diff --git a/IMU/code/sourceCode/try.py b/IMU/code/sourceCode/try.py
new file mode 100644
index 0000000000000000000000000000000000000000..d3a74a2fc026f250fe53744b4cffd7d60a505471
--- /dev/null
+++ b/IMU/code/sourceCode/try.py
@@ -0,0 +1,77 @@
+import sys
+from PyQt5.QtWidgets import QApplication, QMainWindow, QVBoxLayout, QWidget
+from PyQt5.QtCore import Qt
+from PyQt5.QtGui import QSurfaceFormat
+from vpython import canvas, sphere, box, color, vector
+import matplotlib.pyplot as plt
+from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
+import numpy as np
+
+class MainWindow(QMainWindow):
+ def __init__(self):
+ super().__init__()
+ self.setWindowTitle("VPython and Matplotlib in PyQt5")
+ self.setGeometry(100, 100, 1200, 600) # 设置窗口的大小
+
+ # 创建一个 QWidget 作为中心窗口
+ central_widget = QWidget()
+ self.setCentralWidget(central_widget)
+
+ # 创建一个布局
+ layout = QVBoxLayout()
+ central_widget.setLayout(layout)
+
+ # 创建 VPython 画布
+ # 使用 QSurfaceFormat 来设置 VPython 画布的 OpenGL 环境
+ format = QSurfaceFormat()
+ format.setDepthBufferSize(24)
+ format.setMajorVersion(3)
+ format.setMinorVersion(3)
+ format.setProfile(QSurfaceFormat.CoreProfile)
+ QSurfaceFormat.setDefaultFormat(format)
+
+ # 创建 VPython 画布，并将其嵌入到一个 QWidget 中
+ self.vpython_canvas = canvas(width=600, height=300, background=color.white, insert=True)
+ sphere(radius=1, color=color.red)
+ box(size=vector(2,2,2), color=color.green)
+
+ # 创建一个 QWidget 用来包装 VPython 画布
+ vpython_widget = QWidget.createWindowContainer(self.vpython_canvas)
+ layout.addWidget(vpython_widget)
+
+ # 创建 Matplotlib 图形
+ self.fig, self.ax = plt.subplots(figsize=(6, 3))
+ self.ax.set_title('Matplotlib 2D Contour Plot')
+
+ # 创建示例数据
+ x = np.linspace(-5, 5, 100)
+ y = np.linspace(-5, 5, 100)
+ X, Y = np.meshgrid(x, y)
+ Z = np.sin(np.sqrt(X**2 + Y**2))
+
+ # 绘制 2D 等高线图
+ self.ax.contourf(X, Y, Z, cmap='viridis')
+ self.ax.set_xlabel('X-axis')
+ self.ax.set_ylabel('Y-axis')
+
+ # 将 Matplotlib 图形嵌入到 PyQt5 中
+ self.canvas = FigureCanvas(self.fig)
+ layout.addWidget(self.canvas)
+
+ # 设置一个定时器来刷新 VPython 场景
+ self.timer_counter = 0 # 计数器
+ self.timer = self.startTimer(50) # 每 50ms 刷新一次
+
+ def timerEvent(self, event):
+ # 更新 VPython 画布中的内容
+ # 你可以在这里添加动画效果或更新对象的位置
+ self.vpython_canvas.scene.camera.pos = vector(5 * np.sin(self.timer_counter), 5, 5)
+ self.vpython_canvas.scene.camera.lookat = vector(0, 0, 0)
+ self.timer_counter += 0.1 # 更新计数器
+
+# 运行 PyQt5 应用程序
+if __name__ == '__main__':
+ app = QApplication(sys.argv)
+ window = MainWindow()
+ window.show()
+ sys.exit(app.exec_())
diff --git a/integration/communications.py b/integration/communications.py
new file mode 100644
index 0000000000000000000000000000000000000000..0cddc7a61647f65afe902a54cefb88acaad8cdd6
--- /dev/null
+++ b/integration/communications.py
@@ -0,0 +1,65 @@
+import serial
+
+
+class Communications:
+ # Defaults
+ _port = None
+ _baudrate = 9600
+ _timeout = 1
+
+ _data = None
+ _serial_process = None
+ _send = None
+ _receive = None
+ connected = False
+
+ adc_data = [0, 0]
+ adc_values = [0, 0]
+
+ def configure(self, port, baudrate, timeout): # Set the serial settings
+ self._port = port
+ self._baudrate = baudrate
+ self._timeout = timeout
+
+ def connect(self):
+ connected = True # Assume the connection was successful
+ try:
+ self._data = serial.Serial(port=self._port, baudrate=self._baudrate, timeout=self._timeout)
+ except IOError:
+ connected = False # If connection fails, return False
+ return connected
+
+ def disconnect(self):
+ self.connected = False
+ self._data.close()
+
+ def flush(self):
+ self._data.flushInput()
+ self._data.read() # Discard the first result, usually brings an incomplete piece of data.
