Tag Archives: Python

In this lesson we show you the importance of building a parameterized model for your 3D graphics in Python using Visual Python. You can manage large scenes unless you are doing it with parameterized dimensions. The video above takes you through it step by step. Here is the code for the parameterized box and marble we developed in Lesson 3:

from vpython import *
from time import *
mRadius=.75
wallThickness=.1
roomWidth=10
roomDepth=5
roomHeight=10
floor=box(pos=vector(0,-roomHeight/2,0),size=vector(roomWidth,wallThickness,roomDepth), color=color.white)
ceiling=box(pos=vector(0,roomHeight/2,0),size=vector(roomWidth,wallThickness,roomDepth), color=color.white)
backWall=box(pos=vector(0,0,-roomDepth/2),size=vector(roomWidth,roomHeight,wallThickness), color=color.white)
leftWall=box(pos=vector(-roomWidth/2,0,0),size=vector(wallThickness,roomHeight,roomDepth), color=color.white)
rightWall=box(pos=vector(roomWidth/2,0,0),size=vector(wallThickness,roomHeight,roomDepth), color=color.white)
marble=sphere(radius=mRadius,color=color.red)
deltaX=.1
xPos=0
while True:
    rate(10)
    xPos=xPos+deltaX
    if (xPos>roomWidth/2 or xPos<-roomWidth/2):
        deltaX=deltaX*(-1)
    marble.pos=vector(xPos,0,0)

from vpython import *

from time import *

mRadius=.75

wallThickness=.1

roomWidth=10

roomDepth=5

roomHeight=10

floor=box(pos=vector(0,-roomHeight/2,0),size=vector(roomWidth,wallThickness,roomDepth), color=color.white)

ceiling=box(pos=vector(0,roomHeight/2,0),size=vector(roomWidth,wallThickness,roomDepth), color=color.white)

backWall=box(pos=vector(0,0,-roomDepth/2),size=vector(roomWidth,roomHeight,wallThickness), color=color.white)

leftWall=box(pos=vector(-roomWidth/2,0,0),size=vector(wallThickness,roomHeight,roomDepth), color=color.white)

rightWall=box(pos=vector(roomWidth/2,0,0),size=vector(wallThickness,roomHeight,roomDepth), color=color.white)

marble=sphere(radius=mRadius,color=color.red)

deltaX=.1

xPos=0

while True:

rate(10)

xPos=xPos+deltaX

if (xPos>roomWidth/2 or xPos<-roomWidth/2):

deltaX=deltaX*(-1)

marble.pos=vector(xPos,0,0)

Python

Launch a Windows WEB Camera in Ten Lines of Code with OpenCV

August 4, 2021 admin

In this lesson we show you step-by-step how to launch a WEB camera using OpenCV running on windows. In the video we show how to install OpenCV and how to write your first simple programs. Below is the code we developed in the video to launch the WEB cam.

import cv2
print(cv2.__version__)
cam=cv2.VideoCapture(1)
while True:
    ignore,  frame = cam.read()
    cv2.imshow('my WEBcam', frame)
    cv2.moveWindow('my WEBcam',0,0)
    if cv2.waitKey(1) & 0xff ==ord('q'):
        break
cam.release()

import cv2

print(cv2.__version__)

cam=cv2.VideoCapture(1)

while True:

ignore, frame = cam.read()

cv2.imshow('my WEBcam', frame)

cv2.moveWindow('my WEBcam',0,0)

if cv2.waitKey(1) & 0xff ==ord('q'):

break

cam.release()

Jetson Xavier NX

Jetson Xavier NX Lesson 12: Intelligent Scanning for Objects of Interest

August 5, 2020 admin

In this Video Tutorial we show how a camera on a pan/tilt control system can be programmed to search for an object of interest, and then track it when found. Our system has two independent camera systems, and each can track a separate item of interest independently. The code is written in python, using the OpenCV library. The video takes you through the lesson step-by-step, and then the code is included below for your convenience.

