diff --git a/integration/Window2.py b/integration/Window2.py
index e072a3106ccb7584209d61e475d05ed4b2fb103f..fc88a66605b3911c38ceba07ef4f9ec42791e321 100644
--- a/integration/Window2.py
+++ b/integration/Window2.py
@@ -12,9 +12,11 @@ import time
import socket
import os
from PIL import Image, ImageTk
+from time import sleep, time
class Window:
def __init__(self, root):
+ self.input_port='COM5'
self.root = root
self.root.title("Integration")
self.ports = [port.device for port in serial.tools.list_ports.comports()]
@@ -78,9 +80,9 @@ class Window:
def initial_IMU(self):
# Serial Port Setup
- if'COM9' in self.ports:#port maybe different on different laptop
+ if self.input_port in self.ports:#port maybe different on different laptop
- self.label2 = tk.Label(self.frame2, text="Port: COM9 ")
+ self.label2 = tk.Label(self.frame2, text=f"Port: {self.input_port} ")
self.label2.place(relx=0.35, rely=0.8, anchor='center')
self.label1 = tk.Label(self.frame2,
text="click the Connect button to see the animation",
@@ -192,9 +194,9 @@ class Window:
def _initialise_EMG_graph(self):
- if 'COM9' in self.ports:#port maybe different on different laptop
+ if self.input_port in self.ports:#port maybe different on different laptop
- self.label2 = tk.Label(self.frame3, text="Port: COM9 ")
+ self.label2 = tk.Label(self.frame3, text=f"Port: {self.input_port} ")
self.label2.place(relx=0.23, rely=0.8, anchor='center')
self.label1 = tk.Label(self.frame3,
text="click the Connect button to see the animation",
@@ -281,17 +283,17 @@ class Window:
def start_data_transmission(self):
# Set the transmitting flag to True and start the update loop
- if 'COM9' in self.ports:
+ if self.input_port in self.ports:
if self.arduino==None:
- self.arduino = serial.Serial('COM9', 9600)
+ self.arduino = serial.Serial(self.input_port, 9600)
self.transmitting = True
self.update_display()
def start_EMG_data_transmission(self):
# Set the transmitting flag to True and start the update loop
- if 'COM9' in self.ports:
+ if self.input_port in self.ports:
if self.arduino==None:
- self.arduino = serial.Serial('COM9', 9600)
+ self.arduino = serial.Serial(self.input_port, 9600)
self.EMG_transmitting = True
self.EMG_Display()
@@ -608,6 +610,7 @@ class WelcomeWindow:
class trainingInterface:
def __init__(self, root):
+ self.input_port='COM5'
self.root = root
self.root.title("preparation Interface")
self.width = 1000
@@ -637,7 +640,7 @@ class trainingInterface:
self.frame2.grid(row=1, column=0, padx=10, pady=10, sticky="nsew")
self.initialEMGTraining()
- if 'COM9' in self.ports:
+ if self.input_port in self.ports:
self.emg_data_1 = [-1.0] * 41
self.emg_data_2 = [-1.0] * 41
@@ -649,7 +652,7 @@ class trainingInterface:
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')
- if 'COM9' not in self.ports:
+ if self.input_port not in self.ports:
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,
@@ -663,14 +666,14 @@ class trainingInterface:
new_root.mainloop()
def EMG_connect_HandOpen(self):
- self.arduino_EMG = serial.Serial('COM9', 9600, timeout=1)
+ self.arduino_EMG = serial.Serial(self.input_port, 9600, timeout=1)
gesture = "handOpen"
self.start_countdown(11)
self.displayAndsaveDate()
def handCloseButton(self):
- self.arduino_EMG = serial.Serial('COM9', 9600, timeout=1)
+ self.arduino_EMG = serial.Serial(self.input_port, 9600, timeout=1)
gesture = "handOpen"
self.start_countdown_close(11)
self.displayAndsaveDate()
@@ -889,6 +892,7 @@ class Algorithm:
class gameScreen:
def __init__(self, root):
+ self.input_port='COM5'
