diff --git a/integration/Window.py b/integration/Window.py
index 0c79c0e5b288330dbc1bdad2599604dd42ba7ed3..15d9931f69b374b09f772dd2a8748fe8c52ae8f1 100644
--- a/integration/Window.py
+++ b/integration/Window.py
@@ -59,6 +59,9 @@ class Window:
self.frame4.grid_propagate(False)
label4 = tk.Label(self.frame4, text="Section 4")
label4.place(relx=0.5, rely=0.5, anchor='center')
+ self.start_button = tk.Button(self.frame2, text="Game Start", command=self.game_Start, width=15, height=1,
+ font=("Helvetica", 12))
+ self.start_button.place(relx=0.7, rely=0.15, anchor='center')
self.imu_thread = threading.Thread(target=self.initial_IMU)
self.emg_thread = threading.Thread(target=self._initialise_EMG_graph)
@@ -217,8 +220,7 @@ class Window:
self.start_button = tk.Button(self.frame3, text="Disconnect", command=self.EMG_disconnect)
self.start_button.place(relx=0.7, rely=0.8, anchor='center')
- self.start_button = tk.Button(self.frame2, text="Game Start", command=self.game_Start, width = 15, height = 1, font = ("Helvetica", 12))
- self.start_button.place(relx=0.7, rely=0.15, anchor='center')
+
else:
@@ -626,8 +628,11 @@ class trainingInterface:
height=2,font=("Helvetica", 12))
self.gameStartButton.place(relx=0.5, rely=0.5, anchor='center')
if 'COM5' not in self.ports:
- self.label=tk.Label(self.frame2, text="No ports found, Please check the hardware connection",font=("Helvetica", 15))
+ self.label=tk.Label(self.frame2, text="No EMG device found, Please check the hardware connection",font=("Helvetica", 15))
self.label.place(relx=0.5, rely=0.3, anchor='center')
+ self.gameStartButton = tk.Button(self.frame2, text="Start", command=self.startButton, width=15,
+ height=2, font=("Helvetica", 12))
+ self.gameStartButton.place(relx=0.5, rely=0.5, anchor='center')
def startButton(self):
self.root.destroy() # Close the welcome window
@@ -898,6 +903,15 @@ class gameScreen:
self.a, self.b = self.load_Function()
self.EMG_Display()
if 'COM6' in self.ports:
+ self.column_limit = 9
+ self.last_averageRoll = 0
+ self.last_averageyaw = 0
+ self.last_averagePitch = 0
+
+ self.averageroll = 0
+ self.averageyaw = 0
+ self.averagepitch = 0
+ self.last_print_time = time()
self.arduino = serial.Serial('COM6', 115200)
self.roll_label = tk.Label(self.frame1, text="roll is : ")
self.roll_label.config(font=("Arial", 12))
@@ -908,6 +922,7 @@ class gameScreen:
self.yaw_label = tk.Label(self.frame1, text="yaw is : ")
self.yaw_label.config(font=("Arial", 12))
self.yaw_label.place(relx=0.2, rely=0.5, anchor='w')
+ self.IMU_Display()
def _decode(self, serial_data):
@@ -963,76 +978,76 @@ class gameScreen:
self.EMG_display_id = self.root.after(1, self.EMG_Display)
def IMU_Display(self):
- last_averageRoll = 0
- last_averageyaw = 0
- last_averagePitch = 0
-
- averageroll = 0
- averageyaw = 0
- averagepitch = 0
- last_print_time = time()
+ while True:
try:
- while ((self.arduino.inWaiting() > 0) and
- (self.transmitting == True)):
- dataPacket = self.arduino.readline()
- dataPacket = dataPacket.decode()
- cleandata = dataPacket.replace("\r\n", "")
- row = cleandata.strip().split(',')
-
- if len(row) == 9:
- splitPacket = cleandata.split(',')
-
- emg = float(splitPacket[0]) # EMG sensor data
- q0 = float(splitPacket[1]) # qw
- q1 = float(splitPacket[2]) # qx
- q2 = float(splitPacket[3]) # qy
- q3 = float(splitPacket[4]) # qz
-
- # Calculate Angles
- roll = math.atan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1 * q1 + q2 * q2))
- pitch = -math.asin(2 * (q0 * q2 - q3 * q1))
- yaw = -math.atan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2 * q2 + q3 * q3))
