def main():
print("Starting MyoConnect")
# Instantiate myo and listener objects
myo = Myo()
listener = SendPoseListener()
try:
# Connect myo and listner
myo.connect()
myo.add_listener(listener)
print("listener added")
# Vibrate armband when connected
myo.vibrate(VibrationType.SHORT)
print("vibrated")
# Run myo
while True:
myo.run()
# Error handling
except KeyboardInterrupt:
pass
except ValueError as ex:
print(ex)
finally:
myo.safely_disconnect()
print("Finished")
def main():
print('Myo Heating UP')
# saving the pose in variable
listener = PrintPoseListener()
# access to myo via variable obj
myo = Myo()
try:
# connection to myo
myo.connect()
# adding pose to myo
myo.add_listener(listener)
#vibration on start
myo.vibrate(VibrationType.SHORT)
#keep running until program we exit
while True:
myo.run()
except KeyboardInterrupt:
pass
except ValueError as ex:
print(ex)
finally:
myo.safely_disconnect()
print('Myo App is ended.')
def main():
print('Start Myo for Linux')
param = 0
if len(sys.argv) > 1:
param = sys.argv[1]
listener = PrintPoseListener()
if param == 1:
listener = EmgListener()
myo = Myo()
try:
myo.connect()
myo.add_listener(listener)
myo.vibrate(VibrationType.SHORT)
while True:
x = myo.run()
if x != [] or None:
print(x)
except KeyboardInterrupt:
pass
except ValueError as ex:
print(ex)
finally:
myo.safely_disconnect()
print('Finished.')
def main():
print('Start Myo for Linux')
listener = PrintPoseListener()
myo = Myo()
try:
myo.connect()
myo.add_listener(listener)
myo.vibrate(VibrationType.SHORT)
while True:
myo.run()
except KeyboardInterrupt:
pass
except ValueError as ex:
print(ex)
finally:
myo.safely_disconnect()
print('Finished.')
def main():
print('Start Myo for Linux')
listener = PrintPoseListener()
myo = Myo()
try:
myo.connect()
myo.add_listener(listener)
while True:
myo.run()
except KeyboardInterrupt:
pass
except ValueError as ex:
print(ex)
finally:
myo.safely_disconnect()
print('Finished.')
def main():
print("### ITECH BIYONIK-EL YAZILIMI ###\n#")
print('# Myo yazilimi baslatiliyor')
# HAREKET TANIMLAMA LISTENERI
if(sys.argv[1] == "0"):
listener = PrintPoseListener()
elif(sys.argv[1] == "1"):
listener = RS232Listener()
# MYO NESNESI
myo = Myo()
try:
# MYO BAGLANTI
myo.connect()
# LISTENER EKLEME
myo.add_listener(listener)
# BASLANGICTA 3 KISA TITRESIM
for i in range(0,3): myo.vibrate(VibrationType.SHORT)
# PROGRAM BU DONGU ICINDE CALISIR
while True:
# myo.run() KOMUTU : HAREKETLERI ALGILAR
mPose = myo.run()
# myo.run() KOMUTUNDAN "-1" DEGERI DONER ISE
# YANI HAREKET DEGERI "UNKNOWN" ISE
if(mPose == -1):
# GUVENLI CIKIS
myo.safely_disconnect()
# TEKRAR BAGLANTI
myo.connect()
# TEKRAR LISTENER EKLE
myo.add_listener(listener)
# TEKRAR 3 TITRESIM
for i in range(0,3): myo.vibrate(VibrationType.SHORT)
# KLAVYEDEN DURDURMA
except KeyboardInterrupt:
pass
except ValueError as ex:
print(ex)
except SerialException:
system("usbKapat")
sleep(1)
system("usbAc")
sleep(0.5)
main()
finally:
# GUVENLI CIKIS
myo.safely_disconnect()
print('# Cikis yapildi.\n#')
print("### ITECH BIYONIK-EL YAZILIMI ###")
def main():
print('Start Myo for Intel Edison or any Linux and Mac Complient Devices:')
listener = PrintPoseListener()
crazy_listner = CrazyFlie_listner()
myo = Myo()
try:
myo.connect()
myo.add_listener(listener)
myo.add_listener(crazy_listner)
myo.vibrate(VibrationType.SHORT)
while True:
myo.run()
except KeyboardInterrupt:
pass
except ValueError as ex:
print(ex)
finally:
myo.safely_disconnect()
print('Finished.')