If you want to play along at home, we are using the Jetson Xavier NX, which you can pick up HERE. You will also need to of the bracket/servo kits, which you can get HERE, and then two Raspberry Pi Version two cameras, available HERE.

import cv2
import numpy as np
import time
from adafruit_servokit import ServoKit
print(cv2.__version__)
timeMark=time.time()
dtFIL=0

scanRight=True
scanLeft=True

def nothing(x):
    pass

cv2.namedWindow('TrackBars')
cv2.moveWindow('TrackBars',1320,0)
cv2.createTrackbar('hueLower', 'TrackBars',100,179,nothing)
cv2.createTrackbar('hueUpper', 'TrackBars',116,179,nothing)
cv2.createTrackbar('satLow', 'TrackBars',160,255,nothing)
cv2.createTrackbar('satHigh', 'TrackBars',255,255,nothing)
cv2.createTrackbar('valLow', 'TrackBars',150,255,nothing)
cv2.createTrackbar('valHigh', 'TrackBars',255,255,nothing)

cv2.namedWindow('TrackBars2')
cv2.moveWindow('TrackBars2',1100,0)
cv2.createTrackbar('hueLower2', 'TrackBars2',150,179,nothing)
cv2.createTrackbar('hueUpper2', 'TrackBars2',170,179,nothing)
cv2.createTrackbar('satLow2', 'TrackBars2',160,255,nothing)
cv2.createTrackbar('satHigh2', 'TrackBars2',255,255,nothing)
cv2.createTrackbar('valLow2', 'TrackBars2',150,255,nothing)
cv2.createTrackbar('valHigh2', 'TrackBars2',255,255,nothing)


kit=ServoKit(channels=16)

tilt1=90
pan1=90
tilt2=90
pan2=90

dPan1=1
dPan2=1
dTilt1=10
dTilt2=10

kit.servo[0].angle=pan1
kit.servo[1].angle=tilt1
kit.servo[2].angle=pan2
kit.servo[3].angle=tilt2

width=720
height=480
flip=2
font=cv2.FONT_HERSHEY_SIMPLEX
camSet1='nvarguscamerasrc sensor-id=0 ee-mode=1 ee-strength=0 tnr-mode=2 tnr-strength=1 wbmode=3 ! video/x-raw(memory:NVMM), width=3264, height=2464, framerate=21/1,format=NV12 ! nvvidconv flip-method='+str(flip)+' ! video/x-raw, width='+str(width)+', height='+str(height)+', format=BGRx ! videoconvert ! video/x-raw, format=BGR ! videobalance contrast=1.3 brightness=-.2 saturation=1.2 ! appsink drop=True'
camSet2='nvarguscamerasrc sensor-id=1 ee-mode=1 ee-strength=0 tnr-mode=2 tnr-strength=1 wbmode=3 ! video/x-raw(memory:NVMM), width=3264, height=2464, framerate=21/1,format=NV12 ! nvvidconv flip-method='+str(flip)+' ! video/x-raw, width='+str(width)+', height='+str(height)+', format=BGRx ! videoconvert ! video/x-raw, format=BGR ! videobalance contrast=1.3 brightness=-.2 saturation=1.2 ! appsink drop=True'

#camSet='nvarguscamerasrc sensor-id=0 ! video/x-raw(memory:NVMM), width=3264, height=2464, framerate=21/1,format=NV12 ! nvvidconv flip-method='+str(flip)+' ! video/x-raw, width='+str(width)+', height='+str(height)+', format=BGRx ! videoconvert ! video/x-raw, format=BGR ! appsink'
#camSet ='v4l2src device=/dev/video1 ! video/x-raw,width='+str(width)+',height='+str(height)+',framerate=20/1 ! videoconvert ! appsink'
cam1=cv2.VideoCapture(camSet1)
cam2=cv2.VideoCapture(camSet2)
while True:
    _, frame1 = cam1.read()
    _, frame2 = cam2.read()

    hsv1=cv2.cvtColor(frame1,cv2.COLOR_BGR2HSV)
    hsv2=cv2.cvtColor(frame2,cv2.COLOR_BGR2HSV)

    hueLow=cv2.getTrackbarPos('hueLower', 'TrackBars')
    hueUp=cv2.getTrackbarPos('hueUpper', 'TrackBars')

    Ls=cv2.getTrackbarPos('satLow', 'TrackBars')
    Us=cv2.getTrackbarPos('satHigh', 'TrackBars')

    Lv=cv2.getTrackbarPos('valLow', 'TrackBars')
    Uv=cv2.getTrackbarPos('valHigh', 'TrackBars')

    l_b=np.array([hueLow,Ls,Lv])
    u_b=np.array([hueUp,Us,Uv])


    hueLow2=cv2.getTrackbarPos('hueLower2', 'TrackBars2')
    hueUp2=cv2.getTrackbarPos('hueUpper2', 'TrackBars2')