+
+ def read(self):
+ self.adc_data = self._decode(self._data.readline())
+ return self.adc_data
+
+ def _decode(self, serial_data):
+ serial_string = serial_data.decode(errors="ignore")
+ adc_string_1 = ""
+ adc_string_2 = ""
+ self.adc_values = [0, 0]
+ if '\n' in serial_string:
+ # remove new line character
+ serial_string = serial_string.replace("\n", "")
+ if serial_string != '':
+ # Convert number to binary, placing 0s in empty spots
+ serial_string = format(int(serial_string, 10), "024b")
+
+ # Separate the input number from the data
+ for i0 in range(0, 12):
+ adc_string_1 += serial_string[i0]
+ for i0 in range(12, 24):
+ adc_string_2 += serial_string[i0]
+
+ self.adc_values[0] = int(adc_string_1, base=2)
+ self.adc_values[1] = int(adc_string_2, base=2)
+
+ return self.adc_values
diff --git a/integration/integrate.py b/integration/integrate.py
index 046179c4a633766adb555b5de93fe3eece841318..03f4c133717b49e9a6af05596a792ee56d7a881d 100644
--- a/integration/integrate.py
+++ b/integration/integrate.py
@@ -1,15 +1,22 @@
import tkinter as tk
from tkinter import ttk
from matplotlib.pyplot import Figure
+from vpython import *
+from time import sleep, time
import serial
from math import atan2, asin, cos, sin
from matplotlib.figure import Figure
from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
import numpy as np
-import time
+
+from vpython import canvas
+
+from communications import Communications
+
class Interface:
+ _serial_data = Communications()
def __init__(self):
print("start")
self.treeview = None
@@ -41,15 +48,17 @@ class Interface:
# First row, two sections
frame1 = ttk.Frame(popup, borderwidth=1, relief="solid",width=width/3,height=height/2)
frame1.grid(row=0, column=0, padx=10, pady=10, sticky="nsew")
- label1 = ttk.Label(frame1, text="If IMU is connected to the laptop please click the Connect button",wraplength=width/4)
- label1.place(relx=0.5, rely=0.9, anchor='center')
- label2 = ttk.Label(frame1,text="Port: None ")
- label2.place(relx=0.35, rely=0.8, anchor='e')
+
frame2 = ttk.Frame(popup, borderwidth=1, relief="solid",width=width*2/3,height=height/2)
frame2.grid(row=0, column=1, padx=10, pady=10, sticky="nsew")
- label2 = ttk.Label(frame2, text="Section 2")
- label2.place(relx=0.5, rely=0.5, anchor='center')
+ label1 = ttk.Label(frame2, text="If IMU is connected to the laptop please click the Connect button",
+ wraplength=width / 2)
+ label1.place(relx=0.5, rely=0.9, anchor='center')
+ label2 = ttk.Label(frame2, text="Port: None ")
+ label2.place(relx=0.35, rely=0.8, anchor='center')
+ frame2.update_idletasks()
+ #self._initialise_IUM()
# Second row, two sections
frame3 = ttk.Frame(popup, borderwidth=1, relief="solid",width=width/3,height=height/2)
@@ -64,34 +73,61 @@ class Interface:
frame4.grid_propagate(False)
label4 = ttk.Label(frame4, text="Section 4")
label4.place(relx=0.5, rely=0.5, anchor='center')
+ self._initialise_real_time_classification_graph()
# Add a button to frame1 to trigger adding widgets
- add_button1 = ttk.Button(frame1, text="Connect", command=self.IMU_Connect)
+ add_button1 = ttk.Button(frame2, text="Connect", command=self.IMU_Connect)
add_button1.place(relx=0.5, rely=0.8, anchor='center')
+ add_button3 = ttk.Button(frame2, text="Disconnect", command=self.IMU_disconnect)
