From fc7f78c53a5f12a20b3bbf3311b5129ac643416f Mon Sep 17 00:00:00 2001
From: ym13n22 <ym13n22@soton.ac.uk>
Date: Thu, 22 Aug 2024 18:34:31 +0100
Subject: [PATCH] half and git for test
---
integration/Window.py | 49 +++++++++++++++++++++++++++++++++++++++++-
integration/Window2.py | 43 ++++++++++++++++++------------------
2 files changed, 70 insertions(+), 22 deletions(-)
diff --git a/integration/Window.py b/integration/Window.py
index d789dcf..fc8645f 100644
--- a/integration/Window.py
+++ b/integration/Window.py
@@ -203,6 +203,17 @@ class Window:
self.yaw_label.place(relx=0.2, rely=0.5, anchor='w')
+ self.left_label = tk.Label(self.frame2, text="left is : ")
+ self.left_label.config(font=("Arial", 12))
+ self.left_label.place(relx=0.2, rely=0.6, anchor='w')
+ self.up_label = tk.Label(self.frame2, text="up is : ")
+ self.up_label.config(font=("Arial", 12))
+ self.up_label.place(relx=0.2, rely=0.7, anchor='w')
+ self.forward_label = tk.Label(self.frame2, text="forward is : ")
+ self.forward_label.config(font=("Arial", 12))
+ self.forward_label.place(relx=0.2, rely=0.8, anchor='w')
+
+
@@ -360,6 +371,20 @@ class Window:
self.pitch_label.config(text="pitch is : "+str(pitch))
self.yaw_label.config(text="yaw is : "+str(yaw))
+ up=roll*90/2.6
+ if(up>35):
+ left = -yaw * 90 / 1.5
+ if(35>up>0):
+ left = -yaw * 90 / 2.26
+ if(up<0):
+ left = -yaw * 90 / 2
+
+
+ self.left_label.config(text="left : "+str(left))
+ self.up_label.config(text="up is : "+str(up))
+
+
+
# Rotation matrices
Rz = np.array([
[np.cos(yaw), -np.sin(yaw), 0],
@@ -1031,6 +1056,13 @@ class gameScreen:
pitch = -math.asin(2 * (q0 * q2 - q3 * q1))
yaw = -math.atan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2 * q2 + q3 * q3))
+ k = np.array([np.cos(yaw) * np.cos(pitch), np.sin(pitch), np.sin(yaw) * np.cos(pitch)]) # X vector
+ y = np.array([0, 1, 0]) # Y vector: pointing down
+ s = np.cross(k, y) # Side vector
+ v = np.cross(s, k) # Up vector
+ vrot = v * np.cos(roll) + np.cross(k, v) * np.sin(roll) # Rotated Up vector
+
+
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))
@@ -1057,13 +1089,28 @@ class gameScreen:
print(f"last yaw is: {self.last_averageyaw}")
differ_yaw = self.last_averageyaw - yaw
print(f"differ yaw is: {differ_yaw}")
- yawAngle = differ_yaw * 110 / 2.5
+ up = roll * 90 / 2.6
+ yawAngle = differ_yaw * 90 / 2
+ '''
+ if (up > 35):
+ yawAngle = differ_yaw * 90 / 1.5
+ if (35 > up > 0):
+ yawAngle = differ_yaw * 90 / 2.26
+ if (up <= 0):
+ yawAngle = differ_yaw * 90 / 2
+
+
+ '''
+
+ # yawAngle = differ_yaw * 110 / 2.5
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
diff --git a/integration/Window2.py b/integration/Window2.py
index c32f166..75e9eae 100644
--- a/integration/Window2.py
+++ b/integration/Window2.py
@@ -52,18 +52,18 @@ class Window:
label4 = tk.Label(self.frame4, text="Section 4")
label4.place(relx=0.5, rely=0.5, anchor='center')
- self.imu_thread = threading.Thread(target=self.initial_IMU)
- self.emg_thread = threading.Thread(target=self._initialise_EMG_graph)
- self.emg_thread.start()
- self.imu_thread.start()
+ #self.imu_thread = threading.Thread(target=self.initial_IMU)
+ #self.emg_thread = threading.Thread(target=self._initialise_EMG_graph)
+ #self.emg_thread.start()
