6 files changed, 452 insertions, 0 deletions
diff --git a/pythonInterface/.gitignore b/pythonInterface/.gitignore
new file mode 100644
index 0000000..76cd821
--- /dev/null
+++ b/pythonInterface/.gitignore
@@ -0,0 +1 @@
+/.venv/
+\ No newline at end of file
diff --git a/pythonInterface/main.py b/pythonInterface/main.py
new file mode 100644
index 0000000..35068aa
--- /dev/null
+++ b/pythonInterface/main.py
@@ -0,0 +1,131 @@
+import serial.tools.list_ports
+import tkinter as tk
+from tkinter import ttk
+
+class App(tk.Tk):
+
+    def __init__(self):
+        super().__init__()
+        self.estSerialConnection()
+        self.title("Six Axis Robot Arm")
+        self.configure(bg='#1E1E1E')  # Dark background for modern look
+        
+        self.style = ttk.Style(self)
+        self.setup_styles()
+        self.create_widgets()
+        self.update_window_size()
+    
+    def estSerialConnection(self):
+        ports = serial.tools.list_ports.comports()
+        serialInst = serial.Serial()
+        count  = 0
+
+        portsList = []
+        # portvar = ""
+        for onePort in ports:
+            portsList.append(str(onePort))
+            print (str(onePort))
+
+        val = "9"
+
+        for x in range(0,len(portsList)):
+            if portsList[x].startswith("COM" + str(val)):
+                portvar = "COM" + str(val)
+                print (portvar)
+
+        serialInst.baudrate = 115200
+        serialInst.port = portvar
+        serialInst.open()
+    
+    def setup_styles(self):
+        self.style.configure('TFrame', background='#2C2C2C')
+        self.style.configure('TLabel', background='#2C2C2C', foreground='#E8E8E8', font=("Helvetica", 16))
+        self.style.configure('TButton', background='#4CAF50', foreground='#FFFFFF', font=("Helvetica", 14, 'bold'))
+        self.style.configure('TScale', background='#2C2C2C')
+    
+    def create_widgets(self):
+        # Create the main frame
+        main_frame = tk.Frame(self, bg='#1E1E1E')
+        main_frame.pack(fill='both', expand=True)
+        
+        # Create a canvas widget
+        self.canvas = tk.Canvas(main_frame, bg='#1E1E1E', highlightthickness=0)
+        self.canvas.pack(side='left', fill='both', expand=True)
+        
+        # Add a scrollbar to the canvas
+        scrollbar = ttk.Scrollbar(main_frame, orient='vertical', command=self.canvas.yview)
+        scrollbar.pack(side='right', fill='y')
+        
+        # Configure the canvas with the scrollbar
+        self.canvas.configure(yscrollcommand=scrollbar.set)
+        
+        # Create a frame inside the canvas
+        self.scrollable_frame = ttk.Frame(self.canvas)
+        
+        # Add the frame to a window in the canvas
+        self.canvas.create_window((0, 0), window=self.scrollable_frame, anchor='nw')
+        
+        # Update the scrollregion of the canvas whenever the size of the frame changes
+        self.scrollable_frame.bind("<Configure>", lambda e: self.canvas.configure(scrollregion=self.canvas.bbox("all")))
+        
+        # Bind mouse wheel events to the canvas for scrolling
+        self.bind_mouse_wheel(self.canvas)
+        
+        # Create the title label
+        title_label = tk.Label(self.scrollable_frame, text="Six Axis Robot Arm", font=("Helvetica", 30, "bold"), fg="#FFFFFF", bg='#1E1E1E')
+        title_label.pack(pady=20)
+        
+        # Create the slider containers
+        for i in range(1, 7):
+            self.create_slider_container(self.scrollable_frame, i)
+        
+        # Create the serial communication button
+        serial_button = ttk.Button(self.scrollable_frame, text="Serial Communication", command=self.open_serial_communication)
+        serial_button.pack(pady=20)
+    
+    def bind_mouse_wheel(self, widget):
+        # Windows and MacOS use different events for mouse wheel
+        widget.bind_all("<MouseWheel>", self.on_mouse_wheel)
