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