+ #self.imu_thread.start()
self.emg_data_1 = [-1.0] * 41
self.emg_data_2 = [-1.0] * 41
- #self.initial_IMU()
- #self._initialise_EMG_graph()
+ self.initial_IMU()
+ self._initialise_EMG_graph()
self.display_IMU_thread=threading.Thread(target=self.update_display)
self.display_EMG_thread=threading.Thread(target=self.EMG_Display)
@@ -74,9 +74,9 @@ class Window:
def initial_IMU(self):
# Serial Port Setup
- if'COM8' in self.ports:#port maybe different on different laptop
+ if'COM9' in self.ports:#port maybe different on different laptop
- self.label2 = tk.Label(self.frame2, text="Port: COM8 ")
+ self.label2 = tk.Label(self.frame2, text="Port: COM9 ")
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",
@@ -188,9 +188,9 @@ class Window:
def _initialise_EMG_graph(self):
- if 'COM8' in self.ports:#port maybe different on different laptop
+ if 'COM9' in self.ports:#port maybe different on different laptop
- self.label2 = tk.Label(self.frame3, text="Port: COM8 ")
+ self.label2 = tk.Label(self.frame3, text="Port: COM9 ")
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",
@@ -277,17 +277,17 @@ class Window:
def start_data_transmission(self):
# Set the transmitting flag to True and start the update loop
- if 'COM8' in self.ports:
+ if 'COM9' in self.ports:
if self.arduino==None:
- self.arduino = serial.Serial('COM8', 115200)
+ self.arduino = serial.Serial('COM9', 115200)
self.transmitting = True
self.update_display()
def start_EMG_data_transmission(self):
# Set the transmitting flag to True and start the update loop
- if 'COM8' in self.ports:
+ if 'COM9' in self.ports:
if self.arduino==None:
- self.arduino = serial.Serial('COM8', 115200)
+ self.arduino = serial.Serial('COM9', 115200)
self.EMG_transmitting = True
self.EMG_Display()
@@ -374,11 +374,12 @@ class Window:
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(f"EMG1 is: {emg1}")
- print(f"EMG2 is: {emg2}")
+ print(roll, pitch, yaw)
+
# Rotation matrices
Rz = np.array([
@@ -471,7 +472,7 @@ class Window:
print(f"An error occurred: {e}")
# Call update_display() again after 50 milliseconds
- self.update_display_id =self.root.after(1, self.update_display)
+ self.update_display_id =self.root.after(500, self.update_display)
def EMG_Display(self):
data_collection_duration = 3
@@ -621,7 +622,7 @@ class trainingInterface:
self.frame2.grid(row=1, column=0, padx=10, pady=10, sticky="nsew")
self.initialEMGTraining()
- if 'COM8' in self.ports:
+ if 'COM9' in self.ports:
self.emg_data_1 = [-1.0] * 41
self.emg_data_2 = [-1.0] * 41
@@ -633,7 +634,7 @@ 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 'COM8' not in self.ports:
+ if 'COM9' 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,
@@ -647,14 +648,14 @@ class trainingInterface:
new_root.mainloop()
def EMG_connect_HandOpen(self):
- self.arduino_EMG = serial.Serial('COM8', 9600, timeout=1)
+ self.arduino_EMG = serial.Serial('COM9', 9600, timeout=1)
gesture = "handOpen"
self.start_countdown(11)
self.displayAndsaveDate()
def handCloseButton(self):
- self.arduino_EMG = serial.Serial('COM8', 9600, timeout=1)
+ self.arduino_EMG = serial.Serial('COM9', 9600, timeout=1)
gesture = "handOpen"
self.start_countdown_close(11)
self.displayAndsaveDate()
--
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