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
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
import pickle
#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 numpy as np
from vispy import app, scene
from glove.gloveHandle import GloveHandle, SourceConfig, Sources
from util.filers import MagvikFilter, LPFilterIterator
from plotting.motionplotter import MotionPlotter
import imageio
from multiprocessing import Process
np.set_printoptions(suppress=True)
output_filename = '../animation7.gif'
#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/other/glove_motion(1).rec", "rb").read()),
frametime=0.01),
nonBlocking=False)
mplotter = MotionPlotter(size=(1024, 720))
axgo = 0
aygo = 0
azgo = 0
t = 0
mag = MagvikFilter()
qbase = np.array([1, 0, 0, 0])
q = np.array([1, 0, 0, 0])
qr = np.array([1, 0, 0, 0])
swing = np.array([1, 0, 0, 0])
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)