From a74b05e7acc1883fce8f9799bb7e2131cb99c084 Mon Sep 17 00:00:00 2001
From: ym13n22 <ym13n22@soton.ac.uk>
Date: Tue, 23 Jul 2024 17:43:49 +0100
Subject: [PATCH] origion combine
---
integration/IMUEMGCombined.py | 8 +++++---
1 file changed, 5 insertions(+), 3 deletions(-)
diff --git a/integration/IMUEMGCombined.py b/integration/IMUEMGCombined.py
index b3611dd..0a4128b 100644
--- a/integration/IMUEMGCombined.py
+++ b/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
--
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