    Ls2=cv2.getTrackbarPos('satLow2', 'TrackBars2')
    Us2=cv2.getTrackbarPos('satHigh2', 'TrackBars2')

    Lv2=cv2.getTrackbarPos('valLow2', 'TrackBars2')
    Uv2=cv2.getTrackbarPos('valHigh2', 'TrackBars2')

    l_b2=np.array([hueLow2,Ls2,Lv2])
    u_b2=np.array([hueUp2,Us2,Uv2])

    FGmask1=cv2.inRange(hsv1,l_b,u_b)
    FGmask2=cv2.inRange(hsv2,l_b2,u_b2)

    cv2.imshow('FGmask1',FGmask1)
    cv2.moveWindow('FGmask1',0,0)

    cv2.imshow('FGmask2',FGmask2)
    cv2.moveWindow('FGmask2',350,0)

    contours1,_ = cv2.findContours(FGmask1,cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_SIMPLE)
    contours1=sorted(contours1,key=lambda x:cv2.contourArea(x),reverse=True)
    for cnt in contours1:
        area=cv2.contourArea(cnt)
        (x,y,w,h)=cv2.boundingRect(cnt)
        if area>=100:
            scanLeft=False
            cv2.rectangle(frame1,(x,y),(x+w,y+h),(0,255,255),3)
            objX=x+w/2
            objY=y+h/2
            errorPan1=objX-width/2
            errorTilt1=objY-height/2
            if abs(errorPan1)>15:
                pan1=pan1+errorPan1/40
            if abs(errorTilt1)>15:
                tilt1=tilt1-errorTilt1/40
            if pan1>180:
                pan1=180
                print('Pan Out of Range')
            if pan1<0:
                pan1=0
                print('Pan Out of Range')
            if tilt1>180:
                tilt1=180
                print('Tilt Out of Range')
            if tilt1<0:
                tilt1=0
            kit.servo[2].angle=pan1
            kit.servo[3].angle=tilt1
            break
    
    contours2,_ = cv2.findContours(FGmask2,cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_SIMPLE)
    contours2=sorted(contours2,key=lambda x:cv2.contourArea(x),reverse=True)
    for cnt in contours2:
        area=cv2.contourArea(cnt)
        (x,y,w,h)=cv2.boundingRect(cnt)
        if area>=100:
            scanRight=False
            cv2.rectangle(frame2,(x,y),(x+w,y+h),(0,255,255),3)
            objX=x+w/2
            objY=y+h/2
            errorPan2=objX-width/2
            errorTilt2=objY-height/2
            if abs(errorPan2)>15:
                pan2=pan2+errorPan2/40
            if abs(errorTilt2)>15:
                tilt2=tilt2-errorTilt2/40
            if pan2>180:
                pan2=180
                print('Pan Out of Range')
            if pan2<0:
                pan2=0
                print('Pan Out of Range')
            if tilt2>180:
                tilt2=180
                print('Tilt Out of Range')
            if tilt2<0:
                tilt2=0
            kit.servo[0].angle=pan2
            kit.servo[1].angle=tilt2            
            break
    if scanLeft==True:
        if pan1>=179:
            dPan1=abs(dPan1)*(-1)
        if pan1<=1:
            dPan1=abs(dPan1)
        if pan1>=179 or pan1<=1:
            if tilt1>=170:
                dTilt1=abs(dTilt1)*(-1)
            if tilt1<=10:
                dTilt1=abs(dTilt1)
            tilt1=tilt1+dTilt1
        pan1=pan1+dPan1
        kit.servo[2].angle=pan1
        kit.servo[3].angle=tilt1
    scanLeft=True

    if scanRight==True:
        if pan2>=179:
            dPan2=abs(dPan2)*(-1)
        if pan2<=1:
            dPan2=abs(dPan2)
        if pan2>=179 or pan2<=1:
            if tilt2>=170:
                dTilt2=abs(dTilt2)*(-1)
            if tilt2<=10:
                dTilt2=abs(dTilt2)
            tilt2=tilt2+dTilt2
        pan2=pan2+dPan2
        kit.servo[0].angle=pan2
        kit.servo[1].angle=tilt2
    scanRight=True
    
    frame3=np.hstack((frame1,frame2))
    dt=time.time()-timeMark
    timeMark=time.time()
    dtFIL=.9*dtFIL + .1*dt
    fps=1/dtFIL
    cv2.rectangle(frame3,(0,0),(150,40),(0,0,255),-1)
    cv2.putText(frame3,'fps: '+str(round(fps,1)),(0,30),font,1,(0,255,255),2)