def main():
rospy.loginfo('Start Myo for Linux')
gesture_pub = rospy.Publisher('rover1/wheel_vel',
WheelVelocity,
queue_size=10)
listener = PrintPoseListener()
myo = Myo()
try:
myo.connect()
myo.add_listener(listener)
while True:
myo.run()
except KeyboardInterrupt:
pass
except ValueError as ex:
print(ex)
finally:
myo.safely_disconnect()
print('Finished.')
class main(object):
def __init__(self, dataType=["emg", "imu"]):
self.emgDict = dict()
self.numberVoter = 3
self.dataType = dataType
self.L = threading.Lock()
self.modelFilePath = "emg_1535856299.pkl"
def start(self):
self.listener = PrintPoseListener(dataType=self.dataType)
self.mMyo = Myo()
self.getSystermType()
try:
self.mMyo.connect()
self.mMyo.add_listener(self.listener)
self.mMyo.vibrate(VibrationType.SHORT)
except ValueError as ex:
print(ex)
# self.getTheModelFileName()
self.loadModel() #导入模型
self.mMyo.vibrate(VibrationType.MEDIUM) #震动表示模型导入完成
#获取姿态控制的数据
def getAttitudeControlData(self, roll, pitch, yaw):
# print("the roll is :" , roll)
# print("the pitch is :" , pitch)
if pitch > 0:
tempData1 = "up"
elif pitch < 0:
tempData1 = "down"
if roll > 0:
tempData2 = "left"
elif roll < 0:
tempData2 = "right"
return tempData1, tempData2
#往文件中写入动作字符串
def writeActionFile(self, fileName="actionTempData.dat", actionStr="rest"):
'''将最终的动作写入文件中'''
if os.path.exists(fileName) == False:
with open(fileName, "w") as f:
f.write(actionStr)
f.close()
# print("write over!!")
else:
pass
#采集线程主程序
def myoRun(self):
try:
while True:
self.mMyo.run()
time.sleep(0.001)
except KeyboardInterrupt:
self.mMyo.safely_disconnect()
#获取在线分类结果函数(分类线程函数)
def onlineClf(self):
try:
while True:
if "emg" in self.dataType:
if self.listener.emgDataCount > self.model.mWinWidth + self.numberVoter - 1: #投票数为其加1
self.listener.emgDataCount = 0
self.L.acquire()
self.listener.emgData = np.array(self.listener.emgData,
dtype=np.int64)
self.listener.emgData = self.listener.emgData.T
self.emgDict['one'] = self.listener.emgData
self.L.release()
self.sample = FeatureSpace(
rawDict=self.emgDict,
moveNames=[
'one',
], #动作类别
ChList=[0, 1, 2, 3, 4, 5, 6, 7], #传感器的通道数目
features={
'Names': self.model.mFeatureList, #定义的特征
'LW': self.model.mWinWidth, #定义的窗宽
'LI': self.model.mSlidingLen
}, #定义的窗滑动的步长
one_hot=False,
trainPercent=[1, 0, 0] #是否进行onehot处理
)
self.L.acquire()
self.getTrainData()
actionList = self.model.mModel.predict(self.trainX)
self.writeActionFile(
actionStr=str(self.getTheAction(actionList)))
self.L.release()
self.listener.emgData = []
self.emgDict.clear()
time.sleep(0.001)
else:
time.sleep(0.001)
except KeyboardInterrupt:
pass
#The feature space is divided into data sets
def getTrainData(self):
nDimensions = self.sample.trainImageX.shape[1]
#训练集
self.trainX = np.reshape(self.sample.trainImageX, (-1, nDimensions))
self.trainY = np.squeeze(self.sample.trainImageY)
#测试集
self.testX = np.reshape(self.sample.testImageX, (-1, nDimensions))
self.testY = np.squeeze(self.sample.testImageY)
#评估集
self.validateX = np.reshape(self.sample.validateImageX,
(-1, nDimensions))
self.validateY = np.squeeze(self.sample.validateImageY)
'''导入已经保存的模型'''
def loadModel(self):
self.model = joblib.load(self.modelFilePath)
self.actionNames = self.model.actionNames
def getSystermType(self):
'''获得系统平台类型'''
self.systermType = platform.system()
