from vispy import app, scene
from glove.gloveHandle import GloveHandle, SourceConfig, Sources
from util.filers import MagvikFilter, LPFilterIterator
from util.extmath import angleFromQuat
import imageio
from plotting.glovecanvas import GloveCanvas
np.set_printoptions(suppress=True)
output_filename = '../glovecanvas.gif'
gloveCanvas = GloveCanvas()
#glove = GloveHandle(SourceConfig(Sources.USB_TTL, portName="COM7", baudrate=115200), nonBlocking=False)
#glove = GloveHandle(SourceConfig(Sources.BLUETOOTH, port=1, host="00:21:13:04:d9:63"), nonBlocking=False)
glove = GloveHandle(SourceConfig(
Sources.SIMULATION,
data=bytearray(open("../dataprocessing/data/glovetest.rec", "rb").read())),
nonBlocking=False)
mag = MagvikFilter()
angles = (0, 0, 0)
flex = (0, 0, 0, 0, 0)
#@glove.imuFrameDecorator
def imuFrame(data):
global gloveCanvas, mag, angles
ax = data[0] / 32768 * 4 - 0.05
ay = data[1] / 32768 * 4 - 0.00
az = data[2] / 32768 * 4 - 0.045
wx = (np.pi / 180) * ((data[3] + 90) / 32768 * 500)
import sys
import time
from util.extmath import *
import numpy as np
from vispy import app, scene
from glove.gloveHandle import GloveHandle, SourceConfig, Sources
from plotting.imuplotter import ImuPlotter
from util.filers import MagvikFilter, LPFilterIterator
#glove = GloveHandle(SourceConfig(Sources.USB_TTL, portName="COM10", baudrate=115200), nonBlocking=True)
glove = GloveHandle(SourceConfig(
Sources.SIMULATION,
data=bytearray(
open("dataprocessing/data/gestures/log/log(4).rec", "rb").read()),
frametime=0.01),
nonBlocking=False)
plotter = ImuPlotter(sampleInterval=0.002, timeWindow=5.)
axgo = 0
aygo = 0
azgo = 0
t = 0
mag = MagvikFilter(beta=1)
count = 0
q = [1, 0, 0, 0]
vx = 0
vy = 0
vz = 0
sx = 0
sy = 0
sz = 0
#glove = GloveHandle(SourceConfig(Sources.USB_TTL, portName="COM10", baudrate=115200), nonBlocking=True)
path = "data/gestures/"
fileind = "triangle/triangle(17)"
#fileind = "log/log(18)"
#fileind = "rect/rect(20)"
#fileind = "triangle/triangle(20)"
#fileind = "v/v(20)"
rec = ".rec"
procpath = "data/gestures/"
procrec = ".proc"
glove = GloveHandle(SourceConfig(Sources.SIMULATION,
data=bytearray(
open(path + fileind + rec, "rb").read()),
frametime=0.001),
nonBlocking=False)
plotter = ImuPlotter(sampleInterval=0.0002, timeWindow=5.)
axgo = 0
aygo = 0
azgo = 0
t = 0
mag = MagvikFilter(beta=1)
count = 0
q = [1, 0, 0, 0]
vx = 0
vy = 0
vz = 0
sx = 0
sy = 0
import time
from pynput import keyboard
from glove.gloveHandle import GloveHandle, SourceConfig, Sources
filename = "data/glovetest.rec"
file = open(filename, 'rb')
glove = GloveHandle(SourceConfig(Sources.SIMULATION,
data=bytearray(file.read())),
nonBlocking=False)
@glove.imuFrameDecorator
def imuFrame(data):
print("IMU data: ", data)
time.sleep(0.5)
@glove.deformationFrameDecorator
def deformationFrame(data):
print("deformation data: ", data)
glove.connect(
"FRAME", glove.newFrameDecorator(lambda head, data: print("FRAME:", data)))
glove.connect("IMU_FRAME", imuFrame)
glove.connect("DEFORMATION_FRAME", deformationFrame)
glove.open()
glove.start()
time.sleep(10)
glove.exit()
import time
from pynput import keyboard
from glove.gloveHandle import GloveHandle, SourceConfig, Sources
filename = "data/gestures/v/v(20).rec"
#filename = "data/gestures/log/log(18).rec"
file = open(filename, 'wb')
_exit = False
glove = GloveHandle(SourceConfig(Sources.BLUETOOTH,
port=1,
host="00:21:13:04:d9:63"),
nonBlocking=False)
def on_press(key):
try:
pass
except AttributeError:
pass
def on_release(key):
global _exit
if key == keyboard.Key.esc:
_exit = True
return False
glove.open()
listener = keyboard.Listener(on_press=on_press, on_release=on_release)
import sys
import time
from util.extmath import *
import numpy as np
from vispy import app, scene
from glove.gloveHandle import GloveHandle, SourceConfig, Sources
from plotting.imuplotter import ImuPlotter
from util.filers import MagvikFilter, LPFilterIterator
glove = GloveHandle(SourceConfig(Sources.USB_TTL,
portName="COM10",
baudrate=115200),
nonBlocking=True)
plotter = ImuPlotter(sampleInterval=0.002, timeWindow=5.)
axgo = 0
aygo = 0
azgo = 0
kp = 0.2
t = 0
mag = MagvikFilter()
@glove.imuFrameDecorator
def imuFrame(data):
global plotter, t, mag
global axgo, aygo, azgo
ax = data[0] / 32768 * 4 + 0.015
ay = data[1] / 32768 * 4 - 0.00
az = data[2] / 32768 * 4 - 0.045
wx = (np.pi / 180) * ((data[3] + 90) / 32768 * 500)
wy = (np.pi / 180) * ((data[4] + 0) / 32768 * 500)