    #cv2.imshow('myCam1',frame1)
    #cv2.imshow('myCam2',frame2)
    cv2.imshow('comboCam',frame3)
    cv2.moveWindow('comboCam',0,450)

    if cv2.waitKey(1)==ord('q'):
        break
cam1.release()
cam2.release()
cv2.destroyAllWindows()

100

101

102

103

104

105

106

107

108

109

110

111

112

113

114

115

116

117

118

119

120

121

122

123

124

125

126

127

128

129

130

131

132

133

134

135

136

137

138

139

140

141

142

143

144

145

146

147

148

149

150

151

152

153

154

155

156

157

158

159

160

161

162

163

164

165

166

167

168

169

170

171

172

173

174

175

176

177

178

179

180

181

182

183

184

185

186

187

188

189

190

191

192

193

194

195

196

197

198

199

200

201

202

203

204

205

206

207

208

209

210

211

212

213

import cv2

import numpy as np

import time

from adafruit_servokit import ServoKit

print(cv2.__version__)

timeMark=time.time()

dtFIL=0

scanRight=True

scanLeft=True

def nothing(x):

pass

cv2.namedWindow('TrackBars')

cv2.moveWindow('TrackBars',1320,0)

cv2.createTrackbar('hueLower', 'TrackBars',100,179,nothing)

cv2.createTrackbar('hueUpper', 'TrackBars',116,179,nothing)

cv2.createTrackbar('satLow', 'TrackBars',160,255,nothing)

cv2.createTrackbar('satHigh', 'TrackBars',255,255,nothing)

cv2.createTrackbar('valLow', 'TrackBars',150,255,nothing)

cv2.createTrackbar('valHigh', 'TrackBars',255,255,nothing)

cv2.namedWindow('TrackBars2')

cv2.moveWindow('TrackBars2',1100,0)

cv2.createTrackbar('hueLower2', 'TrackBars2',150,179,nothing)

cv2.createTrackbar('hueUpper2', 'TrackBars2',170,179,nothing)

cv2.createTrackbar('satLow2', 'TrackBars2',160,255,nothing)

cv2.createTrackbar('satHigh2', 'TrackBars2',255,255,nothing)

cv2.createTrackbar('valLow2', 'TrackBars2',150,255,nothing)

cv2.createTrackbar('valHigh2', 'TrackBars2',255,255,nothing)

kit=ServoKit(channels=16)

tilt1=90

pan1=90

tilt2=90

pan2=90

dPan1=1

dPan2=1

dTilt1=10

dTilt2=10

kit.servo[0].angle=pan1

kit.servo[1].angle=tilt1

kit.servo[2].angle=pan2

kit.servo[3].angle=tilt2

width=720

height=480

flip=2

font=cv2.FONT_HERSHEY_SIMPLEX

camSet1='nvarguscamerasrc sensor-id=0 ee-mode=1 ee-strength=0 tnr-mode=2 tnr-strength=1 wbmode=3 ! video/x-raw(memory:NVMM), width=3264, height=2464, framerate=21/1,format=NV12 ! nvvidconv flip-method='+str(flip)+' ! video/x-raw, width='+str(width)+', height='+str(height)+', format=BGRx ! videoconvert ! video/x-raw, format=BGR ! videobalance contrast=1.3 brightness=-.2 saturation=1.2 ! appsink drop=True'

camSet2='nvarguscamerasrc sensor-id=1 ee-mode=1 ee-strength=0 tnr-mode=2 tnr-strength=1 wbmode=3 ! video/x-raw(memory:NVMM), width=3264, height=2464, framerate=21/1,format=NV12 ! nvvidconv flip-method='+str(flip)+' ! video/x-raw, width='+str(width)+', height='+str(height)+', format=BGRx ! videoconvert ! video/x-raw, format=BGR ! videobalance contrast=1.3 brightness=-.2 saturation=1.2 ! appsink drop=True'

#camSet='nvarguscamerasrc sensor-id=0 ! video/x-raw(memory:NVMM), width=3264, height=2464, framerate=21/1,format=NV12 ! nvvidconv flip-method='+str(flip)+' ! video/x-raw, width='+str(width)+', height='+str(height)+', format=BGRx ! videoconvert ! video/x-raw, format=BGR ! appsink'

