#  6. PC Software Learning

## 6.1 Start PC software

### 6.1.1 Start with Software (recommended for beginner)

* **Start with Software (recommended for beginner)** 

(1) Double-click Arm icon on desktop. 

<img src="../_static/media/10.upper_computer_action_editing_course/1.1/image2.png"  class="common_img" />

(2) Click "**Execute**" in the pop-up interface to open PC software.

<img src="../_static/media/10.upper_computer_action_editing_course/1.1/image3.png"  class="common_img" />

* **Start with command line** 

(1) Click <img src="../_static/media/10.upper_computer_action_editing_course/1.1/image4.png"   /> on desktop to open the LX terminal. 

(2) Enter command in terminal to open PC software.

```bash
python3 MasterPi/masterpi_pc_software/Arm.py
```

### 6.1.2 The Interface distribution of PC Software 

The interface distribution is as follow:

<img class="common_img" src="../_static/media/10.upper_computer_action_editing_course/1.1/image6.png"   />

It can be divided into 4 parts: 

<img class="common_img" src="../_static/media/10.upper_computer_action_editing_course/1.1/image7.png"   />

* **Servo Control Area**

This area displays the selected servo icons. The servo position can be adjusted by dragging corresponding slider.

| Icon                                                         | Function Instruction                                         |
| ------------------------------------------------------------ | ------------------------------------------------------------ |
| <img src="../_static/media/10.upper_computer_action_editing_course/1.1/image8.png"   /> | It represents the servo ID number. Take ID1 as an example.   |
| <img src="../_static/media/10.upper_computer_action_editing_course/1.1/image9.png"   /> | Used to adjust the servo angle. The minimum value is 0 and the maximum value is 1500. |
| <img src="../_static/media/10.upper_computer_action_editing_course/1.1/image10.png"   /> | Used to adjust the servo deviation. The minimum value is -150 and the maximum value is 150. |

* **Action Data List** 

Action data list displays the execution time of each action in the current action group and the value of each servo in each action. 

<img class="common_img" src="../_static/media/10.upper_computer_action_editing_course/1.1/image11.png"   />

| Icon                                                         | Function Instruction                                                                                                                                                           |
| ------------------------------------------------------------ |--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| <img src="../_static/media/10.upper_computer_action_editing_course/1.1/image12.png"   /> | Action number                                                                                                                                                                  |
| <img src="../_static/media/10.upper_computer_action_editing_course/1.1/image13.png"   /> | The time it takes to execute the action.                                                                                                                                       |
| <img src="../_static/media/10.upper_computer_action_editing_course/1.1/image14.png"   /> | The corresponding action value under this ID. Double-click <img src="../_static/media/10.upper_computer_action_editing_course/1.1/image15.png"/> to modify the value directly. |

