Today is mainly to combine the results of the previous few days, receive sensor data through COM6 port, and then send it to Arduino driver board to control the LED light bulb.
Code:
-*- coding: UTF-8 -*-
import serial
import time #Delay functions need to be used
def get_acc(self): #Processing acc information
try:
axh = int(datahex[6:8],16)
axl = int(datahex[4:6], 16)
ayh = int(datahex[10:12], 16)
ayl = int(datahex[8:10], 16)
azh = int(datahex[14:16], 16)
azl = int(datahex[12:14], 16)
except IOError:
print("ReadError: gyro_acc")
return (0, 0, 0)
else:
k_acc = 16
acc_x = (axh << 8 | axl) / 32768 * k_acc
acc_y = (ayh << 8 | ayl) / 32768 * k_acc
acc_z = (azh << 8 | azl) / 32768 * k_acc
if acc_x >= k_acc:
acc_x -= 2 * k_acc
if acc_y >= k_acc:
acc_y -= 2 * k_acc
if acc_z >= k_acc:
acc_z-= 2 * k_acc
return acc_x,acc_y,acc_z
def get_gyro(self): #Processing gyro information
try:
wxh = int(datahex[28:30], 16)
wxl = int(datahex[26:28], 16)
wyh = int(datahex[32:34], 16)
wyl = int(datahex[30:32], 16)
wzh = int(datahex[36:38], 16)
wzl = int(datahex[34:36], 16)
except IOError:
print("ReadError: gyro_acc")
return (0, 0, 0)
else:
k_gyro = 2000
gyro_x = (wxh << 8 | wxl) / 32768 * k_gyro
gyro_y = (wyh << 8 | wyl) / 32768 * k_gyro
gyro_z = (wzh << 8 | wzl) / 32768 * k_gyro
if gyro_x >= k_gyro:
gyro_x -= 2 * k_gyro
if gyro_y >= k_gyro:
gyro_y -= 2 * k_gyro
if gyro_z >=k_gyro:
gyro_z-= 2 * k_gyro
return gyro_x,gyro_y,gyro_z
def get_angle(self): #Processing angle Information
try:
rxh = int(datahex[50:52], 16)
rxl = int(datahex[48:50], 16)
ryh = int(datahex[54:56], 16)
ryl = int(datahex[52:54], 16)
rzh = int(datahex[58:60], 16)
rzl = int(datahex[56:58], 16)
except IOError:
print("ReadError: gyro_acc")
return (0, 0, 0)
else:
k_angle = 180
angle_x = (rxh << 8 | rxl) / 32768 * k_angle
angle_y = (ryh << 8 | ryl) / 32768 * k_angle
angle_z = (rzh << 8 | rzl) / 32768 * k_angle
if angle_x >= k_angle:
angle_x -= 2 * k_angle
if angle_y >= k_angle:
angle_y -= 2 * k_angle
if angle_z >=k_angle:
angle_z-= 2 * k_angle
return angle_x,angle_y,angle_z
def shakecharge(self): #Tremor judgment function
ifshake = 0 #Tremor times
ifshake_0 =0 #Does it return to zero?
limit_a1 = 0.5
limit_a2 = 0.8
limit_a3 = 1.2 #Vibration classification
interval_a = 5 #update interval
acc_fre[0] = acc_fre[0] + 1 #Important! You can't use variables, you need to use list s.
print(acc_fre[0])
if acc_fre[0] % interval_a == 0: #sampling
acc_old[0] = acc[0]
acc_old[1] = acc[1]
acc_old[2] = acc[2]
if acc_fre[0] % (interval_a * 10) == 0: #Reset
if ifshake == ifshake_0: #If not updated
ifshake = ifshake_0 = 0
print('---Reset!')
else: #Updating Zero Threshold
ifshake_0 = ifshake
print('******To update! ')
else:
pass
if acc_fre[0] > interval_a*2 and (abs(acc[0] - acc_old[0]) > limit_a3 or acc[1] - acc_old[1] > limit_a3 or acc[2] - acc_old[2] > limit_a3) :
print("===Severe tremor!!!!!") #LED lights
demo = b"3"
ser1.write(demo)
time.sleep(1)
ifshake = 0
elif acc_fre[0] > interval_a*2 and (abs(acc[0] - acc_old[0]) > limit_a2 or acc[1] - acc_old[1] > limit_a2 or acc[2] - acc_old[2] > limit_a2):
print("===Moderate tremor!!!!!")
demo2 = b"2"
ser1.write(demo2)
time.sleep(0.5)
ifshake = 0
elif acc_fre[0] > interval_a*2 and (abs(acc[0] - acc_old[0]) > limit_a1 or acc[1] - acc_old[1] > limit_a1 or acc[2] - acc_old[2] > limit_a1):
print("===Mild tremor!!!!!")