+        widget.bind_all("<Button-4>", self.on_mouse_wheel)
+        widget.bind_all("<Button-5>", self.on_mouse_wheel)
+    
+    def on_mouse_wheel(self, event):
+        # Smooth scrolling by smaller increments
+        if event.num == 5 or event.delta == -120:
+            self.canvas.yview_scroll(1, "units")
+        elif event.num == 4 or event.delta == 120:
+            self.canvas.yview_scroll(-1, "units")
+    
+    def create_slider_container(self, parent, index):
+        frame = ttk.Frame(parent, padding="10 10 10 10")
+        frame.pack(pady=10, padx=20, fill='x')
+        
+        label = ttk.Label(frame, text=f"Motor {index} Control", style='TLabel')
+        label.pack(pady=10)
+        
+        slider = ttk.Scale(frame, from_=0, to=100, orient='horizontal', style='TScale')
+        slider.pack(pady=10, padx=20, fill='x')
+        slider.bind("<Motion>", lambda event, idx=index: self.print_slider_value(idx, slider))
+    
+    def print_slider_value(self, index, slider):
+        value = slider.get()
+        print(f"Motor {index} Value: {int(value)}")
+    
+    def print_slider_to_serial(self, index, slider):
+        value = slider.get()
+        print(f"Motor {index} Value: {int(value)}")
+
+
+    def open_serial_communication(self):
+        # Function to handle serial communication
+        print("Serial Communication Button Pressed")
+    
+    def update_window_size(self):
+        self.update_idletasks()
+        window_height = self.scrollable_frame.winfo_height() // 2 + 150  # Adjusting for 3 sliders visibility and additional space
+        window_width = self.scrollable_frame.winfo_width() + 20  # Adding padding for scrollbar
+        self.geometry(f"{window_width}x{window_height}")
+
+if __name__ == "__main__":
+    app = App()
+    app.mainloop()
diff --git a/pythonInterface/test.py b/pythonInterface/test.py
new file mode 100644
index 0000000..c807c2a
--- /dev/null
+++ b/pythonInterface/test.py
@@ -0,0 +1,152 @@
+import tkinter as tk
+from tkinter import ttk
+import serial
+import threading
+import time
+
+class App(tk.Tk):
+    def __init__(self):
+        super().__init__()
+        self.title("Six Axis Robot Arm")
+        self.configure(bg='#1E1E1E')  # Dark background for modern look
+
+        self.style = ttk.Style(self)
+        self.setup_styles()
+        self.create_widgets()
+        self.update_window_size()
+
+        # Initialize serial communication with Arduino on COM8
+        self.serial_port = serial.Serial('COM8', 9600, timeout=1)  # Change 'COM8' to your desired port
+        self.stop_thread = False
+        self.read_thread = threading.Thread(target=self.read_serial)
+        self.read_thread.start()
+
+    def setup_styles(self):
+        self.style.configure('TFrame', background='#2C2C2C')
+        self.style.configure('TLabel', background='#2C2C2C', foreground='#E8E8E8', font=("Helvetica", 16))
+        self.style.configure('TButton', background='#4CAF50', foreground='#FFFFFF', font=("Helvetica", 14, 'bold'))
+        self.style.configure('TScale', background='#2C2C2C')
+        self.style.configure('TText', background='#1E1E1E', foreground='#E8E8E8', font=("Helvetica", 14))
+
+    def create_widgets(self):
+        # Create the main frame
+        main_frame = tk.Frame(self, bg='#1E1E1E')
+        main_frame.pack(fill='both', expand=True)
+
+        # Create a canvas widget
+        self.canvas = tk.Canvas(main_frame, bg='#1E1E1E', highlightthickness=0)
+        self.canvas.pack(side='left', fill='both', expand=True)
+
+        # Add a scrollbar to the canvas
+        scrollbar = ttk.Scrollbar(main_frame, orient='vertical', command=self.canvas.yview)
+        scrollbar.pack(side='right', fill='y')
+
+        # Configure the canvas with the scrollbar
+        self.canvas.configure(yscrollcommand=scrollbar.set)
+
+        # Create a frame inside the canvas
+        self.scrollable_frame = ttk.Frame(self.canvas)
+