* **Action Group Setting Area**

<table class="docutils-nobg" border="1">
<colgroup>
<col  />
<col  />
</colgroup>
<tbody>
<tr>
<td>Icon</td>
<td>Function Instruction</td>
</tr>
<tr>
<td><img src="../_static/media/10.upper_computer_action_editing_course/1.1/image16.png"   /></td>
<td>The time for running a single action. You can click it to modify. </td>
</tr>
<tr>
<td><img src="../_static/media/10.upper_computer_action_editing_course/1.1/image17.png"   /></td>
<td>Total time for running action group.</td>
</tr>
<tr>
<td><img src="../_static/media/10.upper_computer_action_editing_course/1.1/image18.png"   /></td>
<td>Add the servo value in servo control area to the last line of the action data list as a new action.</td>
</tr>
<tr>
<td><img src="../_static/media/10.upper_computer_action_editing_course/1.1/image19.png"   /></td>
<td>Delete the selected action in action data list.</td>
</tr>
<tr>
<td><img src="../_static/media/10.upper_computer_action_editing_course/1.1/image20.png"   /></td>
<td>Delete all the actions in action data list.</td>
</tr>
<tr>
<td><img src="../_static/media/10.upper_computer_action_editing_course/1.1/image21.png"  /></td>
<td><p>Update the selected value in action data list.</p>
<p>（Servo value is replaced with the current servo value in servo control area. The action running time is replaced with the time set in "**running time**".）</p></td>
</tr>
<tr>
<td><img src="../_static/media/10.upper_computer_action_editing_course/1.1/image22.png"   /></td>
<td><p>Insert a line of action in front of the selected action.</p>
<p>(The action time is "**Running time(ms)**" and the angle value is the servo value in servo control area.)</p></td>
</tr>
<tr>
<td><img src="../_static/media/10.upper_computer_action_editing_course/1.1/image23.png"   /></td>
<td>Exchange the position of the selected action with the previous line.</td>
</tr>
<tr>
<td><img src="../_static/media/10.upper_computer_action_editing_course/1.1/image24.png"   /></td>
<td>Exchange the position of the selected action with the next line.</td>
</tr>
<tr>
<td><img src="../_static/media/10.upper_computer_action_editing_course/1.1/image25.png"   /></td>
<td><p>Click "**run**" to run the action in action data list once.</p>
<p>(If check "**Loop**", the robot will run the action repeatedly)</p></td>
</tr>
<tr>
<td><img src="../_static/media/10.upper_computer_action_editing_course/1.1/image26.png"   /></td>
<td><p>Click it to open action file to add the selected action group data to action data list.</p>
<p>（Action group file path："**MasterPi-&gt;action_groups**"）</p></td>
</tr>
<tr>
<td><img src="../_static/media/10.upper_computer_action_editing_course/1.1/image27.png"   /></td>
<td><p>Save the current action in action data list to the specified location.</p>
<p>（Action group file path："**MasterPi-&gt;action_groups**"）</p></td>
</tr>
<tr>
<td><img src="../_static/media/10.upper_computer_action_editing_course/1.1/image28.png"   /></td>
<td>After opening an action group, click "**Integrate files**" and then open another action group file, which can integrate two action group files into a new action group.</td>
</tr>
<tr>
<td><img src="../_static/media/10.upper_computer_action_editing_course/1.1/image29.png"   /></td>
<td>Display the saved action groups in the PC software.</td>
</tr>
<tr>
<td><img src="../_static/media/10.upper_computer_action_editing_course/1.1/image30.png"   /></td>
<td>Click "**Refresh**" to refresh action group option bar.</td>
</tr>
<tr>
<td><img src="../_static/media/10.upper_computer_action_editing_course/1.1/image31.png"   /></td>
<td>Delete the current action group file.</td>
</tr>
<tr>
<td><img src="../_static/media/10.upper_computer_action_editing_course/1.1/image32.png"   /></td>
<td>(Cautious) delete all action group files .</td>
</tr>
<tr>
<td><img src="../_static/media/10.upper_computer_action_editing_course/1.1/image33.png"   /></td>
<td>Execute the action group (the selected number) once.</td>
</tr>
<tr>
<td><img src="../_static/media/10.upper_computer_action_editing_course/1.1/image34.png"/></td>
<td>Stop the executing action group.</td>
</tr>
<tr>
<td><img src="../_static/media/10.upper_computer_action_editing_course/1.1/image35.png"/></td>
<td>Exit the current PC software interface.</td>
</tr>
</tbody>
</table>

* **Deviation Setting Area (the function buttons in this area just for reference)**

| Icon                                                         | Function Instruction                                         |
| ------------------------------------------------------------ | ------------------------------------------------------------ |
| <img src="../_static/media/10.upper_computer_action_editing_course/1.1/image36.png"/> | Click it to automatically read the saved deviation.          |
| <img src="../_static/media/10.upper_computer_action_editing_course/1.1/image37.png"/> | Click it to save the deviation adjusted by PC software to the robot. |
| <img src="../_static/media/10.upper_computer_action_editing_course/1.1/image38.png"/> | Click it to restore all the servo values in servo control area to 1500. |

## 6.2 Call Action Group

MasterPi already has built-in action groups before delivery. The action groups are saved in **"/home/pi/MasterPi/action_groups"**. You can view and call the built-in action group through PC software and the specific operation steps are as follow:

### 6.2.1 Operation Steps

(1)  Power on the robot and use VNC Viewer to connect to the remote desktop.