demo3 = b"1"
ser1.write(demo3)
time.sleep(0.5)
ifshake = 0
else:
demo4 = b"0"
ser1.write(demo4)
return
if __name__ == "__main__":
#ser = serial.Serial("com6", 115200, timeout=0.5) # open port
ser1 = serial.Serial("com7", 9600, timeout=0.5) # open port
#acc_old = [0,0,0]
acc_old = [0,0,0]
acc_fre = [1]
print(acc_fre)
print(acc_fre[0])
while(ser1.is_open):
ser = serial.Serial("com6", 115200, timeout=0.5) # open port
#print(ser.is_open)
datahex = (ser.read(33).hex()) #Read Sensor Data
acc = get_acc(datahex)
gyro = get_gyro(datahex)
angle = get_angle(datahex)
shakecharge(acc)
#print(acc_fre)
ser.close()
time.sleep(0.2)
'''print(datahex) # Read a byte
print(acc)
print(gyro)
print(angle)'''
#print(acc_x,acc_y,acc_z)Summary:
1. The basic data types of Python are sorted out:
- Immutable data (3): Number (number), String (string), Tuple (tuple);
- Variable data (3): List (list), Dictionary (dictionary), Set (collection).
Operators: arithmetic operations, assignment operations, comparison operations, logical operations, member operations
Basic data types:
Number-int Boolean-bool class
String - str class (double or single quotation marks) (index, slice, length, traversal deletion, segmentation, blank clearance, case conversion, judgment beginning, etc.) list - list class
List - list class (modifiable, square brackets) (index, slice, append, expand, insert, sort, remove)
tuple class (unmodifiable list, parentheses)
Dictionary-dict class (a series of key-value pairs, key definitions are immutable, and values can be of any data type)
Set - set classes (features: de-duplication, disorder, each element is an immutable type, namely hashable type)
Reference website: http://www.runoob.com/python3/python3-data-type.html python basic data types
2. Solutions to python global variables http://www.javaxxz.com/thread-367807-1-1.html
Usage of 3 time.sleep()
4 List operations (important) http://www.runoob.com/python/python-lists.html
5 LED flicker is not working properly, which is solved after sleep is added, but the reason is unknown and needs to be further solved.
The next step is to manufacture the actuator, Python multi-threading programming, development board transplantation and so on.
Attachment: C Language Processing Source Code
UARTTest.cpp : Define the entry point for console applications.
//
#include "stdafx.h"
#include "Com.h"
#include "windows.h"
#include "time.h"
#include "stdio.h"
#include "math.h"
unsigned char ucComNo[2] ={0,0};
signed char OpenCom(void)
{ static unsigned long ulNo=0;
signed char cResult= 0;
printf("Waiting for insertion Com%d! ",ucComNo[0]);
do
{
cResult = OpenCOMDevice(ucComNo[0],115200);
}while(cResult!=0);
printf("Com%d Inserted\r\n",ucComNo[0]);
return 0;
}
double a[3],w[3],Angle[3],T;
double a_o[3],w_o[3],Angle_o[3],T_o; //Recording Past Sensor Information
int a_n = 1; //Recording Acceleration Sampling Number
int ifshake= 0; //Judge whether tremor or not
int ifshake_0 = 0; //Judging whether to return to zero
float limit_a = 0.5; //Deviation threshold of acceleration
float limit_a_2 = 0.8; //Deviation threshold of acceleration
float limit_a_3 = 1.2; //Deviation threshold of acceleration
int interval_a = 5; //Acceleration information update interval
void DecodeIMUData(unsigned char chrTemp[]) {
//printf("limit_a =%f\n",limit_a); //printf("interval_a = %d\n",interval_a); // printf("a_n =%d \n",a_n);
switch(chrTemp[1]) {
case 0x51:
a_n = a_n+1;
a[0] = (short(chrTemp[3]<<8|chrTemp[2]))/32768.0*16;
a[1] = (short(chrTemp[5]<<8|chrTemp[4]))/32768.0*16;
a[2] = (short(chrTemp[7]<<8|chrTemp[6]))/32768.0*16;
T = (short(chrTemp[9]<<8|chrTemp[8]))/340.0+36.25;
if ( a_n %(interval_a*10) == 0) // Tremor returns to zero
{ if (ifshake == ifshake_0)
{
ifshake_0 = ifshake = 0;
printf(" ----------------------------Reset!!!!!");
}
else
{
ifshake_0 = ifshake;
printf(" *****************************To update");
Sleep(100);
}
}
if ( a_n %interval_a == 0) // update interval
{
a_o[0] = a[0];
a_o[1] = a[1];
a_o[2] = a[2];
//printf("a_o = %4.3f\t%4.3f\t%4.3f\t\r\n",a_o[0],a_o[1],a_o[2]);
}
else
{
printf("\n");
}
//printf("a = %4.3f\t%4.3f\t%4.3f\t\r\n",a[0],a[1],a[2]);
if (abs(a[0] - a_o[0]) > limit_a_3 || abs(a[1] - a_o[1]) > limit_a_3 || abs(a[2] - a_o[2]) > limit_a_3) // Judge whether tremor or not
//If (abs (a [0] - a_o [0]) > 0.5 | | ABS (a [1] - a_o [1]) > 0.5 | | ABS (a [2] - a_o [2]) > 0.5) / / / Judge whether tremor not
{
ifshake = ifshake + 1;
if(ifshake > 5) //The tremor is judged to be tremor more than five times.
