makeblock_bluetooth.py

#--------------------------------------------------
# Python program to interact with and 
# control a MakeBlock Robot.
# Author: David Cotterill-Drew 2016
# Email: [email protected]
#--------------------------------------------------
# Imports
#--------------------------------------------------

from bluepy.btle import *
from Tkinter import *
import Tkinter as tk
from tkFileDialog   import askopenfilename
from PIL import Image, ImageTk

root = tk.Tk()

#-------------------------------------------------
# Global variables
#-------------------------------------------------

data2=0
conn = Peripheral("00:0D:19:12:3B:38")
dataflag=0
#-------------------------------------------------
# Speed & Range Frames
#-------------------------------------------------

framespeed = Frame(root,width=600,height=1000)
framespeed.grid(row=1, column=1, padx=10, pady=10)

framerange = Frame(root,width=600,height=1000)
framerange.grid(row=0, column=1, padx=10, pady=10)

#-------------------------------------------------
# Range Data & Label
#-------------------------------------------------

dattext = Label(framerange, text="RANGE cms",fg='black')
dattext.grid(row=0, column=0, padx=10, pady=5)

dat = Label(framerange, text=data2,fg='red',bg='white')
dat.grid(row=2, column=0, padx=0, pady=0)

#-------------------------------------------------
# Handle 0x000e notification
#-------------------------------------------------

class NotificationHandler(DefaultDelegate):                                               
	def handleNotification(self, cHandle, data):	
	         data2=ord(data)                                	
		 dat.configure(text=data2)                
		 
#-------------------------------------------------
# Speed Slider
#-------------------------------------------------

speed = IntVar()
speed = Scale(framespeed, from_=1, to=9,orient=HORIZONTAL, variable=speed, fg='red')
speed.grid(row=1, column=0, padx=10, pady=0)

#-------------------------------------------------
# Direction & Arm/Grip Frames
#-------------------------------------------------

frame = Frame(root,width=600,height=1000)
frame.grid(row=0, column=0, padx=10, pady=10)
framearm = Frame(root,width=600,height=1000)
framearm.grid(row=1, column=0, padx=10, pady=10)

#-------------------------------------------------
# More Labels
#-------------------------------------------------

nav= Label(frame, text="DIRECTION",fg='black')
nav.grid(row=0, column=1, padx=0, pady=10)
arm= Label(framearm, text="ARM",fg='black')
arm.grid(row=0, column=1, padx=0, pady=0)
grip= Label(framearm, text="GRIP",fg='black')
grip.grid(row=0, column=0, padx=0, pady=0)
speed1= Label(framespeed, text="SPEED",fg='black')
speed1.grid(row=0, column=0, padx=0, pady=0)

#------------------------------------------------
# Title
#------------------------------------------------

root.wm_title("Bluetooth MakeBlock")

#------------------------------------------------
# Photo's
#------------------------------------------------

photo1 = tk.PhotoImage(file="rsz_left.png")
photo2 = tk.PhotoImage(file="rsz_right.png")
photo3 = tk.PhotoImage(file="rsz_up.png")
photo4 = tk.PhotoImage(file="rsz_down.png")
photo5 = tk.PhotoImage(file="rsz_stop.png")
photo6 = tk.PhotoImage(file="enter.png")

#------------------------------------------------
# Menu
#------------------------------------------------

menu = Menu(root)

root.config(menu=menu)
filemenu = Menu(menu)
helpmenu = Menu(menu)

def About():
    print "MakeBlock Bluetooth Robot Control"

def Settings():
    print "will write it soon"

filemenu.add_command(label="Exit", command=root.quit)
menu.add_cascade(label="Help", menu=helpmenu)
helpmenu.add_command(label="About...", command=About)
helpmenu.add_command(label="Settings...", command=Settings)

#-------------------------------------------------
# Control Functions
#-------------------------------------------------

def forward():
   conn.writeCharacteristic(0x0011, '\x66', False)
   conn.disconnect

def back():
   conn.writeCharacteristic(0x0011, '\x62', False)
   conn.disconnect

def right():
   conn.writeCharacteristic(0x0011, '\x72', False)
   conn.disconnect

def left():
   conn.writeCharacteristic(0x0011, '\x6C', False)
   conn.disconnect

def stop():
   conn.writeCharacteristic(0x0011, '\x73', False)
   conn.disconnect

def Holder_Up():
   conn.writeCharacteristic(0x0011, '\x61', False)
   conn.disconnect

def Holder_Down():
   conn.writeCharacteristic(0x0011, '\x63', False)
   conn.disconnect

def Hand_open():
   conn.writeCharacteristic(0x0011, '\x64', False)
   conn.disconnect

