New graph

Wireless_Communication/UWB/Beacons_tag_position/realtime_location_with_serial_gui.py

@@ -211,10 +211,10 @@ class AnchorTagGUI:
 
                 # Define lower and upper bounds based on measured distances
                 lower_bound = [
-                    -max_dist / 2,   # x_B lower bound
-                    min_dist / 2,    # y_B lower bound (above y_C)
-                    -max_dist / 2,   # x_C lower bound
-                    min_dist / 4,    # y_C lower bound
+                    -max_dist,   # x_B lower bound
+                    -max_dist,    # y_B lower bound (above y_C)
+                    -max_dist,   # x_C lower bound
+                    -max_dist,    # y_C lower bound
                     min_dist / 2     # y_A lower bound
                 ]
                 upper_bound = [

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

@@ -4,17 +4,17 @@
     {
       "name": "A1",
       "x": 0,
-      "y": 651.0481397780962
+      "y": 648.6316708863168
     },
     {
       "name": "A2",
-      "x": 1479.7478814611454,
-      "y": 151.04148347199438
+      "x": 1468.4133842739848,
+      "y": 194.60015778254368
     },
     {
       "name": "A3",
-      "x": 685.6726454571167,
-      "y": 51.538313358969546
+      "x": 613.1114093691383,
+      "y": -662.092685166558
     },
     {
       "name": "A4",
@@ -23,63 +23,27 @@
     },
     {
       "name": "Node5",
-      "x": 331.69908639944265,
-      "y": 219.6884517103497
+      "x": 422.68116099210135,
+      "y": 240.66665054606628
     },
     {
       "name": "Node6",
-      "x": 804.6899830688058,
-      "y": 253.54023292422087
+      "x": 225.39109837500405,
+      "y": 103.58921334272708
     },
     {
       "name": "Node7",
-      "x": 731.3223179628816,
-      "y": 648.2744809152002
+      "x": 833.3324669960278,
+      "y": 580.806573828447
     },
     {
       "name": "Node8",
-      "x": 1337.665266230345,
-      "y": 594.604557319591
-    },
-    {
-      "name": "Node9",
-      "x": 1296.8310843564375,
-      "y": 237.97240044765596
-    },
-    {
-      "name": "Node10",
-      "x": 1001.8600424277655,
-      "y": 240.102853853133
+      "x": 351.6722842246809,
+      "y": 595.6297821466235
     }
   ],
   "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,
@@ -97,8 +61,6 @@
       false,
       false,
       false,
-      false,
-      false,
       false
     ],
     [
@@ -107,8 +69,6 @@
       false,
       false,
       false,
-      true,
-      false,
       false,
       false,
       false
@@ -118,9 +78,7 @@
       false,
       false,
       false,
-      true,
       false,
-      true,
       false,
       false,
       false
@@ -133,8 +91,6 @@
       false,
       true,
       false,
-      true,
-      false,
       false
     ],
     [
@@ -142,8 +98,6 @@
       false,
       false,
       false,
-      false,
-      false,
       true,
       false,
       true,
@@ -155,8 +109,6 @@
       false,
       false,
       false,
-      false,
-      false,
       true,
       false,
       true
@@ -168,8 +120,6 @@
       false,
       false,
       false,
-      false,
-      false,
       true,
       false
     ]

ros2/src/robobin/robobin/helpers/graph_maker.py

@@ -4,7 +4,7 @@ import os
 from realtime_location_cli_only import AnchorTagCLI
 
 class GraphMaker:
-    def __init__(self, port="COM11", testing=False):
+    def __init__(self, port="COM5", testing=False):
         self.app = AnchorTagCLI(port=port, testing=testing)
         self.graph = {
             "name": "Lab 1 Extended",
@@ -15,7 +15,8 @@ class GraphMaker:
 
     def call_bpm_and_store_anchors(self):
         self.app.call_bpm()
-        for name, (x, y) in self.app.anchors.items():
+        for name, (x, y, z) in self.app.anchors.items():
+            # print(name, x, y)
             self.graph["nodes"].append({
                 "name": name,
                 "x": x,
@@ -73,7 +74,8 @@ class GraphMaker:
         print(f"Node {new_node_index+1} added at ({tag1_x:.2f}, {tag1_y:.2f}).")
 
     def save_graph(self):
-        directory = "/Users/paulwinpenny/Documents/GitHub/robobin/Wireless_Communication/UWB/Beacons_tag_position/output"
+        # directory = "/Users/paulwinpenny/Documents/GitHub/robobin/Wireless_Communication/UWB/Beacons_tag_position/output"
+        directory = "C:/Users/joell/OneDrive/Documents/GitHub"
         os.makedirs(directory, exist_ok=True)  # Create the directory if it doesn't exist
         file_path = os.path.join(directory, "graph.json")
         with open(file_path, "w") as f:
@@ -108,5 +110,5 @@ class GraphMaker:
                 print("Invalid command. Try 'bpm', 'start', 'save', 'finish', or 'quit'.")
 
 if __name__ == "__main__":
-    graph_maker = GraphMaker(port="/dev/tty.usbmodem14101", testing=False)
+    graph_maker = GraphMaker(port="COM5", testing=False)
     graph_maker.run()