+        # Add the frame to a window in the canvas
+        self.canvas.create_window((0, 0), window=self.scrollable_frame, anchor='nw')
+
+        # Update the scrollregion of the canvas whenever the size of the frame changes
+        self.scrollable_frame.bind("<Configure>", lambda e: self.canvas.configure(scrollregion=self.canvas.bbox("all")))
+
+        # Bind mouse wheel events to the canvas for scrolling
+        self.bind_mouse_wheel(self.canvas)
+
+        # Create the title label
+        title_label = tk.Label(self.scrollable_frame, text="Six Axis Robot Arm", font=("Helvetica", 30, "bold"), fg="#FFFFFF", bg='#1E1E1E')
+        title_label.pack(pady=20)
+
+        # Create the slider containers with new names
+        motor_names = ["Claw", "Wrist 1", "Wrist 2", "Elbow", "Arm", "Base"]
+        for i in range(1, 7):
+            self.create_slider_container(self.scrollable_frame, i, motor_names[i-1])
+
+        # Create the serial communication button
+        serial_button = ttk.Button(self.scrollable_frame, text="Serial Communication", command=self.open_serial_communication)
+        serial_button.pack(pady=20)
+
+        # Create the text widget for serial output
+        self.serial_output = tk.Text(self.scrollable_frame, height=10, wrap='word', bg='#1E1E1E', fg='#E8E8E8', font=("Helvetica", 14))
+        self.serial_output.pack(pady=10, padx=20, fill='x')
+
+    def bind_mouse_wheel(self, widget):
+        # Windows and MacOS use different events for mouse wheel
+        widget.bind_all("<MouseWheel>", self.on_mouse_wheel)
+        widget.bind_all("<Button-4>", self.on_mouse_wheel)
+        widget.bind_all("<Button-5>", self.on_mouse_wheel)
+
+    def on_mouse_wheel(self, event):
+        # Smooth scrolling by smaller increments
+        if event.num == 5 or event.delta == -120:
+            self.canvas.yview_scroll(1, "units")
+        elif event.num == 4 or event.delta == 120:
+            self.canvas.yview_scroll(-1, "units")
+
+    def create_slider_container(self, parent, index, motor_name):
+        frame = ttk.Frame(parent, padding="10 10 10 10")
+        frame.pack(pady=10, padx=20, fill='x')
+
+        label = ttk.Label(frame, text=f"{motor_name} Control", style='TLabel')
+        label.pack(pady=10)
+
+        if index == 1:
+            slider = ttk.Scale(frame, from_=395, to=500, orient='horizontal', style='TScale')
+            slider.set(395)
+        elif index == 2:
+            slider = ttk.Scale(frame, from_=80, to=350, orient='horizontal', style='TScale')
+            slider.set(110)
+        elif index == 3:
+            slider = ttk.Scale(frame, from_=80, to=510, orient='horizontal', style='TScale')
+            slider.set(250)
+        elif index == 4:
+            slider = ttk.Scale(frame, from_=250, to=400, orient='horizontal', style='TScale')
+            slider.set(380)
+        elif index == 5:
+            slider = ttk.Scale(frame, from_=380, to=510, orient='horizontal', style='TScale')
+            slider.set(430)
+        elif index == 6:
+            slider = ttk.Scale(frame, from_=100, to=520, orient='horizontal', style='TScale')
+            slider.set(490)
+
+        slider.pack(pady=10, padx=20, fill='x')
+        slider.bind("<ButtonRelease-1>", lambda event, idx=index-1: self.send_serial_command(idx, slider))
+
+    def send_serial_command(self, index, slider):
+        value = slider.get()
+        command = f"s{index}{int(value):03d}"
+        self.serial_port.write(command.encode())
+        print(f"Sent to Arduino: {command}")
+        time.sleep(0.5)  # Add a delay of 0.5 seconds between serial sends
+
+    def open_serial_communication(self):
+        # Function to handle serial communication
+        print("Serial Communication Button Pressed")
+
+    def update_window_size(self):
+        self.update_idletasks()
+        window_height = self.scrollable_frame.winfo_height() // 2 + 150  # Adjusting for 3 sliders visibility and additional space