+ add_button3.place(relx=0.8, rely=0.8, anchor='center')
add_button2 = ttk.Button(frame3, text="Connect", command=self.EMG_Connect)
add_button2.place(relx=0.5, rely=0.8, anchor='center')
+ add_button4 = ttk.Button(frame3, text="Disconnect", command=self.EMG_disconnect())
+ add_button4.place(relx=0.8, rely=0.8, anchor='center')
popup.mainloop()
def IMU_Connect(self):
try:
- arduino = serial.Serial('COM4', 115200, timeout=1)
+ self.arduino = serial.Serial('COM6', 115200, timeout=1)
column_limit = 9
- label2 = ttk.Label(frame1, text="Port: COM4 ")
- label2.place(relx=0.2, rely=0.8, anchor='center')
+ label2 = ttk.Label(frame2, text="Port: COM6 ")
+ label2.place(relx=0.35, rely=0.8, anchor='center')
print("Connected to IMU")
except serial.SerialException:
print("IMU is not connected")
return
+ sleep(1)
+
+ # Conversions
+ toRad = 2 * np.pi / 360
+ toDeg = 1 / toRad
+
+ scene.range = 5
+
+ scene.forward = vector(-1, -1, -1)
+
+ scene.width = 600
+ scene.height = 600
+
+ frontArrow = arrow(axis=vector(1, 0, 0), length=4, shaftwidth=.1, color=color.purple)
+ upArrow = arrow(axis=vector(0, 1, 0), length=1, shaftwidth=.1, color=color.magenta)
+ sideArrow = arrow(axis=vector(0, 0, 1), length=2, shaftwidth=.1, color=color.orange)
+
+ bBoard = box(length=3, width=4, height=.2, color=color.white, opacity=0.8, pos=vector(0, 0, 0))
+ bno = box(color=color.blue, length=1, width=.75, height=0.1, pos=vector(-0.5, 0.1 + 0.05, 0))
+ nano = box(length=1.75, width=.6, height=.1, pos=vector(-2, .1 + .05, 0), color=color.green)
+ myObj = compound([bBoard, bno, nano])
+ last_print_time = time()
try:
while True:
- while arduino.inWaiting() == 0:
+ while self.arduino.inWaiting() == 0:
pass
try:
- data_packet = arduino.readline().decode('utf-8').strip()
+ data_packet = self.arduino.readline().decode('utf-8').strip()
data = data_packet.split(',')
if len(data) == column_limit:
@@ -104,8 +140,27 @@ class Interface:
roll = atan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1 * q1 + q2 * q2))
pitch = -asin(2 * (q0 * q2 - q3 * q1))
yaw = -atan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2 * q2 + q3 * q3))
+ current_time = time()
+
+ if current_time - last_print_time >= 0.01:
+ print(f"EMG: {emg}, Roll: {roll}, Pitch: {pitch}, Yaw: {yaw}")
+ k = vector(cos(yaw) * cos(pitch), sin(pitch), sin(yaw) * cos(pitch)) # this is the x vector
+ y = vector(0, 1, 0) # y vector: pointing down
+ s = cross(k, y) # this is pointing to the side
+ v = cross(s, k) # the up vector
+ vrot = v * cos(roll) + cross(k, v) * sin(roll)
+ # print(k,y,s,v)
+
+ frontArrow.axis = k
+ sideArrow.axis = cross(k, vrot)
+ upArrow.axis = vrot
+ myObj.axis = k
+ myObj.up = vrot
+ sideArrow.length = 2
+ frontArrow.length = 4
+ upArrow.length = 1
+ last_print_time = current_time
- print(f"EMG: {emg}, Roll: {roll}, Pitch: {pitch}, Yaw: {yaw}")
else:
print("Data packet does not match column limit")
@@ -115,74 +170,54 @@ class Interface:
print("Error in decoding data")
except KeyboardInterrupt:
- arduino.close()
+ self.arduino.close()
print("Disconnected from IMU")
+ def IMU_disconnect(self):
+ if self.arduino and self.arduino.is_open:
+ self.arduino.close()
+ print("IMU disconnected")
+ if scene:
+ scene.delete()
