ecki/Robotics-at-Home-with-Raspberry-Pi-Pico
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Reviewer comment - Extend ax into axes.

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This commit is contained in:
Danny Staple
2023-01-19 23:19:43 +00:00
parent fa67d9e21a
commit 368b9ed361
8 changed files with 88 additions and 31 deletions
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ch-13/2.3-bluetooth/display_arena.py
-8
View File
@@ -4,12 +4,4 @@ from robot import arena
for line in arena.boundary_lines:
plt.plot([line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black")
overscan_size = arena.overscan * arena.grid_cell_size
plt.imshow(
arena.distance_grid.T,
extent = [-overscan_size, arena.width + overscan_size, -overscan_size, arena.height + overscan_size],
origin="lower",
cmap="gray"
)
plt.show()
ch-13/2.3-bluetooth/display_from_robot.py
+3 -3
View File
@@ -11,7 +11,7 @@ class RobotDisplay:
self.buffer = ""
self.arena = {}
self.closed = False
self.fig, self.ax = plt.subplots()
self.fig, self.axes = plt.subplots()
def handle_close(self, _):
self.closed = True
@@ -30,10 +30,10 @@ class RobotDisplay:
self.arena = message
def draw(self):
self.ax.clear()
self.axes.clear()
if self.arena:
for line in self.arena["arena"]:
self.ax.plot(
self.axes.plot(
[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
)
ch-13/3.1-displaying-a-pose/display_from_robot.py
+4 -4
View File
@@ -12,7 +12,7 @@ class RobotDisplay:
self.buffer = ""
self.arena = {}
self.closed = False
self.fig, self.ax = plt.subplots()
self.fig, self.axes = plt.subplots()
self.poses = None
def handle_close(self, _):
@@ -34,14 +34,14 @@ class RobotDisplay:
self.poses = np.array(message["poses"], dtype=np.int16)
def draw(self):
self.ax.clear()
self.axes.clear()
if self.arena:
for line in self.arena["arena"]:
self.ax.plot(
self.axes.plot(
[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
)
if self.poses is not None:
self.ax.scatter(self.poses[:,0], self.poses[:,1], color="blue")
self.axes.scatter(self.poses[:,0], self.poses[:,1], color="blue")
async def main(self):
plt.ion()
ch-13/3.2-collision-avoidance/display_from_robot.py
+65
View File
@@ -0,0 +1,65 @@
import asyncio
import json
import numpy as np
import matplotlib.pyplot as plt
from robot_ble_connection import BleConnection
class RobotDisplay:
def __init__(self):
self.ble_connection = BleConnection(self.handle_data)
self.buffer = ""
self.arena = {}
self.closed = False
self.fig, self.axes = plt.subplots()
self.poses = None
def handle_close(self, _):
self.closed = True
def handle_data(self, data):
self.buffer += data.decode("utf-8")
while "\n" in self.buffer:
line, self.buffer = self.buffer.split("\n", 1)
print(f"Received data: {line}")
try:
message = json.loads(line)
except ValueError:
print("Error parsing JSON")
return
if "arena" in message:
self.arena = message
if "poses" in message:
self.poses = np.array(message["poses"], dtype=np.int16)
def draw(self):
self.axes.clear()
if self.arena:
for line in self.arena["arena"]:
self.axes.plot(
[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
)
if self.poses is not None:
self.axes.scatter(self.poses[:,0], self.poses[:,1], color="blue")
async def main(self):
plt.ion()
await self.ble_connection.connect()
try:
request = json.dumps({"command": "arena"}).encode()
print(f"Sending request for arena: {request}")
await self.ble_connection.send_uart_data(request)
self.fig.canvas.mpl_connect("close_event", self.handle_close)
while not self.closed:
self.draw()
plt.draw()
plt.pause(0.05)
await asyncio.sleep(0.01)
finally:
await self.ble_connection.close()
robot_display = RobotDisplay()
asyncio.run(robot_display.main())
ch-13/3.3-moving-with-encoders/display_from_robot.py
+4 -4
View File
@@ -13,7 +13,7 @@ class RobotDisplay:
self.buffer = ""
self.arena = {}
self.closed = False
self.fig, self.ax = plt.subplots()
self.fig, self.axes = plt.subplots()
self.poses = None
def handle_close(self, _):
@@ -35,14 +35,14 @@ class RobotDisplay:
self.poses = np.array(message["poses"], dtype=np.int16)
def draw(self):
self.ax.clear()
self.axes.clear()
if self.arena:
for line in self.arena["arena"]:
self.ax.plot(
self.axes.plot(
[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
)
if self.poses is not None:
self.ax.scatter(self.poses[:,0], self.poses[:,1], color="blue")
self.axes.scatter(self.poses[:,0], self.poses[:,1], color="blue")
async def send_command(self, command):
request = (json.dumps({"command": command}) ).encode()
ch-13/3.4-movement-uncertainty/display_from_robot.py
+4 -4
View File
@@ -13,7 +13,7 @@ class RobotDisplay:
self.buffer = ""
self.arena = {}
self.closed = False
self.fig, self.ax = plt.subplots()
self.fig, self.axes = plt.subplots()
self.poses = None
def handle_close(self, _):
@@ -35,14 +35,14 @@ class RobotDisplay:
self.poses = np.array(message["poses"], dtype=np.int16)
def draw(self):
self.ax.clear()
self.axes.clear()
if self.arena:
for line in self.arena["arena"]:
self.ax.plot(
self.axes.plot(
[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
)
if self.poses is not None:
self.ax.scatter(self.poses[:,0], self.poses[:,1], color="blue")
self.axes.scatter(self.poses[:,0], self.poses[:,1], color="blue")
async def send_command(self, command):
request = (json.dumps({"command": command}) ).encode()
ch-13/4.1-generating-weights/display_from_robot.py
+4 -4
View File
@@ -13,7 +13,7 @@ class RobotDisplay:
self.buffer = ""
self.arena = {}
self.closed = False
self.fig, self.ax = plt.subplots()
self.fig, self.axes = plt.subplots()
self.poses = None
def handle_close(self, _):
@@ -35,14 +35,14 @@ class RobotDisplay:
self.poses = np.array(message["poses"], dtype=np.int16)
def draw(self):
self.ax.clear()
self.axes.clear()
if self.arena:
for line in self.arena["arena"]:
self.ax.plot(
self.axes.plot(
[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
)
if self.poses is not None:
self.ax.scatter(self.poses[:,0], self.poses[:,1], color="blue")
self.axes.scatter(self.poses[:,0], self.poses[:,1], color="blue")
async def send_command(self, command):
request = (json.dumps({"command": command}) ).encode()
ch-13/4.3-monte-carlo/display_from_robot.py
+4 -4
View File
@@ -13,7 +13,7 @@ class RobotDisplay:
self.buffer = ""
self.arena = {}
self.closed = False
self.fig, self.ax = plt.subplots()
self.fig, self.axes = plt.subplots()
self.poses = None
def handle_close(self, _):
@@ -35,14 +35,14 @@ class RobotDisplay:
self.poses = np.array(message["poses"], dtype=np.int16)
def draw(self):
self.ax.clear()
self.axes.clear()
if self.arena:
for line in self.arena["arena"]:
self.ax.plot(
self.axes.plot(
[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
)
if self.poses is not None:
self.ax.scatter(self.poses[:,0], self.poses[:,1], color="blue")
self.axes.scatter(self.poses[:,0], self.poses[:,1], color="blue")
async def send_command(self, command):
request = (json.dumps({"command": command}) ).encode()