
self.x_val.set_active(False)
#dibujamos el slider panel de la Y
axyval = plt.axes([0.35, 0.0775, 0.45, 0.03])
y_val = Slider(axyval, 'Y', -150, 150, valinit=self.ty)
#dibujamos el slider panel de la Z
axzval = plt.axes([0.35, 0.035, 0.45, 0.03])
z_val = Slider(axzval, 'Z', 0, 200, valinit=self.tz)
#radio buttons para seleccion de modo
rax = plt.axes([0.05, 0.02, 0.22, 0.12])#, axisbg=axcolor)
rax.set_title('Modo', fontsize=12)
set_modo = RadioButtons(rax, ('2D (X disable)', '3D (X enable)'), active=0)
'''Manejadores de eventos para los widgets'''
def actualiza_val_x(val): # x slider event
self.tx = val
self.draw_robot()
self.x_val.on_changed(actualiza_val_x)
def actualiza_val_y(val):#y slider event
self.ty= val
self.draw_robot()
y_val.on_changed(actualiza_val_y)
def actualiza_val_z(val):#z slider event
self.tz = val
self.draw_robot()
z_val.on_changed(actualiza_val_z)
def seleccion_modo(label):#Radio Button Modo
if label==('2D (X disable)'):
self.modo = 0
self.x_val.set_active(False)
self.x_val.reset()
if label==('3D (X enable)'):
self.modo = 1
self.x_val.set_active(True)
set_modo.on_clicked(seleccion_modo)
self.display_error()#draw the error and hide it
self.draw_robot()#draw function to draw robot
plt.show()#end of constructor
'''Funciones de clase'''
def display_error(self):
self.axerror.set_visible(False)
self.axerror.set_yticks([])
self.axerror.set_xticks([])
self.axerror.set_navigate(False)
self.axerror.text(0, 0, 'El brazo no alcanza esa posicion!', style='oblique',
bbox={'facecolor':'red', 'alpha':0.5, 'pad':10}, size=20, va = 'baseline')
#Hace todos los calculos y cambia las variables, ademas, si no es posible alcanzar el punto lo indica
def calcula_groebner3D(self):
dist = sqrt(self.tx**2+self.ty**2)
s1,s2,c1= [],[],[]
s1.append(self.s1_var[0].subs([(a, dist), (b,self.tz)]))
s1.append(self.s1_var[1].subs([(a, dist), (b,self.tz)]))
s2.append(self.s2_var[0].subs([(a, dist), (b,self.tz)]))
s2.append(self.s2_var[1].subs([(a, dist), (b,self.tz)]))
c1.append(self.c1_var[0].subs([(a, dist), (b,self.tz)]))
c1.append(self.c1_var[1].subs([(a, dist), (b,self.tz)]))
if(im(c1[0])==0 and im(s1[0])==0 and im(s2[0])==0):
self.estado_posible = True
if(self.tx>0 and self.ty>0):
fi = atan(self.ty/self.tx)
elif(self.tx>0 and self.ty<0):
fi = atan(self.ty/self.tx) + 2*pi
elif(self.tx<0):
fi = atan(self.ty/self.tx) + pi
elif(self.tx==0 and self.ty>0):
fi = pi/2
else:
fi = -pi/2
if ( s1[0]*self.l[1] > 0 ):
self.x[1] = self.l[1]*c1[0]*cos(fi)
self.y[1] = self.l[1]*c1[0]*sin(fi)
self.z[1] = self.l[1]*s1[0]
else:
self.x[1] = self.l[1]*c1[1]*cos(fi)
self.y[1] = self.l[1]*c1[1]*sin(fi)
self.z[1] = self.l[1]*s1[1]
self.x[2] = self.tx
self.y[2] = self.ty
self.z[2] = self.tz
else :
self.estado_posible = False
#Hace todos los calculos y cambia las variables, ademas, si no es posible alcanzar el punto lo indica
def calcula_groebner2D(self):
s1,s2,c1= [],[],[]
s1.append(self.s1_var[0].subs([(a, self.ty), (b,self.tz)]))
s1.append(self.s1_var[1].subs([(a, self.ty), (b,self.tz)]))
s2.append(self.s2_var[0].subs([(a, self.ty), (b,self.tz)]))
s2.append(self.s2_var[1].subs([(a, self.ty), (b,self.tz)]))
c1.append(self.c1_var[0].subs([(a, self.ty), (b,self.tz)]))
c1.append(self.c1_var[1].subs([(a, self.ty), (b,self.tz)]))
if(im(c1[0])==0 and im(s1[0])==0 and im(s2[0])==0):
self.estado_posible = True
self.x[1] = 0
if (s1[0]*self.l[1]>0):
self.y[1] = c1[0]*self.l[1]
self.z[1] = s1[0]*self.l[1]
else :
self.y[1] = c1[1]*self.l[1]
self.z[1] = s1[1]*self.l[1]
self.x[2] = 0
self.y[2] = self.ty
self.z[2] = self.tz
else :
self.estado_posible = False
def set_positions(self):#gets the x,y,z values for the line.
#convert arrays to lists for drawing the line
xs = np.array(self.x).tolist()
ys = np.array(self.y).tolist()
zs = np.array(self.z).tolist()
self.ax.cla() #clear current axis
#draw new lines, two lines for "fancy" looks
self.ax.plot(xs, ys, zs, 'o-', markersize=20,
markerfacecolor="orange", linewidth = 8, color="blue")
self.ax.plot(xs, ys, zs, 'o-', markersize=4,
markerfacecolor="blue", linewidth = 1, color="silver")
def set_ax(self):#ax panel set up
self.ax.set_xlim3d(-200, 200)
self.ax.set_ylim3d(-200, 200)
self.ax.set_zlim3d(-5, 200)
self.ax.set_xlabel('X axis')
self.ax.set_ylabel('Y axis')
self.ax.set_zlabel('Z axis')
for j in self.ax.get_xticklabels() + self.ax.get_yticklabels(): #hide ticks
j.set_visible(False)
self.ax.set_axisbelow(True) #send grid lines to the background
def draw_robot(self):#draw and update the 3D panel
if self.modo==0:
self.calcula_groebner2D()
else:
self.calcula_groebner3D()
if self.estado_posible:#check boundaries
self.axerror.set_visible(False)#turn off error message panel
self.set_positions()
self.set_ax()
else:
self.axerror.set_visible(True)#display error message panel
plt.draw()
if __name__ == '__main__':
main()