origion combine

integration/IMUEMGCombined.py

@@ -11,7 +11,7 @@ data_collection_duration = 3
 num_measurements_hand = 1
 
 # Initialize the arduino object
-arduino = serial.Serial('COM17', 115200)
+arduino = serial.Serial('COM7', 115200)
 # braccio = serial.Serial('COM6', 115200)
 sleep(1)
 
@@ -49,8 +49,8 @@ def collect_emg_data(duration):
                 try:
                     emg1 = float(data[0])
                     emg2 = float(data[1])
-                    #print("Emg1: ",emg1)
-                    #print("Emg2: ",emg2)
+                    print("Emg1: ",emg1)
+                    print("Emg2: ",emg2)
                     emg_data.append((emg1, emg2))
                 except ValueError:
                     continue
@@ -167,6 +167,8 @@ def main():
                 pitch = -asin(2 * (q0 * q2 - q3 * q1))
                 yaw = -atan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2 * q2 + q3 * q3))
 
+                print(f"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