+        window_width = self.scrollable_frame.winfo_width() + 20  # Adding padding for scrollbar
+        self.geometry(f"{window_width}x{window_height}")
+
+    def read_serial(self):
+        while not self.stop_thread:
+            if self.serial_port.in_waiting > 0:
+                data = self.serial_port.readline().decode('utf-8').strip()
+                self.serial_output.insert(tk.END, data + "\n")
+                self.serial_output.see(tk.END)
+
+    def on_closing(self):
+        self.stop_thread = True
+        if hasattr(self, 'read_thread'):
+            self.read_thread.join()
+        self.serial_port.close()
+        self.destroy()
+
+if __name__ == "__main__":
+    app = App()
+    app.protocol("WM_DELETE_WINDOW", app.on_closing)
+    app.mainloop()
diff --git a/pythonInterface/testForLatestSerial.py b/pythonInterface/testForLatestSerial.py
new file mode 100644
index 0000000..b11db91
--- /dev/null
+++ b/pythonInterface/testForLatestSerial.py
@@ -0,0 +1,138 @@
+import tkinter as tk
+from tkinter import ttk
+import serial
+import threading
+import time
+
+class App(tk.Tk):
+    def __init__(self):
+        super().__init__()
+        self.title("Six Axis Robot Arm")
+        self.configure(bg='#1E1E1E')  # Dark background for modern look
+
+        self.style = ttk.Style(self)
+        self.setup_styles()
+        self.create_widgets()
+        self.update_window_size()
+
+        # Initialize serial communication with Arduino on COM8
+        self.serial_port = serial.Serial('COM8', 9600, timeout=1)  # Change 'COM8' to your desired port
+        self.stop_thread = False
+        self.read_thread = threading.Thread(target=self.read_serial)
+        self.read_thread.start()
+
+    def setup_styles(self):
+        self.style.configure('TFrame', background='#2C2C2C')
+        self.style.configure('TLabel', background='#2C2C2C', foreground='#E8E8E8', font=("Helvetica", 16))
+        self.style.configure('TButton', background='#4CAF50', foreground='#FFFFFF', font=("Helvetica", 14, 'bold'))
+        self.style.configure('TScale', background='#2C2C2C')
+        self.style.configure('TText', background='#1E1E1E', foreground='#E8E8E8', font=("Helvetica", 14))
+
+    def create_widgets(self):
+        # Create the main frame
+        main_frame = tk.Frame(self, bg='#1E1E1E')
+        main_frame.pack(fill='both', expand=True)
+
+        # Create a canvas widget
+        self.canvas = tk.Canvas(main_frame, bg='#1E1E1E', highlightthickness=0)
+        self.canvas.pack(side='left', fill='both', expand=True)
+
+        # Add a scrollbar to the canvas
+        scrollbar = ttk.Scrollbar(main_frame, orient='vertical', command=self.canvas.yview)
+        scrollbar.pack(side='right', fill='y')
+
+        # Configure the canvas with the scrollbar
+        self.canvas.configure(yscrollcommand=scrollbar.set)
+
+        # Create a frame inside the canvas
+        self.scrollable_frame = ttk.Frame(self.canvas)
+
+        # Add the frame to a window in the canvas
+        self.canvas.create_window((0, 0), window=self.scrollable_frame, anchor='nw')
+
+        # Update the scrollregion of the canvas whenever the size of the frame changes
+        self.scrollable_frame.bind("<Configure>", lambda e: self.canvas.configure(scrollregion=self.canvas.bbox("all")))
+
+        # Bind mouse wheel events to the canvas for scrolling
+        self.bind_mouse_wheel(self.canvas)
+
+        # Create the title label
+        title_label = tk.Label(self.scrollable_frame, text="Six Axis Robot Arm", font=("Helvetica", 30, "bold"), fg="#FFFFFF", bg='#1E1E1E')
+        title_label.pack(pady=20)
+
+        # Create the slider containers
+        for i in range(1, 7):
+            self.create_slider_container(self.scrollable_frame, i)
+
+        # Create the serial communication button
+        serial_button = ttk.Button(self.scrollable_frame, text="Serial Communication", command=self.open_serial_communication)