<img class="common_img" src="../_static/media/10.upper_computer_action_editing_course/1.2/image2.png"  />

(2) Double-click <img src="../_static/media/10.upper_computer_action_editing_course/1.2/image3.png"/> on system desktop, and then click "**Execute**" in pop-up prompt window to enter PC software, as the figure shown below:

<img class="common_img" src="../_static/media/10.upper_computer_action_editing_course/1.2/image5.png"  />

(3) Then, click "**Open action file**" and select the action group to be executed, then click "**Open**".

<img class="common_img" src="../_static/media/10.upper_computer_action_editing_course/1.2/image6.png"  />

(4) Now, action data list will display the servo value and running time of each action. (The screenshot shown below just display part of actions)

<img class="common_img" src="../_static/media/10.upper_computer_action_editing_course/1.2/image7.png"  />

(5) Click "**Run**" to perform all actions in action data list. If want to perform the current action group repeatedly, you can click "**loop**". 

<img class="common_img" src="../_static/media/10.upper_computer_action_editing_course/1.2/image8.png"  />

### 6.2.2 Import External Action Group

If want to call external action group, you can refer to the following operation steps. This section will import an action group "**shake_hand.d6a**" as example. (The action group file must end in "**.d6a**")

(1) Insert a U disk with action file into any one of USB ports of Raspberry Pi, and then paste the action file to the system desktop, as the figure shown below: 

<img src="../_static/media/10.upper_computer_action_editing_course/1.2/image9.png" class="common_img" />

(2) Then, double click <img src="../_static/media/10.upper_computer_action_editing_course/1.2/image3.png" /> and click "**execute**" to open PC software.

(3) Click "**Open action file**". Find the action group file to be imported and click "**Open**".

<img src="../_static/media/10.upper_computer_action_editing_course/1.2/image12.png" class="common_img" />

(4) At this time, action data list will display the servo value and running time of each action.

<img src="../_static/media/10.upper_computer_action_editing_course/1.2/image13.png" class="common_img" />

### 6.2.3 Program Execution

All action group files can be executed through program calls. (Action files must be saved in the **"/home/pi/MasterPi/action_groups"** directory to be called.)

(1) Click <img src="../_static/media/10.upper_computer_action_editing_course/1.2/image14.png"  /> in the upper-left corner of the system desktop to open the terminal.

<img src="../_static/media/10.upper_computer_action_editing_course/1.2/image15.png" class="common_img" />

(2) Enter the command to navigate to the functions directory.

```bash
cd MasterPi/functions/
```

(3) Enter the command, and press enter to open the program.

```bash
sudo vim action_group_control_demo.py
```

(4) Locate the highlighted code in the opened program, as shown in the figure below.

<img class="common_img" src="../_static/media/10.upper_computer_action_editing_course/1.2/image18.png"  />

From the code, it can be seen that the action group executed by the program is "**stand**". To replace it with another action group, simply change 'stand' in the parentheses to the name of the desired action group. (Action files must be saved in the "/home/pi/MasterPi/action_groups" directory to be called.)

(5) Press "**Esc**" key, then type "**:q**"(note the colon before "**q**") and press enter to exit.

```bash
:q
```

(6) Enter the command `python3 action_group_control_demo.py` and press Enter to call the "**stand**" action group.

<img class="common_img" src="../_static/media/10.upper_computer_action_editing_course/1.2/image20.png"  />

## 6.3 Action Group Programming

The value set in this section is for reference only. You can adjust it according to the actual situation.

### 6.3.1 Project Outcome

Create an action group to perform "**grasp downwards and place on the left side**".

### 6.3.2 Action Realization 

* **Create Actions** 

(1) Click "**Open action file**" and select "**start.6da.**" action file. Then click "**open**" to set an initial posture for MasterPi.

(2) Click <img src="../_static/media/10.upper_computer_action_editing_course/1.3/image1.png" /> button in front of number "**1**" in action data list to run No.1 action, which updates the servo angle value to the servo control area.