#camSet ='v4l2src device=/dev/video1 ! video/x-raw,width='+str(width)+',height='+str(height)+',framerate=20/1 ! videoconvert ! appsink'

cam1=cv2.VideoCapture(camSet1)

cam2=cv2.VideoCapture(camSet2)

while True:

_, frame1 = cam1.read()

_, frame2 = cam2.read()

hsv1=cv2.cvtColor(frame1,cv2.COLOR_BGR2HSV)

hsv2=cv2.cvtColor(frame2,cv2.COLOR_BGR2HSV)

hueLow=cv2.getTrackbarPos('hueLower', 'TrackBars')

hueUp=cv2.getTrackbarPos('hueUpper', 'TrackBars')

Ls=cv2.getTrackbarPos('satLow', 'TrackBars')

Us=cv2.getTrackbarPos('satHigh', 'TrackBars')

Lv=cv2.getTrackbarPos('valLow', 'TrackBars')

Uv=cv2.getTrackbarPos('valHigh', 'TrackBars')

l_b=np.array([hueLow,Ls,Lv])

u_b=np.array([hueUp,Us,Uv])

hueLow2=cv2.getTrackbarPos('hueLower2', 'TrackBars2')

hueUp2=cv2.getTrackbarPos('hueUpper2', 'TrackBars2')

Ls2=cv2.getTrackbarPos('satLow2', 'TrackBars2')

Us2=cv2.getTrackbarPos('satHigh2', 'TrackBars2')

Lv2=cv2.getTrackbarPos('valLow2', 'TrackBars2')

Uv2=cv2.getTrackbarPos('valHigh2', 'TrackBars2')

l_b2=np.array([hueLow2,Ls2,Lv2])

u_b2=np.array([hueUp2,Us2,Uv2])

FGmask1=cv2.inRange(hsv1,l_b,u_b)

FGmask2=cv2.inRange(hsv2,l_b2,u_b2)

cv2.imshow('FGmask1',FGmask1)

cv2.moveWindow('FGmask1',0,0)

cv2.imshow('FGmask2',FGmask2)

cv2.moveWindow('FGmask2',350,0)

contours1,_ = cv2.findContours(FGmask1,cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_SIMPLE)

contours1=sorted(contours1,key=lambda x:cv2.contourArea(x),reverse=True)

for cnt in contours1:

area=cv2.contourArea(cnt)

(x,y,w,h)=cv2.boundingRect(cnt)

if area>=100:

scanLeft=False

cv2.rectangle(frame1,(x,y),(x+w,y+h),(0,255,255),3)

objX=x+w/2

objY=y+h/2

errorPan1=objX-width/2

errorTilt1=objY-height/2

if abs(errorPan1)>15:

pan1=pan1+errorPan1/40

if abs(errorTilt1)>15:

tilt1=tilt1-errorTilt1/40

if pan1>180:

pan1=180

print('Pan Out of Range')

if pan1<0:

pan1=0

print('Pan Out of Range')

if tilt1>180:

tilt1=180

print('Tilt Out of Range')

if tilt1<0:

tilt1=0

kit.servo[2].angle=pan1

kit.servo[3].angle=tilt1

break

contours2,_ = cv2.findContours(FGmask2,cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_SIMPLE)

contours2=sorted(contours2,key=lambda x:cv2.contourArea(x),reverse=True)

for cnt in contours2:

area=cv2.contourArea(cnt)

(x,y,w,h)=cv2.boundingRect(cnt)

if area>=100:

scanRight=False

cv2.rectangle(frame2,(x,y),(x+w,y+h),(0,255,255),3)

objX=x+w/2

objY=y+h/2

errorPan2=objX-width/2

errorTilt2=objY-height/2

if abs(errorPan2)>15:

pan2=pan2+errorPan2/40

if abs(errorTilt2)>15:

tilt2=tilt2-errorTilt2/40

if pan2>180:

pan2=180

print('Pan Out of Range')

if pan2<0:

pan2=0

print('Pan Out of Range')

if tilt2>180:

tilt2=180

print('Tilt Out of Range')

if tilt2<0:

tilt2=0

kit.servo[0].angle=pan2

kit.servo[1].angle=tilt2

break

if scanLeft==True:

if pan1>=179:

