这是一些修改Tkinter滑块的8个正弦波方程的代码。
该程序应该使用滑块的更新值重复循环“App”类中的“振荡”方法。
我目前收到错误Scale Instance Has No Attribute __trunc__'。
通过查看其他问题，此错误似乎是由于缺少“自我”，缩进或数据类型错误引起的。我认为这种情况是因为数据类型错误，因为我已经多次查看代码并且看不到任何拼写错误。
我无法看到发生了什么。在我将它移入课堂之前，振荡方法非常好。
错误发生在以下行：
pos[0] = (int(self.amp) * math.sin(int(self.afreq)*t)) + 1500 + int(self.f_offset)
在“App”类末尾附近的振荡方法中。
完整错误是：
File "/usr/lib/python2.7/lib-tk/Tkinter.py", line 1413, in __call__
return self.func(*args)
File "/usr/lib/python2.7/lib-tk/Tkinter.py", line 498, in callit
func(*args)
File "Brain.py", line 152, in oscillate
pos[0] = (int(self.amp) * math.sin(int(self.afreq)*t)) + 1500 + int(self.f_offset)
AttributeError: Scale instance has no attribute '__trunc__'
以下是代码的其余部分：
#!/usr/bin/env python
from Tkinter import *
import serial
import time
import math
PI = 3.14159265359
#independant variable for sine waves
t = 0
#time in seconds for oscillators to wait before transmitting current positions
sine_time = 0.05
elapsed_time = 0
#serial port for botboard communication
bb = serial.Serial('/dev/rfcomm0', 115200)
print(bb.name)
#start the oscillator timer
start_time = time.time()
#function to obtain current time
def get_time():
return time.time()
########################################################################################################################
########################################### GUI #################################################
########################################################################################################################
class App:
def __init__(self, master):
#oscillator control variables
self.phase = 0
self.afreq = 0
self.amp = 0
self.gait = 0
self.knee_amp = 0
self.gselector = 0
#front and back joint offsets
self.fk_offset = 0
self.bk_offset = 0
self.f_offset = 0
self.b_offset = 0
self.frame = Frame(master)
self.frame.pack()
#walk button
self.walk = Button(self.frame, text="Walk")
self.walk.pack(side=LEFT)
self.walk.bind("1", self.walk_button)
#trot button
self.trot = Button(self.frame, text="Trot")
self.trot.bind("2", self.trot_button)
self.trot.pack(side=LEFT)
#pace button
self.pace = Button(self.frame, text="Pace")
self.pace.bind("3", self.pace_button)
self.pace.pack(side=LEFT)
#various sliders to control sine waves
self.phase = Scale(
master, from_=0, to=3.14, orient=HORIZONTAL, resolution=0.01, sliderlength=50, length=200, label="Phase", command=self.set_phase)
self.phase.set(3.14)
self.phase.pack()
self.amp = Scale(
master, from_=0, to=300, orient=HORIZONTAL, sliderlength=50, length=200, label="Hip Amplitude", command=self.set_amp)
self.amp.set(150)
self.amp.pack()
self.knee_amp = Scale(
master, from_=0, to=4, orient=HORIZONTAL, sliderlength=50, length=200, resolution=0.01, label= "Knee Amplitude", command=self.set_knee_amp)
self.knee_amp.set(1)
self.knee_amp.pack()
self.afreq = Scale(
master, from_=0, to=20, orient=HORIZONTAL, sliderlength=50, length=200, label="Angular Frequency", command=self.set_afreq)
self.afreq.set(1)
self.afreq.pack()
self.fkoffset = Scale(
master, from_=-400, to=400, orient=HORIZONTAL, sliderlength=50, length=200, label="Front Knee Offset", command=self.set_fkoffset)
self.fkoffset.set(0)
self.fkoffset.pack()
self.bkoffset = Scale(
master, from_=-400, to=400, orient=HORIZONTAL, sliderlength=50, length=200, label="Back Knee Offset", command=self.set_bkoffset)
self.bkoffset.set(0)