{
printf(" ===============================================Severe tremor!!!!!===============================================================\n");
Beep(5000,5);//Controlling buzzer sounding
ifshake = 0;
}
else
{
ifshake = ifshake;
}
}
else if(abs(a[0] - a_o[0]) > limit_a_2 || abs(a[1] - a_o[1]) > limit_a_2 || abs(a[2] - a_o[2]) > limit_a_2) // Judge whether tremor or not
//If (abs (a [0] - a_o [0]) > 0.5 | | ABS (a [1] - a_o [1]) > 0.5 | | ABS (a [2] - a_o [2]) > 0.5) / / / Judge whether tremor not
{
ifshake = ifshake + 1;
if(ifshake > 5) //The tremor is judged to be tremor more than five times.
{
printf(" ===============================================Moderate tremor!!!!!===============================================================\n");
Beep(5000,5);//Controlling buzzer sounding
ifshake = 0;
}
else
{
ifshake = ifshake;
}
}
else if(abs(a[0] - a_o[0]) > limit_a || abs(a[1] - a_o[1]) > limit_a || abs(a[2] - a_o[2]) > limit_a) // Judge whether tremor or not
//If (abs (a [0] - a_o [0]) > 0.5 | | ABS (a [1] - a_o [1]) > 0.5 | | ABS (a [2] - a_o [2]) > 0.5) / / / Judge whether tremor not
{
ifshake = ifshake + 1;
if(ifshake > 5) //The tremor is judged to be tremor more than five times.
{
printf(" ===============================================Mild tremor!!!!!===============================================================\n");
Beep(5000,5);//Controlling buzzer sounding
ifshake = 0;
}
else
{
ifshake = ifshake;
}
}
break;
case 0x52:
w[0] = (short(chrTemp[3]<<8|chrTemp[2]))/32768.0*2000;
w[1] = (short(chrTemp[5]<<8|chrTemp[4]))/32768.0*2000;
w[2] = (short(chrTemp[7]<<8|chrTemp[6]))/32768.0*2000;
T = (short(chrTemp[9]<<8|chrTemp[8]))/340.0+36.25;
//printf("w = %4.3f\t%4.3f\t%4.3f\t\r\n",w[0],w[1],w[2]);
break;
case 0x53:
Angle[0] = (short(chrTemp[3]<<8|chrTemp[2]))/32768.0*180;
Angle[1] = (short(chrTemp[5]<<8|chrTemp[4]))/32768.0*180;
Angle[2] = (short(chrTemp[7]<<8|chrTemp[6]))/32768.0*180;
T = (short(chrTemp[9]<<8|chrTemp[8]))/340.0+36.25;
//printf("Angle = %4.2f\t%4.2f\t%4.2f\tT=%4.2f\r\n",Angle[0],Angle[1],Angle[2],T);
break;
}
}
int _tmain(int argc, _TCHAR* argv[])
{
char chrBuffer[1000];
unsigned char chrTemp[1000];
signed char cResult[2] = {0};
unsigned short usLength=0,usRxLength=0;
FILE *fp;
fp = fopen("Com.ini","r");
if (1!=fscanf(fp,"Com = %d",&ucComNo[0]))
{
printf("The port configuration file is incorrect!");
Sleep(5000);
}
fclose(fp);
OpenCom();
chrBuffer[0] = 0x01;
SendUARTMessageLength(ucComNo[0],chrBuffer,1);
while(1)
{
usLength = CollectUARTData(ucComNo[0],chrBuffer);
if (usLength>0)
{
usRxLength += usLength;
while (usRxLength >= 11)
{
memcpy(chrTemp,chrBuffer,usRxLength);
if (!((chrTemp[0] == 0x55) & ((chrTemp[1] == 0x51) | (chrTemp[1] == 0x52) | (chrTemp[1] == 0x53))))
{
for (int i = 1; i < usRxLength; i++) chrBuffer[i - 1] = chrBuffer[i];
usRxLength--;
continue;
}
DecodeIMUData(chrTemp);
for (int i = 11; i < usRxLength; i++) chrBuffer[i - 11] = chrBuffer[i];
usRxLength -= 11;
}
}
Sleep(200);
}
return 0;
}