+        serial_button.pack(pady=20)
+
+        # Create the text widget for serial output
+        self.serial_output = tk.Text(self.scrollable_frame, height=10, wrap='word', bg='#1E1E1E', fg='#E8E8E8', font=("Helvetica", 14))
+        self.serial_output.pack(pady=10, padx=20, fill='x')
+
+    def bind_mouse_wheel(self, widget):
+        # Windows and MacOS use different events for mouse wheel
+        widget.bind_all("<MouseWheel>", self.on_mouse_wheel)
+        widget.bind_all("<Button-4>", self.on_mouse_wheel)
+        widget.bind_all("<Button-5>", self.on_mouse_wheel)
+
+    def on_mouse_wheel(self, event):
+        # Smooth scrolling by smaller increments
+        if event.num == 5 or event.delta == -120:
+            self.canvas.yview_scroll(1, "units")
+        elif event.num == 4 or event.delta == 120:
+            self.canvas.yview_scroll(-1, "units")
+
+    def create_slider_container(self, parent, index):
+        frame = ttk.Frame(parent, padding="10 10 10 10")
+        frame.pack(pady=10, padx=20, fill='x')
+
+        label = ttk.Label(frame, text=f"Motor {index} Control", style='TLabel')
+        label.pack(pady=10)
+
+        if index == 1:
+            slider = ttk.Scale(frame, from_=395, to=500, orient='horizontal', style='TScale')
+            slider.set(395)
+        else:
+            slider = ttk.Scale(frame, from_=0, to=100, orient='horizontal', style='TScale')
+
+        slider.pack(pady=10, padx=20, fill='x')
+        slider.bind("<ButtonRelease-1>", lambda event, idx=index-1: self.send_serial_command(idx, slider))
+
+    def send_serial_command(self, index, slider):
+        value = slider.get()
+        command = f"s{index}{int(value):03d}"
+        self.serial_port.write(command.encode())
+        print(f"Sent to Arduino: {command}")
+        time.sleep(0.5)  # Add a delay of 0.5 seconds between serial sends
+
+    def open_serial_communication(self):
+        # Function to handle serial communication
+        print("Serial Communication Button Pressed")
+
+    def update_window_size(self):
+        self.update_idletasks()
+        window_height = self.scrollable_frame.winfo_height() // 2 + 150  # Adjusting for 3 sliders visibility and additional space
+        window_width = self.scrollable_frame.winfo_width() + 20  # Adding padding for scrollbar
+        self.geometry(f"{window_width}x{window_height}")
+
+    def read_serial(self):
+        while not self.stop_thread:
+            if self.serial_port.in_waiting > 0:
+                data = self.serial_port.readline().decode('utf-8').strip()
+                self.serial_output.insert(tk.END, data + "\n")
+                self.serial_output.see(tk.END)
+
+    def on_closing(self):
+        self.stop_thread = True
+        if hasattr(self, 'read_thread'):
+            self.read_thread.join()
+        self.serial_port.close()
+        self.destroy()
+
+if __name__ == "__main__":
+    app = App()
+    app.protocol("WM_DELETE_WINDOW", app.on_closing)
+    app.mainloop()
diff --git a/pythonInterface/testTwo.py b/pythonInterface/testTwo.py
new file mode 100644
index 0000000..0b5138d
--- /dev/null
+++ b/pythonInterface/testTwo.py
@@ -0,0 +1,30 @@
+import serial.tools.list_ports
+
+
+ports = serial.tools.list_ports.comports()
+serialInst = serial.Serial()
+count  = 0
+
+
+portsList = []
+# portvar = ""
+for onePort in ports:
+    portsList.append(str(onePort))
+    print (str(onePort))
+
+val = "8"
+
+for x in range(0,len(portsList)):
+    if portsList[x].startswith("COM" + str(val)):
+        portvar = "COM" + str(val)
+        print (portvar)
+
+serialInst.baudrate = 9600
+serialInst.port = portvar
+serialInst.open()
+
+isTest= True
+while isTest:
+    getStr = input("Enter val sXYYY")
+    # cmd = "INJD"
+    serialInst.write(getStr.encode('utf-8'))
diff --git a/pythonUi b/pythonUi
deleted file mode 160000
-Subproject 32b583f67ccb03761ddb96b71b5bc187fb97576