我正在将2个Arduino组合在一起。第一个控制来自鼠标传感器的数据，第二个控制来自超声波传感器的数据，以及将来的伺服系统。我创建了一个简单的GUI来显示两个Arduino的2个图形。
我的问题是来自鼠标的数据存在一些延迟。如果我使用传感器5秒钟，则在接下来的15秒钟内，我将从该时间接收数据。那么，您知道这将如何顺利进行吗？我需要它是实时的，以便可以计算速度和加速度。我尝试在Arduino代码上更改延迟，波特率。同时，在Arduino串行监视器上，这真的很好。 在我从Arduino发送dx，sumX，dy，sumY之前，但是更改为仅发送2个值并没有帮助。
dx，dy-求和/求和轴上的位移
X，Y-X，Y的总位移
负责此部分的Python代码
def update_figure(self):
t = time.time()
reading=str(ser.readline().decode("utf-8"))
dx,dy=reading.split(',')
dx=float(dx) # displaycement in x axis
dy=float(dy) # displaycement in y axis
Y=outputdy[-1] # this is very non pro method to gather sum of movement in Y axis, and below X axis.
global YSum
YSum=YSum+Y
plt.pause(0.000001)
if (len(outputdx)>75):
outputdx.pop(0)
if (len(outputdy)>75):
outputdy.pop(0)
lcdx.display(XSum)
lcdy.display(YSum)
self.minor.plot(outputdy, color="red", linewidth=0.5, linestyle="-", label = 'dy')
self.minor.plot(outputdx, color="blue", linewidth=0.5, linestyle="-",label='dx')
self.minor.legend(fontsize=8,loc='upper left', shadow=True,)
self.draw()
elapsed = time.time() - t
print(elapsed)
Here，您可以看到我的应用程序。我打印在每个循环中花费的时间 Movement.update_figure。
Python代码
from __future__ import unicode_literals
import time
import sys
import os
import matplotlib
# Make sure that we are using QT5
matplotlib.use('Qt5Agg')
from PyQt5 import QtCore, QtGui, QtWidgets
from PyQt5.QtWidgets import QLCDNumber, QLabel
from numpy import arange, sin, pi
from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
from matplotlib.figure import Figure
import matplotlib.pyplot as plt
import serial
progname = os.path.basename(sys.argv[0])
progversion = "0.1"
ser = serial.Serial('COM3',115200)
arduinoData=serial.Serial('COM4',115200)
output=[]
outputy=[]
outputx=[]
outputdx=[]
outputdy=[]
mean10=0
mean5=0
numbers10=0
X=0
XSum=0
Y=0
YSum=0
class MyMplCanvas(FigureCanvas):
def __init__(self, parent=None, width=5, height=4, dpi=100):
fig = Figure(figsize=(width, height), dpi=dpi)
self.minor=fig.add_subplot(111)
self.compute_initial_figure()
FigureCanvas.__init__(self, fig)
self.setParent(parent)
FigureCanvas.setSizePolicy(self,
QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Expanding)
FigureCanvas.updateGeometry(self)
def compute_initial_figure(self):
pass
class Mousemovement(MyMplCanvas):
def __init__(self, *args, **kwargs):
MyMplCanvas.__init__(self, *args, **kwargs)
timer = QtCore.QTimer(self)
timer.timeout.connect(self.update_figure)
timer.start(1)
def compute_initial_figure(self):
self.minor.plot([0, 1, 2, 3], [1, 2, 0, 4], 'r')
def update_figure(self):
t = time.time()
reading=str(ser.readline().decode("utf-8"))
dx,dy=reading.split(',')
dx=float(dx) # displaycement in x axis
dy=float(dy) # displaycement in y axis
Y=outputdy[-1]
global YSum
YSum=YSum+Y
plt.pause(0.000001)
if (len(outputdx)>75):
outputdx.pop(0)
if (len(outputdy)>75):
outputdy.pop(0)
lcdx.display(XSum)
lcdy.display(YSum)
self.minor.plot(outputdy, color="red", linewidth=0.5, linestyle="-", label = 'dy')
self.minor.plot(outputdx, color="blue", linewidth=0.5, linestyle="-",label='dx')
self.minor.legend(fontsize=8,loc='upper left', shadow=True,)
self.draw()
elapsed = time.time() - t
print(elapsed)
class MyDynamicMplCanvas(MyMplCanvas):
#"""A canvas that updates itself every second with a new plot."""