#投票函数
def getTheAction(self, actionList):
tempData = np.array(actionList)
counts = np.bincount(tempData)
actionNumber = np.argmax(counts)
return self.actionNames[actionNumber] #返回定义的动作类别字符串
#获取姿态数据
def getTheAttitudeMain(self):
if "imu" in self.dataType:
while True:
tempStr1, tempStr2 = self.getAttitudeControlData(
self.listener.roll, self.listener.pitch, self.listener.yaw)
attitudeControlStr = tempStr1 + '+' + tempStr2
# print("the attitude is :" , attitudeControlStr)
self.L.acquire()
self.writeActionFile(fileName="attitudeTempData.dat",
actionStr=attitudeControlStr)
self.L.release()
time.sleep(0.001)
else:
time.sleep(0.001)
pass
'''myo主程序的入口'''
def run(self):
try:
self.mThread = myThread()
self.mThread.addThread('onlineClf', self.onlineClf, 0) #加入在线识别动作线程
self.mThread.addThread('getData', self.myoRun, 0) #加入数据采集的线程
self.mThread.addThread('getTheAttitudeMain',
self.getTheAttitudeMain, 0) #加入数据采集的线程
self.mThread.runThread()
except KeyboardInterrupt:
self.mMyo.safely_disconnect()
self.mThread.forcedStopThread()
class Arm(object):
MOTOR_IDLE_TIME = 2 # seconds
WRIST_SPEED = 25 # a scalar on the relative rotation speed for the updateWristRotation() callback
# This will create the hand and wrist servos in the arm. This will also create the Myo instance.
def __init__(self):
# Create the actuators
self.wristServo = Servo('wrist')
self.handServo = Servo('hand')
# Create state variables
self.handStatus = 'opened' # args can be 'opened', 'closed'
self.handResetTimer = None # Used to turn off the motor after 2 seconds of inactivity
self.wristResetTimer = None
# Center motors (not needed)
# self.openHand()
# self.setWristPosition(90) # deg
# Create the Myo controller sensor (with callbacks)
callbacks = {
'toggleHand': self.toggleHand,
'updateWristRotation': self.updateWristRotation,
'isHandClosed': self.isHandClosed
}
self.myo = Myo(callbacks)
# Kill the script if the myo does not connect on time.
killTimer = threading.Timer(5, self.killScript)
killTimer.start()
# Start the Myo sensor.
self.myo.connect()
# Kill the kill timer
killTimer.cancel()
# Become slave to the myo sensor
while True:
self.myo.run()
def setHandTimer(self):
# Stop the old timer if it exists
if self.handResetTimer:
self.handResetTimer.cancel()
self.handResetTimer = threading.Timer(Arm.MOTOR_IDLE_TIME, self.handServo.disable)
self.handResetTimer.start()
def setWristTimer(self):
if self.wristResetTimer:
self.wristResetTimer.cancel()
self.wristResetTimer = threading.Timer(Arm.MOTOR_IDLE_TIME, self.wristServo.disable)
self.wristResetTimer.start()
def openHand(self):
# Open the hand, then disable the servo to save power/heat
self.handServo.angle(180)
self.handServo.enable()
# Set a timer to turn off the servo soon
self.setHandTimer()
def closeHand(self):
# Close the hand, then disable the servo after a few minutes to save power/heat
self.handServo.angle(0)
self.handServo.enable()
# Set a timer to turn off the servo soon
self.setHandTimer()
def toggleHand(self):
if self.handStatus is 'opened':
self.closeHand()
self.handStatus = 'closed'
else:
self.openHand()
self.handStatus = 'opened'
def isHandClosed(self):
if self.handStatus is 'closed':
return True
else:
return False
def setWristPosition(self, deg):
# Each time that this is called
self.wristServo.angle(deg)