<img class="common_img" src="../_static/media/10.upper_computer_action_editing_course/1.3/image2.png"   />

(3) Drag the slider of No.5 servo to move the robotic arm down to block. The servo value is set to 1818.

<img class="common_img" src="../_static/media/10.upper_computer_action_editing_course/1.3/image3.png"   />

(4) The time is set to 1200ms. Click "**Add action**" to get the second action.

<img class="common_img" src="../_static/media/10.upper_computer_action_editing_course/1.3/image4.png"   />

(5) To make the action smoother, each action is followed by a transition action. Based on the previous lesson, modify the running time to 300ms, and then click "**Add action**" to get the third action.

<img class="common_img" src="../_static/media/10.upper_computer_action_editing_course/1.3/image5.png"   />

(6) Next, drag the sliders of No.4 and No.5 servos to make the gripper close to the top of block.

<img class="common_img" src="../_static/media/10.upper_computer_action_editing_course/1.3/image6.png"   />

(7) Set the running time to 800ms and click "**Add action**" to get No.4 action.

<img class="common_img" src="../_static/media/10.upper_computer_action_editing_course/1.3/image7.png"   />

(8) Add a transition action and set the running time to 200ms. Then click "**Add action**" to get No.5 action.

<img class="common_img" src="../_static/media/10.upper_computer_action_editing_course/1.3/image8.png"   />

(9) Then drag the slider of No.1 servo to make the gripper open.

<img class="common_img" src="../_static/media/10.upper_computer_action_editing_course/1.3/image9.png"   />

(10) Set the running time to 400ms and click "**Add action**" to get No.6 action.

<img class="common_img" src="../_static/media/10.upper_computer_action_editing_course/1.3/image10.png"   />

(11) Add a transition action and set the running time to 200ms. Then click "**Add action**" to get No.7 action.

<img src="../_static/media/10.upper_computer_action_editing_course/1.3/image11.png" class="common_img"  />

(12) Drag the slider of No.3 and No.5 servo to 750 and 2364 to make robotic arm grasp the block. 

<img src="../_static/media/10.upper_computer_action_editing_course/1.3/image12.png" class="common_img" />

(13) Set the running time to 800ms and click "**Add action**" to get No.8 action.

<img src="../_static/media/10.upper_computer_action_editing_course/1.3/image13.png" class="common_img"  />

(14) Then, add a transition action and set the running time to 200ms. 

<img src="../_static/media/10.upper_computer_action_editing_course/1.3/image14.png" class="common_img"  />

(15) Adjust No.1 servo to make robotic arm grasp the block.

<img src="../_static/media/10.upper_computer_action_editing_course/1.3/image15.png"  class="common_img" />

(16) Set the running time to 300ms and click "**Add action**" to get No.10 action.

<img src="../_static/media/10.upper_computer_action_editing_course/1.3/image16.png" class="common_img"  />

(17) Add a transition action and set the running time to 200ms to get No.11 action.

<img src="../_static/media/10.upper_computer_action_editing_course/1.3/image17.png" class="common_img"  />

(18) After grasping the block, drag the slider of No.5 servo to raise robotic arm.

<img src="../_static/media/10.upper_computer_action_editing_course/1.3/image18.png"  class="common_img" />

(19) Then set the running time to 1000ms and click "**Add action**" to get No.12 action.

<img src="../_static/media/10.upper_computer_action_editing_course/1.3/image19.png" class="common_img"  />

(20) Add a transition action and set the running time to 300ms.

<img src="../_static/media/10.upper_computer_action_editing_course/1.3/image20.png"  class="common_img" />

(21) Now, robotic arm will move the block to the left side. Drag the slider of No.6 servo to set the servo value to 2500.

<img src="../_static/media/10.upper_computer_action_editing_course/1.3/image21.png" class="common_img"  />

(22) Set the running time to 1500ms and click "**Add action**" to get No.14 action.

<img src="../_static/media/10.upper_computer_action_editing_course/1.3/image22.png" class="common_img"  />

(23) Then add a transition action and set the running time to 300ms to get No.15 action.

