def calibrateData(procCmd):
# calData = datAc.pipeAcquisition(procCmd,4,measNr=150)
calData = datAc.collectForTime(procCmd,5)
# convert to Tesla
# print "type calData", type(calData)
# print "type calData[0]",type(calData[0])
nInd = calData[0]*1e-7
nMid = calData[1]*1e-7
nRin = calData[2]*1e-7
nPin = calData[3]*1e-7
# reassign the tuple...
calData = None
calData = (nInd, nMid, nRin, nPin)
# calculating the B-field
fingerList = [h.phalInd]
jointList = [h.jointInd]
sensList = [h.sInd,h.sMid,h.sRin,h.sPin]
t = np.arange(0,1/2.*np.pi,0.01)
angles = np.zeros((len(t),3))
cnt = 0
for i in t:
angles[cnt] = np.array([i, 0., 0.])
cnt += 1
# calcB_dip = np.zeros((len(t),3*len(sensList)))
calcB_cyl = np.zeros((len(t),3*len(sensList)))
cnt = 0
for i in angles:
# calcB_dip[cnt] = modD.cy.angToBm_cy(i,fingerList,sensList,jointList)
calcB_cyl[cnt] = modC.cy.angToB_cyl(i,fingerList,sensList,jointList)
cnt += 1
# fitting to dipole model
(scaleInd,offInd) = datAc.getScaleOff(calcB_cyl[:,0:3] , calData[0])
(scaleMid,offMid) = datAc.getScaleOff(calcB_cyl[:,3:6] , calData[1])
(scaleRin,offRin) = datAc.getScaleOff(calcB_cyl[:,6:9] , calData[2])
(scalePin,offPin) = datAc.getScaleOff(calcB_cyl[:,9:12], calData[3])
scaleArr = np.array([scaleInd, scaleMid, scaleRin, scalePin])
offArr = np.array([offInd, offMid, offRin, offPin])
cInd = calData[0]*scaleInd+offInd
cMid = calData[1]*scaleMid+offMid
cRin = calData[2]*scaleRin+offRin
cPin = calData[3]*scalePin+offPin
plo.plotter2d((cInd,cMid,cRin,cPin),("calIndex","calMid","calRin","calPin"))
plt.figure()
plo.plotter2d((calcB_cyl[:,0:3],calcB_cyl[:,3:6],calcB_cyl[:,6:9],calcB_cyl[:,9:]),
("simIndex","simMid","simRin","simPin"))
return (scaleArr, offArr)
def calibrateData(procCmd):
print "cali"
fingerList = [h.phalInd,h.phalMid,h.phalRin,h.phalPin]
jointList = [h.jointInd_car,h.jointMid_car,h.jointRin_car,h.jointPin_car]
sensList = [h.sInd_car,h.sMid_car,h.sRin_car,h.sPin_car]
# calData = datAc.pipeAcquisition(procCmd,4,measNr=150)
calData = datAc.collectForTime(procCmd,20)
t = np.arange(0,1/2.*np.pi,0.01)
angles = np.zeros((len(t),2*len(sensList)))
cnt = 0
for i in t:
angles[cnt] = np.array([i, 0.,
i, 0.,
i, 0.,
i, 0.])
cnt += 1
# calculating the B-field
fingerList = [h.phalInd,h.phalMid,h.phalRin,h.phalPin]
jointList = [h.jointInd_car,h.jointMid_car,h.jointRin_car,h.jointPin_car]
sensList = [h.sInd_car,h.sMid_car,h.sRin_car,h.sPin_car]
calcB_dip = np.zeros((len(t),3*len(sensList)))
calcB_cyl = np.zeros((len(t),3*len(sensList)))
cnt = 0
for i in angles:
calcB_dip[cnt] = modD.cy.angToBm_cy(i,fingerList,sensList,jointList)
calcB_cyl[cnt] = modC.cy.angToB_cyl(i,fingerList,sensList,jointList)
cnt += 1
# fitting to dipole model
(scaleInd,offInd) = datAc.getScaleOff(calcB_dip[:,0:3] , calData[0])
(scaleMid,offMid) = datAc.getScaleOff(calcB_dip[:,3:6] , calData[1])
(scaleRin,offRin) = datAc.getScaleOff(calcB_dip[:,6:9] , calData[2])
(scalePin,offPin) = datAc.getScaleOff(calcB_dip[:,9:12], calData[3])
# fitting to cylindrical model
# (scaleInd,offInd) = datAc.getScaleOff(calcB_cyl[:,0:3] , calData[0])
# (scaleMid,offMid) = datAc.getScaleOff(calcB_cyl[:,3:6] , calData[1])
# (scaleRin,offRin) = datAc.getScaleOff(calcB_cyl[:,6:9] , calData[2])
# (scalePin,offPin) = datAc.getScaleOff(calcB_cyl[:,9:12], calData[3])
scaleArr = np.array([scaleInd, scaleMid, scaleRin, scalePin])
offArr = np.array([offInd, offMid, offRin, offPin])
return (scaleArr, offArr)
import dataAcquisitionMulti as datAc
import plotting as plo
import modelCyl as modC
import modelDip as modD
import handDim as h
import numpy as np
bleCmd = "gatttool -t random -b E7:00:30:16:CD:18 --char-write-req --handle=0x000f --value=0300 --listen"
#calData = datAc.pipeAcquisition(bleCmd,4,measNr=100)
calData = datAc.collectForTime(bleCmd, 30)
#calData = datAc.textAcquisition("160202_hand2")
meas = np.array([calData[0][:,0],calData[0][:,1],calData[0][:,2],
calData[1][:,0],calData[1][:,1],calData[1][:,2],
calData[2][:,0],calData[2][:,1],calData[2][:,2],
calData[3][:,0],calData[3][:,1],calData[3][:,2],]).T
# calculating the B-field
fingerList = [h.phalInd,h.phalMid,h.phalRin,h.phalPin]
jointList = [h.jointInd_car,h.jointMid_car,h.jointRin_car,h.jointPin_car]
sensList = [h.sInd_car,h.sMid_car,h.sRin_car,h.sPin_car]
t = np.arange(0,1/2.*np.pi,0.01)
angles = np.zeros((len(t),2*len(sensList)))
cnt = 0