self.root = root
self.root.title("game Interface")
self.width = 1000
@@ -915,8 +919,8 @@ class gameScreen:
self.frame2 = tk.Frame(self.root, borderwidth=1, relief="solid", width=self.width, height=self.height * 1 / 2)
self.frame2.grid(row=1, column=0, padx=10, pady=10, sticky="nsew")
- if 'COM9' in self.ports :
- self.arduino_EMG = serial.Serial('COM5', 9600, timeout=1)
+ if self.input_port in self.ports :
+ #self.arduino_EMG = serial.Serial(self.input_port, 9600, timeout=1)
self.outer_EMG_label = tk.Label(self.frame2, text=f"EMG for Extensor Carpi Ulnaris is :")
self.outer_EMG_label.config(font=("Arial", 12))
self.outer_EMG_label.place(relx=0.1, rely=0.2, anchor='w')
@@ -936,12 +940,12 @@ class gameScreen:
self.gesture_predict.config(font=("Arial", 12))
self.gesture_predict.place(relx=0.2, rely=0.7, anchor='w')
self.a, self.b = self.load_Function()
- self.emg_thread = threading.Thread(target=self.EMG_Display)
- self.emg_thread.start()
+ #self.emg_thread = threading.Thread(target=self.EMG_Display)
+ # self.emg_thread.start()
#self.EMG_Display()
- if 'COM9' in self.ports:
+ if self.input_port in self.ports:
self.column_limit = 9
self.last_averageRoll = 0
self.last_averageyaw = 0
@@ -951,7 +955,7 @@ class gameScreen:
self.averageyaw = 0
self.averagepitch = 0
self.last_print_time = time()
- self.arduino = serial.Serial('COM6', 115200)
+ self.arduino = serial.Serial(self.input_port, 115200)
self.roll_label = tk.Label(self.frame1, text="roll is : ")
self.roll_label.config(font=("Arial", 12))
self.roll_label.place(relx=0.2, rely=0.3, anchor='w')
@@ -961,8 +965,9 @@ 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_thread = threading.Thread(target=self.IMU_Display)
- self.imu_thread.start()
+ self.IMU_Display()
+ #self.imu_thread = threading.Thread(target=self.IMU_Display)
+ #self.imu_thread.start()
#self.IMU_Display()
@@ -989,7 +994,10 @@ class gameScreen:
return self.adc_values
- def EMG_Display(self):
+
+
+ '''
+ def EMG_Display(self):
try:
while (self.arduino_EMG.inWaiting() > 0):
data = self.arduino_EMG.readline()
@@ -1088,6 +1096,93 @@ class gameScreen:
except Exception as e:
print("Error:", str(e))
+
+ '''
+
+ def IMU_Display(self):
+ try:
+ while (self.arduino.inWaiting() > 0):
+ dataPacket = self.arduino.readline()
+ dataPacket = dataPacket.decode()
+ cleandata = dataPacket.replace("\r\n", "")
+ row = cleandata.strip().split(',')
+
+
+ if len(row) == 10:
+ splitPacket = cleandata.split(',')
+ q0 = float(splitPacket[2]) # qw
+ q1 = float(splitPacket[3]) # qx
+ q2 = float(splitPacket[4]) # qy
+ q3 = float(splitPacket[5]) # qz
+ emg1 = float(splitPacket[0]) # First EMG sensor data
+ emg2 = float(splitPacket[1]) # Second EMG sensor data
+ #print(f"emg1: {emg1}, emg2: {emg2}")
+ data = [emg1, emg2]
+ predictions = self.predict(data, self.a, self.b)
+ ges_predictions = None
+ if predictions is not None:
+ if predictions == -1:
+ ges_predictions = "Hand Open"
+ if predictions == 1:
+ ges_predictions = "Hand Close"
+ if predictions == 0:
+ ges_predictions = "Unknown"
+ self.gesture_predict.config(text=f"{ges_predictions}")
+ self.outer_EMG_Number.config(text=f"{emg1}")
+ self.inner_EMG_Number.config(text=f"{emg2}")
+ self.send_command_to_unity(f"Hand :{ges_predictions}")
+
+
+ # 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))
+ #print(roll, pitch, 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}")
+
+ # Call update_display() again after 50 milliseconds
+ self.update_display_id =self.root.after(1, self.IMU_Display)
def load_Function(self,filename='trained.txt'):