<img src="../_static/media/10.upper_computer_action_editing_course/1.3/image23.png" class="common_img"  />

(24) After the block is transported to the left side, drag the slider of No.5 servo to place it down.

<img src="../_static/media/10.upper_computer_action_editing_course/1.3/image24.png" class="common_img"  />

(25) Set the running time to 800ms and click "**Add action**" action to get No.16 action.

<img src="../_static/media/10.upper_computer_action_editing_course/1.3/image25.png" class="common_img"  />

(26) Then add a transition action and set the running time to 300ms.

<img src="../_static/media/10.upper_computer_action_editing_course/1.3/image26.png" class="common_img"  />

(27) Now, drag the slider of No.1 servo to release the block.

<img src="../_static/media/10.upper_computer_action_editing_course/1.3/image27.png"  class="common_img" />

(28) Set the running time to 400ms and click "**Add action**" to get No.18 action.

<img src="../_static/media/10.upper_computer_action_editing_course/1.3/image28.png"  class="common_img" />

(29) Then add a transition action and set the running time to 200ms to get No.19 action.

<img src="../_static/media/10.upper_computer_action_editing_course/1.3/image29.png" class="common_img"  />

(30) After releasing the block, drag the slider of No.1 servo to close gripper, and then adjust the value of No.5 servo to raise robotic arm. 

<img src="../_static/media/10.upper_computer_action_editing_course/1.3/image30.png"  class="common_img" />

(31) Set the running time to 500ms and click "**Add action**" to get No.20 action.

<img src="../_static/media/10.upper_computer_action_editing_course/1.3/image31.png" class="common_img"  />

(32) Then add a transition action and set the running time to 300ms.

<img class="common_img" src="../_static/media/10.upper_computer_action_editing_course/1.3/image32.png"   />

(33) Finally, make robotic arm back to the initial posture. Click button in front of number "**1**" to run No.1 action. Then set the running time to 1500ms and click "**Add action**" to get No.22 action.

<img src="../_static/media/10.upper_computer_action_editing_course/1.3/image33.png" class="common_img"  />

<img src="../_static/media/10.upper_computer_action_editing_course/1.3/image34.png"  class="common_img" />

* **Save Action**

You'd better save the action for later debugging and management. Click "**Save action file**" and name the file "**Hiwonder**" as an example, and then click "**Save**". 

<img src="../_static/media/10.upper_computer_action_editing_course/1.3/image35.png"  class="common_img" />

## 6.4 Integrate Action File

This section takes No.1and Hiwonder action groups as an example.

### 6.4.1 Project Outcome

Learn how to integrate action groups to realize the combination of the actions.

### 6.4.2 Project Realization

(1) Open PC software and click "**Integrate files**".

<img src="../_static/media/10.upper_computer_action_editing_course/1.4/image1.png" class="common_img"  />

(2) Select No.1 action group in the pop-up window, and then click "**Open**".

<img src="../_static/media/10.upper_computer_action_editing_course/1.4/image2.png" class="common_img"  />

At this time, you can view all the actions of No.1 action group in action data list.

<img src="../_static/media/10.upper_computer_action_editing_course/1.4/image3.png" class="common_img"   />

(3) Then, click "**Integrate files**" gain. Select "**Hiwonder**" action group and click "**Open**".

<img src="../_static/media/10.upper_computer_action_editing_course/1.4/image4.png" class="common_img"  />

Now, all the actions of No.1 and Hiwonder action groups are displayed in action data list. Two action groups are integrated into a new action group.

<img src="../_static/media/10.upper_computer_action_editing_course/1.4/image5.png" class="common_img"  />

(4) Click "**Run**" to run the integrated action group online once.

<img src="../_static/media/10.upper_computer_action_editing_course/1.4/image6.png" class="common_img"  />

(5) Click "**Save action file**" to save the integrated action group for later debugging. Here name this action group "**Hiwonder1**".

<img src="../_static/media/10.upper_computer_action_editing_course/1.4/image7.png"  class="common_img" />