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Radar Python Code
Radar Python Code
內容連接arduino腳位需設置為你的連接串口，預設為:COMX(內文紅字部分)
內容連接arduino腳位需設置為你的連接串口，預設為:COMX(內文紅字部分)
# Python + Arduino-based Radar Plotter## ** Works with any motor that outputs angular rotation# ** and with any distance sensor (HC-SR04, VL53L0x,LIDAR)#import numpy as npimport matplotlibmatplotlib.use('TkAgg')import matplotlib.pyplot as pltfrom matplotlib.widgets import Buttonimport serial,sys,globimport serial.tools.list_ports as COMs############################################### Find Arudino ports, select one, then start communication with it#############################################def port_search(): if sys.platform.startswith('win'): # Windows ports = ['COM{0:1.0f}'.format(ii) for ii in range(1,256)] elif sys.platform.startswith('linux') or sys.platform.startswith('cygwin'): ports = glob.glob('/dev/tty[A-Za-z]*') elif sys.platform.startswith('darwin'): # MAC ports = glob.glob('/dev/tty.*') else: raise EnvironmentError('Machine Not pyserial Compatible')
arduinos = [] for port in ports: # loop through to determine if accessible if len(port.split('Bluetooth'))>1: continue try: ser = serial.Serial(port) ser.close() arduinos.append(port) # if we can open it, consider it an arduino except (OSError, serial.SerialException): pass return arduinos
arduino_ports = port_search()ser = serial.Serial('COMX',baudrate=115200) # match baud on Arduinoser.flush() # clear the port############################################## Start the interactive plotting tool and# plot 180 degrees with dummy data to start#############################################fig = plt.figure(facecolor='k')win = fig.canvas.manager.window # figure windowscreen_res = win.wm_maxsize() # used for window formatting laterdpi = 150.0 # figure resolutionfig.set_dpi(dpi) # set figure resolution
# polar plot attributes and initial conditionsax = fig.add_subplot(111,polar=True,facecolor='#006d70')ax.set_position([-0.05,-0.05,1.1,1.05])r_max = 40 # can change this based on range of sensorax.set_ylim([0.0,r_max]) # range of distances to showax.set_xlim([0.0,np.pi]) # limited by the servo span (0-180 deg)ax.tick_params(axis='both',colors='w')ax.grid(color='w',alpha=0.5) # grid colorax.set_rticks(np.linspace(0.0,r_max,5)) # show 5 different distancesax.set_thetagrids(np.linspace(0.0,180.0,10)) # show 10 anglesangles = np.arange(0,181,1) # 0 - 180 degreestheta = angles*(np.pi/180.0) # to radiansdists = np.ones((len(angles),)) # dummy distances until real data comes inpols, = ax.plot([],linestyle='',marker='o',markerfacecolor = 'w', markeredgecolor='#EFEFEF',markeredgewidth=1.0, markersize=10.0,alpha=0.9) # dots for radar pointsline1, = ax.plot([],color='w', linewidth=4.0) # sweeping arm plot
# figure presentation adjustmentsfig.set_size_inches(0.96*(screen_res[0]/dpi),0.96*(screen_res[1]/dpi))plot_res = fig.get_window_extent().bounds # window extent for centeringwin.wm_geometry('+{0:1.0f}+{1:1.0f}'.\ format((screen_res[0]/2.0)-(plot_res[2]/2.0), (screen_res[1]/2.0)-(plot_res[3]/2.0))) # centering plotfig.canvas.toolbar.pack_forget() # remove toolbar for clean presentationfig.canvas.manager.set_window_title('Arduino Radar')
fig.canvas.draw() # draw before loopaxbackground = fig.canvas.copy_from_bbox(ax.bbox) # background to keep during loop
############################################# button event to stop program############################################
def stop_event(event): global stop_bool stop_bool = 1prog_stop_ax = fig.add_axes([0.85,0.025,0.125,0.05])pstop = Button(prog_stop_ax,'Stop Program',color='#FCFCFC',hovercolor='w')pstop.on_clicked(stop_event)# button to close windowdef close_event(event): global stop_bool,close_bool if stop_bool: plt.close('all') stop_bool = 1 close_bool = 1close_ax = fig.add_axes([0.025,0.025,0.125,0.05])close_but = Button(close_ax,'Close Plot',color='#FCFCFC',hovercolor='w')close_but.on_clicked(close_event)
fig.show()
############################################# inifinite loop, constantly updating the# 180deg radar with incoming Arduino data#############################################start_word,stop_bool,close_bool = False,False,Falsewhile True: try: if stop_bool: # stops program fig.canvas.toolbar.pack_configure() # show toolbar if close_bool: # closes radar window plt.close('all') break ser_bytes =ser.readline() # read Arduino serial data decoded_bytes = ser_bytes.decode('utf-8') # decode data to utf-8 data = (decoded_bytes.replace('\r','')).replace('\n','') print(data) if start_word: vals = [float(ii) for ii in data.split(',')] if len(vals)<2: continue angle,dist = vals # separate into angle and distance A = int(angle) if dist>r_max: dist = 0.0 # measuring more than r_max, it's likely inaccurate dists[int(angle)] = dist if A % 30 ==0 : # update every 5 degrees pols.set_data(theta,dists) fig.canvas.restore_region(axbackground) ax.draw_artist(pols)
