Project Initialization

First Upload to Gitea
2026-07-29 19:23:45 +02:00
commit c34449aac5
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+import tkinter as tk
+from tkinter import ttk
+
+# --- Conversion functions ---
+def nm_to_kgcm(tau_nm):
+    return tau_nm * 10.197
+
+# --- Torque calculation function ---
+def calculate():
+    # Get user inputs
+    mass_total = float(mass_total_var.get())
+    legs_supporting = int(legs_supporting_var.get())
+    g = 9.81
+    coxa_len = float(coxa_len_var.get())
+    femur_len = float(femur_len_var.get())
+    tibia_len = float(tibia_len_var.get())
+    safety_factor = float(safety_factor_var.get())
+    servo_torque_max = float(servo_torque_max_var.get())
+
+    # Derived values
+    mass_per_leg = mass_total / legs_supporting
+    force_per_leg = mass_per_leg * g
+
+    # Torques (Nm)
+    tau_tibia = force_per_leg * tibia_len
+    tau_femur = force_per_leg * (femur_len + tibia_len)
+    tau_coxa = force_per_leg * coxa_len
+
+    # Apply safety factor
+    tau_tibia_req = tau_tibia * safety_factor
+    tau_femur_req = tau_femur * safety_factor
+    tau_coxa_req = tau_coxa * safety_factor
+
+    # Convert to kg·cm
+    coxa_kgcm = nm_to_kgcm(tau_coxa)
+    femur_kgcm = nm_to_kgcm(tau_femur)
+    tibia_kgcm = nm_to_kgcm(tau_tibia)
+    coxa_kgcm_req = nm_to_kgcm(tau_coxa_req)
+    femur_kgcm_req = nm_to_kgcm(tau_femur_req)
+    tibia_kgcm_req = nm_to_kgcm(tau_tibia_req)
+
+    # Update info labels
+    info_label.config(
+        text=(
+            f"Mass per leg: {mass_per_leg:.3f} kg\n"
+            f"Force per leg: {force_per_leg:.2f} N\n"
+            f"Servo max torque: {servo_torque_max:.2f} kg·cm\n"
+            f"Safety Factor: x{safety_factor:.2f}"
+        )
+    )
+
+    # Update progress bars
+    update_bar(coxa_bar, coxa_val, coxa_kgcm, servo_torque_max)
+    update_bar(femur_bar, femur_val, femur_kgcm, servo_torque_max)
+    update_bar(tibia_bar, tibia_val, tibia_kgcm, servo_torque_max)
+
+    update_bar(coxa_bar_req, coxa_val_req, coxa_kgcm_req, servo_torque_max)
+    update_bar(femur_bar_req, femur_val_req, femur_kgcm_req, servo_torque_max)
+    update_bar(tibia_bar_req, tibia_val_req, tibia_kgcm_req, servo_torque_max)
+
+
+def update_bar(bar, label, value, limit):
+    ratio = min(value / limit, 1.0)
+    percent = (value / limit) * 100
+    bar["value"] = percent if percent <= 100 else 100
+    label.config(text=f"{value:.2f} / {limit:.2f} kg·cm")
+    if value <= limit:
+        bar.configure(style="Green.Horizontal.TProgressbar")
+    else:
+        bar.configure(style="Red.Horizontal.TProgressbar")
+
+
+# --- Tkinter GUI ---
+root = tk.Tk()
+root.title("Hexapod Torque Estimator (Live)")
+root.geometry("700x700")
+root.resizable(False, False)
+
+mainframe = ttk.Frame(root, padding=10)
+mainframe.pack(fill="both", expand=True)
+
+# Progress bar styles
+style = ttk.Style(root)
+style.theme_use("clam")
+style.configure("Green.Horizontal.TProgressbar", troughcolor="#333", background="#4CAF50")
+style.configure("Red.Horizontal.TProgressbar", troughcolor="#333", background="#F44336")
+
+# Input variables
+mass_total_var = tk.DoubleVar(value=1.08)
+legs_supporting_var = tk.IntVar(value=3)
+coxa_len_var = tk.DoubleVar(value=0.056)
+femur_len_var = tk.DoubleVar(value=0.072)
+tibia_len_var = tk.DoubleVar(value=0.07)
+safety_factor_var = tk.DoubleVar(value=4.5)
+servo_torque_max_var = tk.DoubleVar(value=2.3)
+
+# --- Layout ---
+def add_input(label, variable, from_, to, step=0.01):
+    frame = ttk.Frame(mainframe)
+    frame.pack(fill="x", pady=3)
+    ttk.Label(frame, text=label, width=25).pack(side="left")
+    entry = ttk.Entry(frame, textvariable=variable, width=8)
+    entry.pack(side="left")
+    scale = ttk.Scale(frame, variable=variable, from_=from_, to=to, command=lambda e: calculate())
+    scale.pack(side="left", fill="x", expand=True, padx=10)
+    return entry
+
+add_input("Total Mass [kg]", mass_total_var, 0.1, 5.0)
+
+# Integer spinbox for legs supporting
+frame = ttk.Frame(mainframe)
+frame.pack(fill="x", pady=3)
+ttk.Label(frame, text="Legs Supporting", width=25).pack(side="left")
+spin = ttk.Spinbox(frame, from_=1, to=6, textvariable=legs_supporting_var, width=8, command=calculate)
+spin.pack(side="left")
+
+add_input("Coxa Length [m]", coxa_len_var, 0.03, 0.1)
+add_input("Femur Length [m]", femur_len_var, 0.03, 0.15)
+add_input("Tibia Length [m]", tibia_len_var, 0.03, 0.15)
+add_input("Safety Factor", safety_factor_var, 1.0, 3.0)
+add_input("Servo Torque Max [kg·cm]", servo_torque_max_var, 1.0, 5.0)
+
+# Info label
+info_label = ttk.Label(mainframe, text="", justify="left", font=("Courier", 10))
+info_label.pack(pady=10)
+
+# Function to create a labeled progress bar
+def add_progress(label_text):
+    frame = ttk.Frame(mainframe)
+    frame.pack(fill="x", pady=3)
+    ttk.Label(frame, text=label_text, width=10).pack(side="left")
+    bar = ttk.Progressbar(frame, length=400, maximum=100)
+    bar.pack(side="left", padx=5)
+    val_label = ttk.Label(frame, width=20, anchor="w")
+    val_label.pack(side="left")
+    return bar, val_label
+
+# --- Without Safety Factor ---
+ttk.Label(mainframe, text="Without Safety Factor", font=("Helvetica", 11, "bold")).pack(pady=(15, 3))
+coxa_bar, coxa_val = add_progress("Coxa")
+femur_bar, femur_val = add_progress("Femur")
+tibia_bar, tibia_val = add_progress("Tibia")
+
+# --- With Safety Factor ---
+ttk.Label(mainframe, text="With Safety Factor", font=("Helvetica", 11, "bold")).pack(pady=(15, 3))
+coxa_bar_req, coxa_val_req = add_progress("Coxa")
+femur_bar_req, femur_val_req = add_progress("Femur")
+tibia_bar_req, tibia_val_req = add_progress("Tibia")
+
+# Auto-update on variable changes
+for var in [mass_total_var, legs_supporting_var, coxa_len_var, femur_len_var, tibia_len_var, safety_factor_var, servo_torque_max_var]:
+    var.trace_add("write", lambda *args: calculate())
+
+# Initial calculation
+calculate()
+
+root.mainloop()