def EMG_Connect(self):
try:
- self.arduino = serial.Serial('COM5', 115200, timeout=1)
+ # self.arduino = serial.Serial('COM5', 115200, timeout=1)
label2 = ttk.Label(frame3, text="Port: COM5 ")
label2.place(relx=0.35, rely=0.8, anchor='e')
label_EMG_title = ttk.Label(frame3, text="Auto Calibralian",font=("Helvetica", 16))
label_EMG_title.place(relx=0.5, rely=0.1, anchor='center')
label_EMG_Gesture = ttk.Label(frame3, text="Gesture :", font=("Helvetica", 13))
label_EMG_Gesture.place(relx=0.2, rely=0.5, anchor='center')
- self._initialise_real_time_classification_graph()
- self.read_and_display_emg_data()
+ self._serial_data.configure(port='COM5', baudrate=9600, timeout=1)
+ self._serial_data.connect()
+ self.start_data_collection()
print("Connected to EMG")
except serial.SerialException:
print("EMG is not connected")
return
- def read_and_display_emg_data(self):
- while True:
- emg_values = self.read_emg_data()
- if emg_values is not None:
- print(f"EMG Value 1: {emg_values[0]}, EMG Value 2: {emg_values[1]}")
- if len(emg_values) >= 2:
- # 更新表格
- self.update_table(emg_values)
+ def EMG_disconnect(self):
+ if self._serial_data.configure(port='COM5', baudrate=9600, timeout=1):
+ self._serial_data.disconnect()
+ print("EMG disconnected")
- # 更新数据存储
- self.x_data.append(len(self.x_data) + 1)
- self.y1_data.append(emg_values[0])
- self.y2_data.append(emg_values[1])
-
- # 保持数据长度
- if len(self.x_data) > 100:
- self.x_data = self.x_data[-100:]
- self.y1_data = self.y1_data[-100:]
- self.y2_data = self.y2_data[-100:]
-
- # 更新图表
- self.update_graph()
- # 在这里添加数据分析代码
- # 例如，计算平均值，滤波等
- else:
- print("Failed to read EMG data")
- time.sleep(0.1) # 控制读取频率
-
-
-
- # 定时读取数据 (1000ms = 1秒)
- #popup.after(1000, self.read_and_display_emg_data, self.arduino)
-
- def update_graph(self):
- # 更新线的数据
- self.line1.set_data(self.x_data, self.y1_data)
- self.line2.set_data(self.x_data, self.y2_data)
+ def start_data_collection(self):
+ print("Starting EMG data collection...")
+ try:
+ while True:
+ emg_data=self._serial_data.read()
+ if emg_data is not None:
+ print(f"EMG Value 1: {emg_data[0]}, EMG Value 2: {emg_data[1]}")
+ else:
+ print("Failed to read EMG data")
+ time.sleep(0.1) # 控制读取频率
+ except KeyboardInterrupt:
+ print("Stopping EMG data collection.")
- # 设置 X 轴范围
- self.ax.set_xlim(min(self.x_data), max(self.x_data))
- # 自适应 Y 轴范围
- self.ax.relim()
- self.ax.autoscale_view()
- # 更新图表
- self.canvas.draw()
def update_table(self, emg_data):
if self.treeview:
@@ -191,9 +226,6 @@ class Interface:
self.treeview.insert("", "end", values=("Gesture 2", f"{emg_data[1]:.2f}"))
-
-
-
def _initialise_real_time_classification_graph(self):
# Create a figure and axis
fig = Figure(figsize=((width / 200), (height / 200))) # Adjusting figsize based on frame size
diff --git a/integration/readEMG.py b/integration/readEMG.py
index d1a0dd13162f0ab38ebc63ac41f439a29ef07bf0..eabd7473c1379cbfcded961632989ccc632665ea 100644
--- a/integration/readEMG.py
+++ b/integration/readEMG.py
@@ -70,8 +70,6 @@ class EMGSensor:
emg_values = self.read_emg_data()
if emg_values is not None:
print(f"EMG Value 1: {emg_values[0]}, EMG Value 2: {emg_values[1]}")
- # 在这里添加数据分析代码
- # 例如，计算平均值，滤波等
else:
print("Failed to read EMG data")
time.sleep(0.1) # 控制读取频率