line1.set_data(np.repeat((angle*(np.pi/180.0)),2),np.linspace(0.0,r_max,2)) ax.draw_artist(line1)
fig.canvas.blit(ax.bbox) # replot only data fig.canvas.flush_events() # flush for next plot else: if data== 'Radar Start': # stard word on Arduno start_word = True # wait for Arduino to output start word print('Radar Starting...') else: continue except KeyboardInterrupt: plt.close('all') print('Keyboard Interrupt') break
arduinos = [] for port in ports: # loop through to determine if accessible if len(port.split('Bluetooth'))>1: continue try: ser = serial.Serial(port) ser.close() arduinos.append(port) # if we can open it, consider it an arduino except (OSError, serial.SerialException): pass return arduinos
arduino_ports = port_search()ser = serial.Serial('COMX',baudrate=115200) # match baud on Arduinoser.flush() # clear the port############################################## Start the interactive plotting tool and# plot 180 degrees with dummy data to start#############################################fig = plt.figure(facecolor='k')win = fig.canvas.manager.window # figure windowscreen_res = win.wm_maxsize() # used for window formatting laterdpi = 150.0 # figure resolutionfig.set_dpi(dpi) # set figure resolution
# polar plot attributes and initial conditionsax = fig.add_subplot(111,polar=True,facecolor='#006d70')ax.set_position([-0.05,-0.05,1.1,1.05])r_max = 40 # can change this based on range of sensorax.set_ylim([0.0,r_max]) # range of distances to showax.set_xlim([0.0,np.pi]) # limited by the servo span (0-180 deg)ax.tick_params(axis='both',colors='w')ax.grid(color='w',alpha=0.5) # grid colorax.set_rticks(np.linspace(0.0,r_max,5)) # show 5 different distancesax.set_thetagrids(np.linspace(0.0,180.0,10)) # show 10 anglesangles = np.arange(0,181,1) # 0 - 180 degreestheta = angles*(np.pi/180.0) # to radiansdists = np.ones((len(angles),)) # dummy distances until real data comes inpols, = ax.plot([],linestyle='',marker='o',markerfacecolor = 'w', markeredgecolor='#EFEFEF',markeredgewidth=1.0, markersize=10.0,alpha=0.9) # dots for radar pointsline1, = ax.plot([],color='w', linewidth=4.0) # sweeping arm plot
# figure presentation adjustmentsfig.set_size_inches(0.96*(screen_res[0]/dpi),0.96*(screen_res[1]/dpi))plot_res = fig.get_window_extent().bounds # window extent for centeringwin.wm_geometry('+{0:1.0f}+{1:1.0f}'.\ format((screen_res[0]/2.0)-(plot_res[2]/2.0), (screen_res[1]/2.0)-(plot_res[3]/2.0))) # centering plotfig.canvas.toolbar.pack_forget() # remove toolbar for clean presentationfig.canvas.manager.set_window_title('Arduino Radar')
fig.canvas.draw() # draw before loopaxbackground = fig.canvas.copy_from_bbox(ax.bbox) # background to keep during loop
############################################# button event to stop program############################################
def stop_event(event): global stop_bool stop_bool = 1prog_stop_ax = fig.add_axes([0.85,0.025,0.125,0.05])pstop = Button(prog_stop_ax,'Stop Program',color='#FCFCFC',hovercolor='w')pstop.on_clicked(stop_event)# button to close windowdef close_event(event): global stop_bool,close_bool if stop_bool: plt.close('all') stop_bool = 1 close_bool = 1close_ax = fig.add_axes([0.025,0.025,0.125,0.05])close_but = Button(close_ax,'Close Plot',color='#FCFCFC',hovercolor='w')close_but.on_clicked(close_event)
fig.show()
############################################# inifinite loop, constantly updating the# 180deg radar with incoming Arduino data#############################################start_word,stop_bool,close_bool = False,False,Falsewhile True: try: if stop_bool: # stops program fig.canvas.toolbar.pack_configure() # show toolbar if close_bool: # closes radar window plt.close('all') break ser_bytes =ser.readline() # read Arduino serial data decoded_bytes = ser_bytes.decode('utf-8') # decode data to utf-8 data = (decoded_bytes.replace('\r','')).replace('\n','') print(data) if start_word: vals = [float(ii) for ii in data.split(',')] if len(vals)<2: continue angle,dist = vals # separate into angle and distance A = int(angle) if dist>r_max: dist = 0.0 # measuring more than r_max, it's likely inaccurate dists[int(angle)] = dist if A % 30 ==0 : # update every 5 degrees pols.set_data(theta,dists) fig.canvas.restore_region(axbackground) ax.draw_artist(pols)
line1.set_data(np.repeat((angle*(np.pi/180.0)),2),np.linspace(0.0,r_max,2)) ax.draw_artist(line1)
fig.canvas.blit(ax.bbox) # replot only data fig.canvas.flush_events() # flush for next plot else: if data== 'Radar Start': # stard word on Arduno start_word = True # wait for Arduino to output start word print('Radar Starting...') else: continue except KeyboardInterrupt: plt.close('all') print('Keyboard Interrupt') break
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