diff --git a/Wireless_Communication/UWB/Beacons_tag_position/realtime_location_with_serial_gui.py b/Wireless_Communication/UWB/Beacons_tag_position/realtime_location_with_serial_gui.py index 7d974054251bb2918c925883b53c67677a7d5e21..d7e99229dfc655ffedbbb9380090a8da4c2b7c5a 100644 --- a/Wireless_Communication/UWB/Beacons_tag_position/realtime_location_with_serial_gui.py +++ b/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 diff --git a/ros2/src/robobin/robobin/graphs/graph.json b/ros2/src/robobin/robobin/graphs/graph.json index 87e63a4d701a5c6fe3cdbbaa49705cdf410c2c87..16df1f3cb84cc913e93fe889d3eef4cab60206d9 100644 --- a/ros2/src/robobin/robobin/graphs/graph.json +++ b/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 ]