def Hand_close():
   conn.writeCharacteristic(0x0011, '\x65', False)
   conn.disconnect

def speed_1():
   conn.writeCharacteristic(0x0011, '\x31', False)
   conn.disconnect

def speed_2():
   conn.writeCharacteristic(0x0011, '\x32', False)
   conn.disconnect

def speed_3():
   conn.writeCharacteristic(0x0011, '\x33', False)
   conn.disconnect

def speed_4():
   conn.writeCharacteristic(0x0011, '\x34', False)
   conn.disconnect

def speed_5():
   conn.writeCharacteristic(0x0011, '\x35', False)
   conn.disconnect

def speed_6():
   conn.writeCharacteristic(0x0011, '\x36', False)
   conn.disconnect

def speed_7():
   conn.writeCharacteristic(0x0011, '\x37', False)
   conn.disconnect

def speed_8():
   conn.writeCharacteristic(0x0011, '\x38', False)
   conn.disconnect

def speed_9():
   conn.writeCharacteristic(0x0011, '\x39', False)
   conn.disconnect

def RangeOn():  
   conn.setDelegate(NotificationHandler())   
   conn.writeCharacteristic(0x0011, '\x6d', False) 
   conn.waitForNotifications(1)       
   conn.disconnect
 
def RangeOff():
    conn.writeCharacteristic(0x0011, '\x6e', False)
    dat.configure(text="Range Off")
    conn.disconnect
#--------------------------------------------------
# Slider Function
#--------------------------------------------------

def getsliderval():
   if (speed.get()==1):
	speed_1()
   elif (speed.get()==2):
	speed_2()
   elif (speed.get()==3):
	speed_3()
   elif (speed.get()==4):
	speed_4()
   elif (speed.get()==5):
	speed_5()
   elif (speed.get()==6):
	speed_6()    
   elif (speed.get()==7):
	speed_7()
   elif (speed.get()==8):
	speed_8()
   elif (speed.get()==9):
	speed_9()

#--------------------------------------------------- 
# Buttons
#---------------------------------------------------
# Direction Buttons
#---------------------------------------------------

forwardbutton = Button(frame, text="Forward", command=forward, image=photo3)
forwardbutton.grid(row=1, column=1, padx=0, pady=5)

backbutton = Button(frame, text="Reverse",command=back, image=photo4)
backbutton.grid(row=3, column=1, padx=0, pady=5)

rightbutton = Button(frame, text="Right", command =right, image=photo2)
rightbutton.grid(row=2, column=2, padx=0, pady=0)

leftbutton = Button(frame, text="Left", command=left,image=photo1)
leftbutton.grid(row=2, column=0, padx=0, pady=0)

stopbutton = Button(frame, text="Stop",  command=stop, image=photo5)
stopbutton.grid(row=2, column=1, padx=0, pady=0)

#----------------------------------------------------
# Arm Buttons
#----------------------------------------------------

HolderUpbutton = Button(framearm,text="Up",command=Holder_Up,image=photo3)
HolderUpbutton.grid(row=1, column=1, padx=10, pady=5)

HolderDownbutton = Button(framearm,text="Down",command=Holder_Down, image=photo4)
HolderDownbutton.grid(row=3, column=1, padx=10, pady=5)

stopbutton2 = Button(framearm, text="Stop", command=stop, image=photo5)
stopbutton2.grid(row=2, column=1, padx=10, pady=5)

#----------------------------------------------------
# Grip Buttons
#----------------------------------------------------

HandClosebutton = Button(framearm, text="Close",command=Hand_close,image=photo4)
HandClosebutton.grid(row=3, column=0, padx=10, pady=5)

HandOpenbutton = Button(framearm,text="Open",command=Hand_open,image=photo3)
HandOpenbutton.grid(row=1, column=0, padx=10, pady=5)

stopbutton3 = Button(framearm, text="Stop", command=stop, image=photo5)
stopbutton3.grid(row=2, column=0, padx=10, pady=5)

#----------------------------------------------------
# Speed Set Button
#----------------------------------------------------

setspeed = Button(framespeed, text="ENTER", command=getsliderval,bg='#0066cc',fg='white')
setspeed.grid(row=2, column=0, padx=10, pady=10)

#----------------------------------------------------
# Range Button
#----------------------------------------------------

rangeonbutton = Button(framerange, text="Range On",  command=RangeOn, repeatinterval=5, repeatdelay=5,bg='#0066cc',fg='white')
rangeonbutton.grid(row=1, column=0, padx=10, pady=10)

rangeoffbutton = Button(framerange, text="Range Off",  command=RangeOff,bg='#0066cc',fg='white')
rangeoffbutton.grid(row=3, column=0, padx=10, pady=10)

root.mainloop()