ecki/Robotics-at-Home-with-Raspberry-Pi-Pico
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More removing embelishments

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This commit is contained in:
Danny Staple 2022-11-13 20:44:15 +00:00
parent d2264f4421
commit 02c1f81756
4 changed files with 14 additions and 17 deletions
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2
ch-13/1-modelling-space/computer/display_from_robot.py
View File

@ -19,7 +19,7 @@ class RobotDisplay:
self.line += data.decode("utf-8") self.line += data.decode("utf-8")
while "\n" in self.line: while "\n" in self.line:
line, self.line = self.line.split("\n", 1) line, self.line = self.line.split("\n", 1)
print(f"Received data: ```{line}```") print(f"Received data: {line}")
try: try:
message = json.loads(line) message = json.loads(line)
except ValueError: except ValueError:

2
ch-13/2-displaying-a-pose/computer/display_from_robot.py
View File

@ -22,7 +22,7 @@ class RobotDisplay:
self.line += data.decode("utf-8") self.line += data.decode("utf-8")
while "\n" in self.line: while "\n" in self.line:
line, self.line = self.line.split("\n", 1) line, self.line = self.line.split("\n", 1)
print(f"Received data: ```{line}```") print(f"Received data: {line}")
try: try:
message = json.loads(line) message = json.loads(line)
except ValueError: except ValueError:

8
ch-13/3-moving-poses-with-sensors/computer/display_from_robot.py
View File

@ -23,7 +23,7 @@ class RobotDisplay:
self.line += data.decode("utf-8") self.line += data.decode("utf-8")
while "\n" in self.line: while "\n" in self.line:
line, self.line = self.line.split("\n", 1) line, self.line = self.line.split("\n", 1)
print(f"Received data: ```{line}```") print(f"Received data: {line}")
try: try:
message = json.loads(line) message = json.loads(line)
except ValueError: except ValueError:
@ -38,7 +38,7 @@ class RobotDisplay:
self.pose_coords = poses[:2] self.pose_coords = poses[:2]
angle_rads = np.deg2rad(poses[2]) angle_rads = np.deg2rad(poses[2])
self.pose_uv = np.array([np.cos(angle_rads), np.sin(angle_rads)]) self.pose_uv = np.array([np.cos(angle_rads), np.sin(angle_rads)])
def draw(self): def draw(self):
plt.gca().clear() plt.gca().clear()
if self.arena: if self.arena:
@ -69,7 +69,7 @@ class RobotDisplay:
await self.ble_connection.connect() await self.ble_connection.connect()
try: try:
await self.send_command("arena") await self.send_command("arena")
self.gcf().canvas.mpl_connect("close_event", self.handle_close) plt.gcf().canvas.mpl_connect("close_event", self.handle_close)
start_button = Button(plt.axes([0.7, 0.05, 0.1, 0.075]), "Start") start_button = Button(plt.axes([0.7, 0.05, 0.1, 0.075]), "Start")
start_button.on_clicked(self.start) start_button.on_clicked(self.start)
stop_button = Button(plt.axes([0.81, 0.05, 0.1, 0.075]), "Stop") stop_button = Button(plt.axes([0.81, 0.05, 0.1, 0.075]), "Stop")
@ -77,9 +77,9 @@ class RobotDisplay:
while not self.display_closed: while not self.display_closed:
self.draw() self.draw()
plt.draw()
plt.pause(0.05) plt.pause(0.05)
await asyncio.sleep(0.01) await asyncio.sleep(0.01)
plt.draw()
finally: finally:
await self.ble_connection.close() await self.ble_connection.close()

19
ch-13/4-moving-poses-with-sensors-turning/computer/display_from_robot.py
View File

@ -23,13 +23,12 @@ class RobotDisplay:
self.line += data.decode("utf-8") self.line += data.decode("utf-8")
while "\n" in self.line: while "\n" in self.line:
line, self.line = self.line.split("\n", 1) line, self.line = self.line.split("\n", 1)
print(f"Received data: ```{line}```") print(f"Received data: {line}")
try: try:
message = json.loads(line) message = json.loads(line)
except ValueError: except ValueError:
print("Error parsing JSON") print("Error parsing JSON")
return return
if "arena" in message: if "arena" in message:
self.arena = message self.arena = message
if "poses" in message: if "poses" in message:
@ -39,20 +38,20 @@ class RobotDisplay:
self.pose_coords = poses[:2] self.pose_coords = poses[:2]
angle_rads = np.deg2rad(poses[2]) angle_rads = np.deg2rad(poses[2])
self.pose_uv = np.array([np.cos(angle_rads), np.sin(angle_rads)]) self.pose_uv = np.array([np.cos(angle_rads), np.sin(angle_rads)])
def draw(self): def draw(self):
self.ax.clear() plt.gca().clear()
if self.arena: if self.arena:
for line in self.arena["arena"]: for line in self.arena["arena"]:
self.ax.plot( plt.gca().plot(
[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black" [line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
) )
for line in self.arena["target_zone"]: for line in self.arena["target_zone"]:
self.ax.plot( plt.gca().plot(
[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="red" [line[0][0], line[1][0]], [line[0][1], line[1][1]], color="red"
) )
if len(self.pose_coords) > 0: if len(self.pose_coords) > 0:
self.ax.quiver(self.pose_coords[0], self.pose_coords[1], self.pose_uv[0], self.pose_uv[1], color="blue") plt.quiver(self.pose_coords[0], self.pose_coords[1], self.pose_uv[0], self.pose_uv[1], color="blue")
async def send_command(self, command): async def send_command(self, command):
request = json.dumps({"command": command}).encode() request = json.dumps({"command": command}).encode()
@ -70,8 +69,7 @@ class RobotDisplay:
await self.ble_connection.connect() await self.ble_connection.connect()
try: try:
await self.send_command("arena") await self.send_command("arena")
self.fig, self.ax = plt.subplots() plt.gcf().canvas.mpl_connect("close_event", self.handle_close)
self.fig.canvas.mpl_connect("close_event", self.handle_close)
start_button = Button(plt.axes([0.7, 0.05, 0.1, 0.075]), "Start") start_button = Button(plt.axes([0.7, 0.05, 0.1, 0.075]), "Start")
start_button.on_clicked(self.start) start_button.on_clicked(self.start)
stop_button = Button(plt.axes([0.81, 0.05, 0.1, 0.075]), "Stop") stop_button = Button(plt.axes([0.81, 0.05, 0.1, 0.075]), "Stop")
@ -79,10 +77,9 @@ class RobotDisplay:
while not self.display_closed: while not self.display_closed:
self.draw() self.draw()
plt.draw()
plt.pause(0.05) plt.pause(0.05)
await asyncio.sleep(0.01) await asyncio.sleep(0.01)
plt.draw()
finally: finally:
await self.ble_connection.close() await self.ble_connection.close()