dPan1=abs(dPan1)*(-1)

if pan1<=1:

dPan1=abs(dPan1)

if pan1>=179 or pan1<=1:

if tilt1>=170:

dTilt1=abs(dTilt1)*(-1)

if tilt1<=10:

dTilt1=abs(dTilt1)

tilt1=tilt1+dTilt1

pan1=pan1+dPan1

kit.servo[2].angle=pan1

kit.servo[3].angle=tilt1

scanLeft=True

if scanRight==True:

if pan2>=179:

dPan2=abs(dPan2)*(-1)

if pan2<=1:

dPan2=abs(dPan2)

if pan2>=179 or pan2<=1:

if tilt2>=170:

dTilt2=abs(dTilt2)*(-1)

if tilt2<=10:

dTilt2=abs(dTilt2)

tilt2=tilt2+dTilt2

pan2=pan2+dPan2

kit.servo[0].angle=pan2

kit.servo[1].angle=tilt2

scanRight=True

frame3=np.hstack((frame1,frame2))

dt=time.time()-timeMark

timeMark=time.time()

dtFIL=.9*dtFIL + .1*dt

fps=1/dtFIL

cv2.rectangle(frame3,(0,0),(150,40),(0,0,255),-1)

cv2.putText(frame3,'fps: '+str(round(fps,1)),(0,30),font,1,(0,255,255),2)

#cv2.imshow('myCam1',frame1)

#cv2.imshow('myCam2',frame2)

cv2.imshow('comboCam',frame3)

cv2.moveWindow('comboCam',0,450)

if cv2.waitKey(1)==ord('q'):

break

cam1.release()

cam2.release()

cv2.destroyAllWindows()

Arduino, Arduino 9-Axis IMU Totorials

9-Axis IMU LESSON 16: How to Install and Configure Pyscripter

November 28, 2019 admin

As we move forward, we could really benefit from a better text editor than IDLE to edit our Python Code. In today’s lesson I show you how to download and install Pyscripter, which will make your python coding much easier. I suggest you follow these instructions and move to Pyscripter, as I will be using it for future lessons.

Arduino, Arduino 9-Axis IMU Totorials

9-Axis IMU LESSON 12: Passing Data From Arduino to Python

October 31, 2019 admin

In this lesson we show how to pass data from Arduino to Python using a Com Port. This is important for our 9-Axis IMU project as we want to take advantage of the processing power and 3D graphics capabilities of Python. Our goal is to get the date from Arduino to Python, and then create a dynamic 3D visualization of our system. The first step in this goal is to pass the data from arduino to Python.

In order to do this, a first step is to install the pyserial library. If you followed our python installation tutorial in lesson 11, then it is easy to install pyserial by just opening a windows command prompt, and then typing:

pip install pyserial

If this does not work, likely you did not install python according to the instruction in lesson 11.

In order to show a simple demonstration of passing data, we can use the following code on the arduino side, which just generates x, y, and z numbers and passes them to Python.

int x=0;
int y=0;
int z=0;
void setup() {
  // put your setup code here, to run once:
Serial.begin(115200);
}

void loop() {
  // put your main code here, to run repeatedly:
x=x+1;
y=y+2;
z=z+4;

Serial.print(x);
Serial.print(",");
Serial.print(y);
Serial.print(",");
Serial.println(z);
delay(100);


}

int x=0;

int y=0;

int z=0;

void setup() {

// put your setup code here, to run once:

Serial.begin(115200);

}

void loop() {

// put your main code here, to run repeatedly:

x=x+1;

y=y+2;

z=z+4;

Serial.print(x);

Serial.print(",");

Serial.print(y);

Serial.print(",");

Serial.println(z);

delay(100);

}

We can grab these numbers from the Com port on the Python side with the following code. Note that you should use the com port your arduino is on, which likely will not be the same as mine (which was ‘com5’).

import time
import serial
arduinoData=serial.Serial('com5',115200)
time.sleep(1)
while (True):
    while (arduinoData.inWaiting()==0):
        pass
    dataPacket = arduinoData.readline() #reply
    dataPacket=str(dataPacket,'utf-8')
    print(dataPacket)
    splitPacket=dataPacket.split(",")
    print (splitPacket)
    X=float(splitPacket[0])
    Y=float(splitPacket[1])
    Z=float(splitPacket[2])
    print ("X=",X," Y=",Y," Z=",Z)

import time

import serial

arduinoData=serial.Serial('com5',115200)

time.sleep(1)

while (True):

while (arduinoData.inWaiting()==0):

pass

dataPacket = arduinoData.readline() #reply

dataPacket=str(dataPacket,'utf-8')

print(dataPacket)

splitPacket=dataPacket.split(",")

print (splitPacket)

X=float(splitPacket[0])

Y=float(splitPacket[1])

Z=float(splitPacket[2])

print ("X=",X," Y=",Y," Z=",Z)

The above example is just a simple method for passing different channels from Arduino to Python.

For our IMU project, we want to use the code we left off with Lesson 10. However, note we can scale back on the number of data channels, because we just want the calibration data and then the final roll, pitch and yaw numbers. This is the arduino code that will pass those parameters.

#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BNO055.h>
#include <utility/imumaths.h>
#include <math.h>
float thetaM;
float phiM;
float thetaFold=0;
float thetaFnew;
float phiFold=0;
float phiFnew;

float thetaG=0;
float phiG=0;

float theta;
float phi;

float thetaRad;
float phiRad;

float Xm;
float Ym;
float psi;

float dt;
unsigned long millisOld;

#define BNO055_SAMPLERATE_DELAY_MS (100)

Adafruit_BNO055 myIMU = Adafruit_BNO055();

void setup() {
  // put your setup code here, to run once:
Serial.begin(115200);
myIMU.begin();
delay(1000);
int8_t temp=myIMU.getTemp();
myIMU.setExtCrystalUse(true);
millisOld=millis();
}

void loop() {
  // put your main code here, to run repeatedly:
uint8_t system, gyro, accel, mg = 0;
myIMU.getCalibration(&system, &gyro, &accel, &mg);
imu::Vector<3> acc =myIMU.getVector(Adafruit_BNO055::VECTOR_ACCELEROMETER);
imu::Vector<3> gyr =myIMU.getVector(Adafruit_BNO055::VECTOR_GYROSCOPE);
imu::Vector<3> mag =myIMU.getVector(Adafruit_BNO055::VECTOR_MAGNETOMETER);
thetaM=-atan2(acc.x()/9.8,acc.z()/9.8)/2/3.141592654*360;
phiM=-atan2(acc.y()/9.8,acc.z()/9.8)/2/3.141592654*360;
phiFnew=.95*phiFold+.05*phiM;
thetaFnew=.95*thetaFold+.05*thetaM;

dt=(millis()-millisOld)/1000.;
millisOld=millis();
theta=(theta+gyr.y()*dt)*.95+thetaM*.05;
phi=(phi-gyr.x()*dt)*.95+ phiM*.05;
thetaG=thetaG+gyr.y()*dt;
phiG=phiG-gyr.x()*dt;

phiRad=phi/360*(2*3.14);
thetaRad=theta/360*(2*3.14);

Xm=mag.x()*cos(thetaRad)-mag.y()*sin(phiRad)*sin(thetaRad)+mag.z()*cos(phiRad)*sin(thetaRad);
Ym=mag.y()*cos(phiRad)+mag.z()*sin(phiRad);

psi=atan2(Ym,Xm)/(2*3.14)*360;

Serial.print(accel);
Serial.print(",");
Serial.print(gyro);
Serial.print(",");
Serial.print(mg);
Serial.print(",");
Serial.print(system);
Serial.print(",");
Serial.print(theta);
Serial.print(",");
Serial.print(phi);
Serial.print(",");
Serial.println(psi);

phiFold=phiFnew;
thetaFold=thetaFnew;

 
delay(BNO055_SAMPLERATE_DELAY_MS);
}

#include <Wire.h>

#include <Adafruit_Sensor.h>

#include <Adafruit_BNO055.h>

#include <utility/imumaths.h>

#include <math.h>

float thetaM;

float phiM;

float thetaFold=0;

float thetaFnew;

float phiFold=0;

float phiFnew;

float thetaG=0;

float phiG=0;

float theta;

float phi;

float thetaRad;

float phiRad;

float Xm;

float Ym;

float psi;

float dt;

unsigned long millisOld;

#define BNO055_SAMPLERATE_DELAY_MS (100)

Adafruit_BNO055 myIMU = Adafruit_BNO055();

void setup() {

// put your setup code here, to run once:

Serial.begin(115200);

myIMU.begin();

delay(1000);

int8_t temp=myIMU.getTemp();

myIMU.setExtCrystalUse(true);

millisOld=millis();

}

void loop() {

// put your main code here, to run repeatedly:

uint8_t system, gyro, accel, mg = 0;

myIMU.getCalibration(&system, &gyro, &accel, &mg);

imu::Vector<3> acc =myIMU.getVector(Adafruit_BNO055::VECTOR_ACCELEROMETER);

imu::Vector<3> gyr =myIMU.getVector(Adafruit_BNO055::VECTOR_GYROSCOPE);

imu::Vector<3> mag =myIMU.getVector(Adafruit_BNO055::VECTOR_MAGNETOMETER);

thetaM=-atan2(acc.x()/9.8,acc.z()/9.8)/2/3.141592654*360;

phiM=-atan2(acc.y()/9.8,acc.z()/9.8)/2/3.141592654*360;

phiFnew=.95*phiFold+.05*phiM;

thetaFnew=.95*thetaFold+.05*thetaM;

dt=(millis()-millisOld)/1000.;

millisOld=millis();

theta=(theta+gyr.y()*dt)*.95+thetaM*.05;

phi=(phi-gyr.x()*dt)*.95+ phiM*.05;

thetaG=thetaG+gyr.y()*dt;

phiG=phiG-gyr.x()*dt;

phiRad=phi/360*(2*3.14);

thetaRad=theta/360*(2*3.14);

Xm=mag.x()*cos(thetaRad)-mag.y()*sin(phiRad)*sin(thetaRad)+mag.z()*cos(phiRad)*sin(thetaRad);

Ym=mag.y()*cos(phiRad)+mag.z()*sin(phiRad);

psi=atan2(Ym,Xm)/(2*3.14)*360;

Serial.print(accel);

Serial.print(",");

Serial.print(gyro);

Serial.print(",");

Serial.print(mg);

Serial.print(",");

Serial.print(system);

Serial.print(",");

Serial.print(theta);

Serial.print(",");

Serial.print(phi);

Serial.print(",");

Serial.println(psi);

phiFold=phiFnew;

thetaFold=thetaFnew;

delay(BNO055_SAMPLERATE_DELAY_MS);

}

Then, on the Python side we can grab and parse the data with this code.

import serial
import time
arduinoData=serial.Serial('com5',115200)
time.sleep(1)
while (1==1):
    while (arduinoData.inWaiting()==0):
        pass
    dataPacket=arduinoData.readline()
    
    dataPacket=str(dataPacket,'utf-8')
    splitPacket=dataPacket.split(',')
    Acal=float(splitPacket[0])
    Gcal=float(splitPacket[1])
    Mcal=float(splitPacket[2])
    Scal=float(splitPacket[3])
    Pitch=float(splitPacket[4])
    Roll=float(splitPacket[5])
    Yaw=float(splitPacket[6])
    print("Acal=",Acal,"Gcal=",Gcal,"Mcal=",Mcal,"Scal",Scal, "Pitch=",Pitch,"Roll=",Roll,"Yaw=",Yaw)

import serial

import time

arduinoData=serial.Serial('com5',115200)

time.sleep(1)

while (1==1):

while (arduinoData.inWaiting()==0):

pass

dataPacket=arduinoData.readline()

dataPacket=str(dataPacket,'utf-8')

splitPacket=dataPacket.split(',')

Acal=float(splitPacket[0])

Gcal=float(splitPacket[1])

Mcal=float(splitPacket[2])

Scal=float(splitPacket[3])

Pitch=float(splitPacket[4])

Roll=float(splitPacket[5])

Yaw=float(splitPacket[6])

print("Acal=",Acal,"Gcal=",Gcal,"Mcal=",Mcal,"Scal",Scal, "Pitch=",Pitch,"Roll=",Roll,"Yaw=",Yaw)

In the next lesson we will install Vpython and begin building our code to create dynamic 3D visualizations of our system.

Technology Tutorials

Tag Archives: Python

Python 3D Graphics LESSON 3: Parameterizing your 3D Model

Launch a Windows WEB Camera in Ten Lines of Code with OpenCV

Jetson Xavier NX Lesson 12: Intelligent Scanning for Objects of Interest

9-Axis IMU LESSON 16: How to Install and Configure Pyscripter

9-Axis IMU LESSON 12: Passing Data From Arduino to Python

Making The World a Better Place One High Tech Project at a Time. Enjoy!