self.wristServo.enable()
# turn off the servo after a few seconds
self.setWristTimer()
def updateWristRotation(self, offsetRadians):
# Get the current angle of the servo
currentAngle = self.wristServo.getAngle()
# Figure out where the servo should go
newAngle = currentAngle + offsetRadians * Arm.WRIST_SPEED
self.wristServo.angle(newAngle)
self.wristServo.enable()
# turn off the servo after a few seconds
self.setWristTimer()
def killScript(self):
sys.exit(0) # exit with error code
class saveMyoData(object):
def __init__(self):
self.actionNum = 0 #用于对动作类别进行计数
self.actionList = [
"one", "two", "three", "four", "five", "open_hand", "ok", "low",
"love", "good", "fist", "eight", "crasp"
] #保存的动作列表
self.selectActionList = [] #永户选用的动作列表
# self.stopFlag = False #停止采集数据标志
self.actionTime = 0 #动作持续的时间（s）
self.restTime = 0 #修息状态持续的时间(s)
self.getSystermType()
self.setFilePath() #设置肌电数据的存储路径
#开始函数
def start(self):
self.listener = PrintPoseListener(dataType=["emg"])
self.mMyo = Myo()
# self.getSystermType()
# self.setFilePath() #设置肌电数据的存储路径
self.getUserInput() #获得用户输入的信息
pygame.init() #初始化显示窗口
self.screen = pygame.display.set_mode((200, 250)) #设置显示窗口的大小
try:
self.mMyo.connect()
self.mMyo.add_listener(self.listener)
self.mMyo.vibrate(VibrationType.SHORT)
except ValueError as ex:
print(ex)
#获取用户的输入信息
def getUserInput(self):
self.actionTime = int(raw_input("请输入动作时间："))
self.restTime = int(raw_input("请输入休息时间："))
print("--------------------------------------------------------")
print("目前支持的动作为：" + str(self.actionList))
print("--------------------------------------------------------")
print("请输入您想要训练的动作，结束请按“ctrl+c” : ")
try:
while True:
tempAction = raw_input(">>:") #获取用户的动作选择输入
if tempAction in self.actionList:
self.selectActionList.append(tempAction)
else:
print("输入的动作有误，请确认后重新输入！")
print(
"--------------------------------------------------------"
)
print("目前支持的动作为：" + str(self.actionList))
print(
"--------------------------------------------------------"
)
except KeyboardInterrupt:
print("")
print('Finished.')
#设置图片的显示，图片显示线程主函数
def setActionState(self, actionTime, restTime):
global actionCategry, stopFlag
currentFilePath = os.getcwd()
while True:
if self.systermType == "Windows":
actionPicPath = currentFilePath + "//pose//" + str(
self.selectActionList[self.actionNum]) + ".JPG"
restPicPath = currentFilePath + "//pose//" + "rest.JPG"
elif self.systermType == "Linux":
actionPicPath = currentFilePath + "/pose/" + str(
self.selectActionList[self.actionNum]) + ".JPG"
restPicPath = currentFilePath + "/pose/" + "rest.JPG"
#action
img = pygame.image.load(actionPicPath).convert_alpha()
img = pygame.transform.scale(img, (200, 250))
actionCategry = self.selectActionList[self.actionNum]
pygame.display.set_caption(self.selectActionList[self.actionNum])
font = pygame.font.Font(None, 26)
self.screen.blit(img, (0, 0))
pygame.display.update()
time.sleep(actionTime)
# #rest
if self.restTime == 0:
pass
else:
img = pygame.image.load(restPicPath).convert_alpha()
img = pygame.transform.scale(img, (200, 250))
actionCategry = "rest"
pygame.display.set_caption("rest")
font = pygame.font.Font(None, 26)
self.screen.blit(img, (0, 0))
pygame.display.update()
time.sleep(restTime)
self.actionNum += 1
if self.actionNum >= len(self.selectActionList):
stopFlag = True