-
- self.roll_label.config(text="roll is : " + str(roll))
- self.pitch_label.config(text="pitch is : " + str(pitch))
- self.yaw_label.config(text="yaw is : " + str(yaw))
-
- current_time = time()
-
- if current_time - last_print_time >= 0.01:
- print(f"roll is: {roll}")
- print(f"last roll is: {last_averageRoll}")
- differ_roll = last_averageRoll - roll
- print(f"differ roll is: {differ_roll}")
- CalculatedAngle = differ_roll * 3000 / 2.5
- print(f"CalculatedAngle is: {CalculatedAngle}")
- if (differ_roll) > 0:
- self.send_command_to_unity(f"Command : down {CalculatedAngle}")
- if (differ_roll) < 0:
- self.send_command_to_unity(f"Command : up {-CalculatedAngle}")
-
- if (yaw < 0):
- yaw = -yaw
-
- print(f"yaw is: {yaw}")
- print(f"last yaw is: {last_averageyaw}")
- differ_yaw = last_averageyaw - yaw
- print(f"differ yaw is: {differ_yaw}")
- yawAngle = differ_yaw * 90 / 2
- print(f"yawAngle is: {yawAngle}")
- if (differ_yaw) < 0:
- self.send_command_to_unity(f"Command : roll {-yawAngle}")
- if (differ_yaw) > 0:
- self.send_command_to_unity(f"Command : back {yawAngle}")
- last_print_time = current_time
- last_averageRoll = roll
- last_averageyaw = yaw
- last_averagePitch = pitch
+ while self.arduino.inWaiting() == 0:
+ pass
+
+ dataPacket = self.arduino.readline().decode()
+ cleandata = dataPacket.replace("\r\n", "")
+ row = cleandata.strip().split(',')
+
+ if len(row) == self.column_limit:
+ splitPacket = cleandata.split(',')
+
+ emg = float(splitPacket[0]) # emg sensor data
+ q0 = float(splitPacket[1]) # qw
+ q1 = float(splitPacket[2]) # qx
+ q2 = float(splitPacket[3]) # qy
+ q3 = float(splitPacket[4]) # qz
+
+ # Callibration Statuses
+ aC = float(splitPacket[5]) # Accelerometer
+ gC = float(splitPacket[6]) # Gyroscope
+ mC = float(splitPacket[7]) # Magnetometer
+ sC = float(splitPacket[8]) # Whole System
+
+ # calculate angle
+ roll = math.atan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1 * q1 + q2 * q2))
+ pitch = -math.asin(2 * (q0 * q2 - q3 * q1))
+ yaw = -math.atan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2 * q2 + q3 * q3))
+
+ self.roll_label.config(text="roll is : " + str(roll))
+ self.pitch_label.config(text="pitch is : " + str(pitch))
+ self.yaw_label.config(text="yaw is : " + str(yaw))
+
+ current_time = time()
+
+ if current_time - self.last_print_time >= 0.01:
+
+ print(f"roll is: {roll}")
+ print(f"last roll is: {self.last_averageRoll}")
+ differ_roll = self.last_averageRoll - roll
+ print(f"differ roll is: {differ_roll}")
+ CalculatedAngle = differ_roll * 3000 / 2.5
+ print(f"CalculatedAngle is: {CalculatedAngle}")
+ if (differ_roll) > 0:
+ self.send_command_to_unity(f"Command : down {CalculatedAngle}")
+ if (differ_roll) < 0:
+ self.send_command_to_unity(f"Command : up {-CalculatedAngle}")
+
+ if (yaw < 0):
+ yaw = -yaw
+
+ print(f"yaw is: {yaw}")
+ print(f"last yaw is: {self.last_averageyaw}")
+ differ_yaw = self.last_averageyaw - yaw
+ print(f"differ yaw is: {differ_yaw}")
+ yawAngle = differ_yaw * 90 / 2
+ print(f"yawAngle is: {yawAngle}")
+ if (differ_yaw) < 0:
+ self.send_command_to_unity(f"Command : back {-yawAngle}")
+ if (differ_yaw) > 0:
+ self.send_command_to_unity(f"Command : roll {yawAngle}")
+
+ self.last_print_time = current_time
+ self.last_averageRoll = roll
+ self.last_averageyaw = yaw
+ self.last_averagePitch = pitch
except Exception as e:
- print(f"An error occurred: {e}")
+ print("Error:", str(e))
- self.root.after(50, self.IMU_Display)
def load_Function(self,filename='trained.txt'):
try: