New graph again

Wireless_Communication/UWB/Beacons_tag_position/realtime_location_with_serial_gui.py

@@ -281,7 +281,7 @@ class AnchorTagGUI:
                 "A3": (optimized_coords_noisy[2], optimized_coords_noisy[3], h),
                 "A4": (0, 0, h),
             }
-            print(self.anchors)
+            # print(self.anchors)
             self.draw_canvas()
             print(f"Optimized anchor coordinates: {self.anchors}")
             return {k: (round(v[0], 2), round(v[1], 2)) for k, v in self.anchors.items()}
@@ -416,7 +416,7 @@ class AnchorTagGUI:
         
         canvas_width, canvas_height = 600, 600
         center_x, center_y = canvas_width // 2, canvas_height // 2
-        scale_factor = 0.1
+        scale_factor = 0.2
 
         # Determine avg anchor position for centering
         if hasattr(self, 'anchors') and self.anchors:
@@ -429,8 +429,8 @@ class AnchorTagGUI:
         y_offset = center_y - avg_y
 
         def transform_coordinates(x, y):
-            x_scaled = int((x + x_offset) * scale_factor) +100
-            y_scaled = int(canvas_height - (y + y_offset) * scale_factor) - 200
+            x_scaled = int((x + x_offset) * scale_factor) + 200
+            y_scaled = int(canvas_height - (y + y_offset) * scale_factor) - 250
             return x_scaled, y_scaled
 
         # Draw anchorss

ros2/src/robobin/robobin/graphs/graph.json

@@ -4,17 +4,17 @@
     {
       "name": "A1",
       "x": 0,
-      "y": 647.9992551072676
+      "y": 649.864415943835
     },
     {
       "name": "A2",
-      "x": 1470.941597242215,
-      "y": 176.93938854367045
+      "x": 1468.029800596178,
+      "y": 196.46095757746593
     },
     {
       "name": "A3",
-      "x": 607.0119572525477,
-      "y": -664.5983232356922
+      "x": 619.5919695650629,
+      "y": -657.5019625084303
     },
     {
       "name": "A4",
@@ -22,93 +22,33 @@
       "y": 0
     },
     {
-      "name": "A1",
-      "x": 0,
-      "y": 647.5725025688616
+      "name": "Node5",
+      "x": 249.28377675022645,
+      "y": 622.4803235507311
     },
     {
-      "name": "A2",
-      "x": 1467.705116475083,
-      "y": 189.10256225037634
+      "name": "Node6",
+      "x": 808.0667991914574,
+      "y": 567.8964185697997
     },
     {
-      "name": "A3",
-      "x": 611.8777630070321,
-      "y": -662.1360736478213
+      "name": "Node7",
+      "x": 738.8996865043657,
+      "y": 207.26477606097785
     },
     {
-      "name": "A4",
-      "x": 0,
-      "y": 0
+      "name": "Node8",
+      "x": 680.973187785413,
+      "y": -145.21317240604643
     },
     {
       "name": "Node9",
-      "x": 247.7816726110151,
-      "y": 219.02399013957466
-    },
-    {
-      "name": "Node10",
-      "x": 780.1801858565935,
-      "y": 239.67407084596184
-    },
-    {
-      "name": "Node11",
-      "x": 794.7967523395953,
-      "y": 576.8443643755514
-    },
-    {
-      "name": "Node12",
-      "x": 397.6040849926911,
-      "y": -526.0575582204203
+      "x": 351.5623759309254,
+      "y": -232.7912639075706
     }
   ],
   "connections": [
     [
-      false,
-      false,
-      false,
-      false,
-      false,
-      false,
-      false,
-      false,
-      false,
-      false,
-      false,
-      false
-    ],
-    [
-      false,
-      false,
-      false,
-      false,
-      false,
-      false,
-      false,
-      false,
-      false,
-      false,
-      false,
-      false
-    ],
-    [
-      false,
-      false,
-      false,
-      false,
-      false,
-      false,
-      false,
-      false,
-      false,
-      false,
-      false,
-      false
-    ],
-    [
-      false,
-      false,
-      false,
       false,
       false,
       false,
@@ -128,9 +68,6 @@
       false,
       false,
       false,
-      false,
-      false,
-      false,
       false
     ],
     [
@@ -142,9 +79,6 @@
       false,
       false,
       false,
-      false,
-      false,
-      false,
       false
     ],
     [
@@ -156,9 +90,6 @@
       false,
       false,
       false,
-      false,
-      false,
-      false,
       false
     ],
     [
@@ -167,10 +98,7 @@
       false,
       false,
       false,
-      false,
-      false,
-      false,
-      false,
+      true,
       false,
       false,
       false
@@ -180,10 +108,7 @@
       false,
       false,
       false,
-      false,
-      false,
-      false,
-      false,
+      true,
       false,
       true,
       false,
@@ -195,9 +120,6 @@
       false,
       false,
       false,
-      false,
-      false,
-      false,
       true,
       false,
       true,
@@ -210,9 +132,6 @@
       false,
       false,
       false,
-      false,
-      false,
-      false,
       true,
       false,
       true
@@ -225,9 +144,6 @@
       false,
       false,
       false,
-      false,
-      false,
-      false,
       true,
       false
     ]