pygame.quit()
break
#设置肌电数据的保存路径
def setFilePath(self):
currentFilePath = os.getcwd()
timeStr = str(int(time.time()))
if self.systermType == "Windows":
self.emgDataPath = currentFilePath + '//data//emgData'
elif self.systermType == "Linux":
self.emgDataPath = currentFilePath + '/data/emgData'
#判断文件夹是否存在，不存在则创建
if os.path.exists(self.emgDataPath) == False:
os.makedirs(self.emgDataPath)
def getSystermType(self):
self.systermType = platform.system()
#保存肌电数据
def saveEmgData(self, data):
timeStr = str(int(time.time()))
self.fileName = 'emg_' + timeStr
fileExistFlag = os.path.isfile(self.fileName + '.csv')
if self.systermType == "Windows":
self.emgDataFilePath = self.emgDataPath + "//" + self.fileName + ".csv"
elif self.systermType == "Linux":
self.emgDataFilePath = self.emgDataPath + "/" + self.fileName + ".csv"
#写入数据
with open(self.emgDataFilePath, 'a+') as f:
writer = csv.writer(f)
if fileExistFlag == False:
writer.writerow([
'ch0', 'ch1', 'ch2', 'ch3', 'ch4', 'ch5', 'ch6', 'ch7',
'label'
]) #为肌电数据设置列索引
writer.writerows(data) #保存数据为csv格式
f.close()
#数据采集线程主函数
def myoRun(self):
global stopFlag
while True:
self.mMyo.run()
if stopFlag == True:
self.mMyo.vibrate(VibrationType.SHORT)
self.mMyo.safely_disconnect()
self.saveEmgData(self.listener.emgData)
break
#运行程序
def run(self):
global stopFlag
try:
self.mThread = myThread()
self.mThread.addThread('setPic',
targetFunc=self.setActionState,
haveArgsFlag=1,
args=(self.actionTime, self.restTime))
self.mThread.addThread('getData', self.myoRun, 0) #加入数据采集的线程
self.mThread.runThread()
if stopFlag == True:
self.mThread.stopThread()
except KeyboardInterrupt:
self.mMyo.safely_disconnect()
print('Finished.')
class onLineClf(saveMyoData):
def __init__(self, modelFilePath, dataMode=["emg", "imu"]):
'''data mode'''
self.dataMode = dataMode #采集的数据的种类，主要有：emg 和 imu
'''emg data'''
self.emgDataLenth = 24 #每次采集多少个数据做一次特征提取和动作的识别
self.emgDict = dict()
'''model'''
self.modelFilePath = modelFilePath #分类模型保存的路径
self.numberVoter = 3 #投票成员的个数
'''初始化myo相关程序'''
def start(self):
self.listener = PrintPoseListener(dataType=self.dataMode,
trainType="on")
self.mMyo = Myo()
self.getSystermType()
# self.setFilePath() #设置路径
try:
self.mMyo.connect()
self.mMyo.add_listener(self.listener)
self.mMyo.vibrate(VibrationType.SHORT)
except ValueError as ex:
print(ex)
self.loadModel() #导入模型
self.mMyo.vibrate(VibrationType.MEDIUM)
#采集线程主程序
def myoRun(self):
try:
while True:
self.mMyo.run()
except KeyboardInterrupt:
self.mMyo.safely_disconnect()
self.mThread.delThread("getData")
#获取在线分类结果函数(分类线程函数)
def onlineClf(self):
try:
while True:
if self.listener.emgDataCount > self.model.mWinWidth + self.numberVoter - 1: #投票数为其加1
self.listener.emgDataCount = 0
self.listener.emgData = np.array(self.listener.emgData,
dtype=np.int64)
self.listener.emgData = self.listener.emgData.T
self.emgDict['one'] = self.listener.emgData
self.sample = FeatureSpace(
rawDict=self.emgDict,
moveNames=[
'one',
], #动作类别
ChList=[0, 1, 2, 3, 4, 5, 6, 7], #传感器的通道数目
features={
'Names': self.model.mFeatureList, #定义的特征
'LW': self.model.mWinWidth, #定义的窗宽
'LI': self.model.mSlidingLen
}, #定义的窗滑动的步长
one_hot=False,
trainPercent=[1, 0, 0] #是否进行onehot处理
)
self.getTrainData()
actionList = self.model.mModel.predict(self.trainX)
print("the action is :", self.getTheAction(actionList))