def __init__(self, *args, **kwargs):
MyMplCanvas.__init__(self, *args, **kwargs)
timer = QtCore.QTimer(self)
timer.timeout.connect(self.update_figure)
timer.start(1)
def compute_initial_figure(self):
self.minor.plot([0, 1, 2, 3], [1, 2, 0, 4], 'r')
def update_figure(self):
arduinoString=arduinoData.readline()
str_value = arduinoString.strip()
if str_value:
measurement = int(str_value)
plt.pause(0.000001)
self.minor.cla()
self.minor.set_ylim(0,20)
output.append(measurement)
numbers=output[-5:]
mean5=sum(numbers)/5
numbers10=output[-10:]
mean10=sum(numbers10)/10
if (len(output)>50):
output.pop(0)
self.minor.plot( output, color="blue", linewidth=0.5, linestyle="-")
lcd5.display(mean5)
lcd10.display(mean10)
self.draw()
class ApplicationWindow(QtWidgets.QMainWindow):
def __init__(self):
QtWidgets.QMainWindow.__init__(self)
self.setAttribute(QtCore.Qt.WA_DeleteOnClose)
self.setWindowTitle("application main window")
self.file_menu = QtWidgets.QMenu('&File', self)
self.file_menu.addAction('&Quit', self.fileQuit,
QtCore.Qt.CTRL + QtCore.Qt.Key_Q)
self.menuBar().addMenu(self.file_menu)
self.help_menu = QtWidgets.QMenu('&Help', self)
self.menuBar().addSeparator()
self.menuBar().addMenu(self.help_menu)
self.help_menu.addAction('&About', self.about)
self.main_widget = QtWidgets.QWidget(self)
label = QtWidgets.QLabel()
label.setText("mean from 5 measurement")
label.setAlignment(QtCore.Qt.AlignCenter)
labelm10 = QtWidgets.QLabel()
labelm10.setText("mean from 10 measurement")
labelm10.setAlignment(QtCore.Qt.AlignCenter)
posx=QtWidgets.QLabel()
posx.setText("Position x in total")
posx.setAlignment(QtCore.Qt.AlignCenter)
posy=QtWidgets.QLabel()
posy.setText("Position y in total")
posy.setAlignment(QtCore.Qt.AlignCenter)
global lcd5, lcd10 ,lcdx ,lcdy
lcd5 = QLCDNumber(self)
lcd10 = QLCDNumber(self)
lcdx=QLCDNumber(self)
lcdy=QLCDNumber(self)
l = QtWidgets.QGridLayout(self.main_widget)
dc = Mousemovement(self.main_widget, width=6, height=5, dpi=100)
se=MyDynamicMplCanvas(self.main_widget, width=6, height=5, dpi=100)
l.addWidget(dc,0,1,1,4)
l.addWidget(posx,1,0)
l.addWidget(lcdx,1,1)
l.addWidget(posy,1,2)
l.addWidget(lcdy,1,3)
l.addWidget(label,2,0)
l.addWidget(lcd5,2,1)
l.addWidget(labelm10,2,2)
l.addWidget(lcd10,2,3)
l.addWidget(se,3,0,1,5)
self.main_widget.setFocus()
self.setCentralWidget(self.main_widget)
self.statusBar().showMessage("Program ", 2000)
def fileQuit(self):
self.close()
def closeEvent(self, ce):
self.fileQuit()
def about(self):
QtWidgets.QMessageBox.about(self, "About",
"""Program to control movement and velocity"""
)
qApp = QtWidgets.QApplication(sys.argv)
aw = ApplicationWindow()
aw.setWindowTitle("%s" % progname)
aw.show()
sys.exit(qApp.exec_())
#qApp.exec_(
）
如果您认为这可以帮忙，请使用Arduino代码。
#include <hidboot.h>
#include <usbhub.h>
// Satisfy the IDE, which needs to see the include statment in the ino too.
#ifdef dobogusinclude
#include <spi4teensy3.h>
#endif
#include <SPI.h>
class MouseRptParser : public MouseReportParser
{
protected:
void OnMouseMove (MOUSEINFO *mi);
};
void MouseRptParser::OnMouseMove(MOUSEINFO *mi)
{
Serial.print(mi ->dX, DEC);
Serial.print(",");
Serial.println(mi ->dY, DEC);
delay(20);
};
USB Usb;
USBHub Hub(&Usb);
HIDBoot<USB_HID_PROTOCOL_MOUSE> HidMouse(&Usb);
MouseRptParser Prs;
void setup()
{
Serial.begin( 115200 );
#if !defined(__MIPSEL__)
while (!Serial); // Wait for serial port to connect - used on Leonardo, Teensy and other boards with built-in USB CDC serial connection
#endif
//Serial.println("Start");
if (Usb.Init() == -1)
Serial.println("OSC did not start.");
delay( 20 );
HidMouse.SetReportParser(0, &Prs);
}
void loop()
{
Usb.Task();
delay(20);
}