self.bkoffset.pack()
self.foffset = Scale(
master, from_=-400, to=400, orient=HORIZONTAL, sliderlength=50, length=200, label="Front Offset", command=self.set_foffset)
self.foffset.set(232)
self.foffset.pack()
self.boffset = Scale(
master, from_=-400, to=400, orient=HORIZONTAL, sliderlength=50, length=200, label="Rear Offset", command=self.set_boffset)
self.boffset.set(108)
self.boffset.pack()
#change "gait" variable based on button selected from the gui
def walk_button(self, event):
self.gait = PI/2
def trot_button(self, event):
self.gait = -PI
def pace_button(self, event):
self.gait = 0
#functions to obtain values returned from gui sliders
def set_phase(self, event):
self.phase = event
def set_amp(self, event):
self.amp = event
def set_afreq(self, event):
self.afreq = event
def set_fkoffset(self, event):
self.fk_offset = event
def set_bkoffset(self, event):
self.bk_offset = event
def set_foffset(self, event):
self.f_offset = event
def set_boffset(self, event):
self.b_offset = event
def set_knee_amp(self, event):
self.knee_amp = event
def oscillate(self):
#variables for timer, will be added to the class soon
global t, start_time, elapsed_time
#array to hold the servo positions
#positions = [SB,SF,HB,HF,EB,EF,KB,KF]
pos = [0,1,2,3,4,5,6,7]
#sine waves generate servo positions for each joint of the robot
pos[0] = (int(self.amp) * math.sin(int(self.afreq)*t)) + 1500 + int(self.f_offset)
pos[1] = (int(self.amp) * math.sin(int(self.afreq)*t)) + 1522 - int(self.f_offset)
pos[2] = (int(self.amp) * math.sin(int(self.afreq)*t + gait)) + 1500 + int(self.b_offset)
pos[3] = (int(self.amp) * math.sin(int(self.afreq)*t + gait)) + 1446 - int(self.b_offset)
pos[4] = (int(self.amp)*float(self.knee_amp) * math.sin(int(self.afreq)*t + float(self.phase))) + 1500 + int(self.fk_offset)
pos[5] = (int(self.amp)*float(self.knee_amp) * math.sin(int(self.afreq)*t + float(self.phase))) + 1581 - int(self.fk_offset)
pos[6] = (int(self.amp)*float(self.knee_amp) * math.sin(int(self.afreq)*t + gait + float(self.phase))) + 1500 + int(self.bk_offset)
pos[7] = (int(self.amp)*float(self.knee_amp) * math.sin(int(self.afreq)*t + gait + float(self.phase))) + 1538 - int(self.bk_offset)
#get current time
elapsed_time = get_time()
if (elapsed_time - start_time >= sine_time):
print ('time difference: %s' % (elapsed_time - start_time))
start_time = elapsed_time
t += 1
#format servo positions properly
for i in range(len(pos)):
if (pos[i] < 1000):
pos[i] = '0' + str(int(pos[i]))
else:
pos[i] = str(int(pos[i]))
#transmit servo positions over serial connection
#bb.write('%d%d%d%d%d%d%d%d\n' % (SB,SF,HB,HF,EB,EF,KB,KF))
print('%s%s%s%s%s%s%s%s\n' % (pos[0],pos[1],pos[2],pos[3],pos[4],pos[5],pos[6],pos[7]))
bb.write('%s%s%s%s%s%s%s%s\n' % (pos[0],pos[1],pos[2],pos[3],pos[4],pos[5],pos[6],pos[7]))
root.after(int(sine_time*1000),self.oscillate)
#########################################################################################################################
####################################### MAIN PROGRAM ##########################################
#########################################################################################################################
root = Tk()
app = App(root)
root.after(0,app.oscillate)
root.mainloop()
答案 0 :(得分：0)
首先将self.phase定义为零值，然后将其更改为Scale的实例，稍后将其设置为事件对象，但是您将其用于一个表达式，好像它仍然是一个整数。
解决方案是不要将同一个变量用于多种用途。