self.listener.emgData = []
self.emgDict.clear()
else:
time.sleep(0.1)
pass
except KeyboardInterrupt:
self.mThread.delThread("onlineClf")
#The feature space is divided into data sets
def getTrainData(self):
nDimensions = self.sample.trainImageX.shape[1]
#训练集
self.trainX = np.reshape(self.sample.trainImageX, (-1, nDimensions))
self.trainY = np.squeeze(self.sample.trainImageY)
#测试集
self.testX = np.reshape(self.sample.testImageX, (-1, nDimensions))
self.testY = np.squeeze(self.sample.testImageY)
#评估集
self.validateX = np.reshape(self.sample.validateImageX,
(-1, nDimensions))
self.validateY = np.squeeze(self.sample.validateImageY)
'''导入已经保存的模型'''
def loadModel(self):
print("path:", self.modelFilePath)
self.model = joblib.load(self.modelFilePath)
self.actionNames = self.model.actionNames
'''设置模型文件的名称'''
def setModelFileName(self, fileName):
self.modelFileName = fileName
def getSystermType(self):
self.systermType = platform.system()
'''设置模型文件的路径'''
def setFilePath(self):
currentFilePath = os.getcwd()
if self.systermType == "Windows":
self.modelFilePath = currentFilePath + '//data//model//'
self.filePathName = currentFilePath + '//data//filePathFile.txt'
elif self.systermType == "Linux":
self.modelFilePath = currentFilePath + '/data/model/'
self.filePathName = currentFilePath + '/data/filePathFile.txt'
with open(self.filePathName, "r") as fp:
self.modelFileName = str(fp.readlines()[1]) + "-model.pkl"
fp.close()
#判断文件夹是否存在，不存在则创建
if os.path.exists(self.modelFilePath) == True:
self.modelFileExitFlag = True
else:
print(
"The model is not saved, please save the model before using the model!!"
)
#投票函数
def getTheAction(self, actionList):
tempData = np.array(actionList)
counts = np.bincount(tempData)
actionNumber = np.argmax(counts)
return self.actionNames[actionNumber] #返回定义的动作类别字符串
'''myo主程序的入口'''
def run(self):
try:
self.mThread = myThread()
self.mThread.addThread('onlineClf', self.onlineClf, 0) #加入在线识别动作线程
self.mThread.addThread('getData', self.myoRun, 0) #加入数据采集的线程
self.mThread.runThread()
except KeyboardInterrupt:
self.mMyo.safely_disconnect()
self.mThread.stopThread()
print('Finished.')
# MYO NESNESI
myo = Myo()
try:
# MYO BAGLANTI
myo.connect()
# LISTENER EKLEME
myo.add_listener(listener)
# BASLANGICTA 5 KISA TITRESIM
for i in range(0, 5):
myo.vibrate(VibrationType.SHORT)
# PROGRAM BU DONGU ICINDE CALISIR
while True:
# myo.run() KOMUTU : HAREKETLERI ALGILAR
mPose = myo.run()
# myo.run() KOMUTUNDAN "-1" DEGERI DONER ISE
# YANI HAREKET DEGERI "UNKNOWN" ISE
if (mPose == -1):
# GUVENLI CIKIS
myo.safely_disconnect()
# TEKRAR BAGLANTI
myo.connect()
# TEKRAR LISTENER EKLE
myo.add_listener(listener)
# TEKRAR 5 TITRESIM
for i in range(0, 5):
myo.vibrate(VibrationType.SHORT)
# KLAVYEDEN DURDURMA
except KeyboardInterrupt:
break
def on_imu(self, quat, acc, gyro):
if "imu" in self.dataType:
print("the quat is :" + str(quat))
print("the acc is :" + str(acc))
print("the gyro is :" + str(gyro))
else:
pass
if __name__ == '__main__':
print('Start Myo for Linux')
listener = PrintPoseListener(dataType=["emg"])
myo = Myo()
try:
myo.connect()
myo.add_listener(listener)
myo.vibrate(VibrationType.SHORT)
while True:
myo.run()
except KeyboardInterrupt:
pass
except ValueError as ex:
print(ex)
finally:
myo.safely_disconnect()
print('Finished.')