# Python + Arduino-based Radar Plotter
#
# ** Works with any motor that outputs angular rotation
# ** and with any distance sensor (HC-SR04, VL53L0x,LIDAR)
#
import numpy as np
import matplotlib
matplotlib.use('TkAgg')
import matplotlib.pyplot as plt
from matplotlib.widgets import Button
import serial, sys, glob
import serial.tools.list_ports
ports = list(serial.tools.list_ports.comports())
for p in ports:
print (p)
# Find Arudino ports, select one, then start communication with it
############################################
#
def port_search():
if sys.platform.startswith('win'): # Windows
ports = ['COM{0:1.0f}'.format(ii) for ii in range(1, 256)]
print ("Gay")
else:
raise EnvironmentError('Machine Not pyserial Compatible')
arduinos = []
for port in ports: # loop through to determine if accessible
if len(port.split('Bluetooth')) > 1:
print("GI")
continue
try:
ser = serial.Serial(port)
ser.close()
arduinos.append(port) # if we can open it, consider it an arduino
print ("GF")
except (OSError, serial.SerialException):
print("GH")
pass
return arduinos
arduino_ports = port_search()
ser = serial.Serial()# match baud on Arduino
ser.port = arduino_ports[0]
ser.baudrate = 9600
ser.flush() # clear the port
#
############################################
# Start the interactive plotting tool and
# plot 180 degrees with dummy data to start
############################################
#
fig = plt.figure(facecolor='k')
win = fig.canvas.manager.window # figure window
screen_res = win.wm_maxsize() # used for window formatting later
dpi = 150.0 # figure resolution
fig.set_dpi(dpi) # set figure resolution
# polar plot attributes and initial conditions
ax = fig.add_subplot(111, polar=True, facecolor='#006d70')
ax.set_position([-0.05, -0.05, 1.1, 1.05])
r_max = 100.0 # can change this based on range of sensor
ax.set_ylim([0.0, r_max]) # range of distances to show
ax.set_xlim([0.0, np.pi]) # limited by the servo span (0-180 deg)
ax.tick_params(axis='both', colors='w')
ax.grid(color='w', alpha=0.5) # grid color
ax.set_rticks(np.linspace(0.0, r_max, 5)) # show 5 different distances
ax.set_thetagrids(np.linspace(0.0, 180.0, 10)) # show 10 angles
angles = np.arange(0, 181, 1) # 0 - 180 degrees
theta = angles * (np.pi / 180.0) # to radians
dists = np.ones((len(angles),)) # dummy distances until real data comes in
pols, = ax.plot([], linestyle='', marker='o', markerfacecolor='w',
markeredgecolor='#EFEFEF', markeredgewidth=1.0,
markersize=10.0, alpha=0.9) # dots for radar points
line1, = ax.plot([], color='w', linewidth=4.0) # sweeping arm plot
# figure presentation adjustments
fig.set_size_inches(0.96 * (screen_res[0] / dpi), 0.96 * (screen_res[1] / dpi))
plot_res = fig.get_window_extent().bounds # window extent for centering
win.wm_geometry('+{0:1.0f}+{1:1.0f}'. \
format((screen_res[0] / 2.0) - (plot_res[2] / 2.0),
(screen_res[1] / 2.0) - (plot_res[3] / 2.0))) # centering plot
fig.canvas.toolbar.pack_forget() # remove toolbar for clean presentation
fig.canvas.set_window_title('Arduino Radar')
fig.canvas.draw() # draw before loop
axbackground = fig.canvas.copy_from_bbox(ax.bbox) # background to keep during loop
############################################
# button event to stop program
############################################
def stop_event(event):
global stop_bool
stop_bool = 1
prog_stop_ax = fig.add_axes([0.85, 0.025, 0.125, 0.05])
pstop = Button(prog_stop_ax, 'Stop Program', color='#FCFCFC', hovercolor='w')
pstop.on_clicked(stop_event)
# button to close window
def close_event(event):
global stop_bool, close_bool
if stop_bool:
plt.close('all')
stop_bool = 1
close_bool = 1
close_ax = fig.add_axes([0.025, 0.025, 0.125, 0.05])
close_but = Button(close_ax, 'Close Plot', color='#FCFCFC', hovercolor='w')
close_but.on_clicked(close_event)
fig.show()
############################################
# inifinite loop, constantly updating the
# 180deg radar with incoming Arduino data
############################################
#
start_word, stop_bool, close_bool = False, False, False
while True:
try:
if stop_bool: # stops program
fig.canvas.toolbar.pack_configure() # show toolbar
if close_bool: # closes radar window
plt.close('all')
break
ser_bytes = ser.readline() # read Arduino serial data
decoded_bytes = ser_bytes.decode('utf-8') # decode data to utf-8
data = (decoded_bytes.replace('\r','')).replace('\n','')
print ("137")
if start_word:
for ii in data.split(','):
continue
vals = float(ii)
print ("11")
if len(vals)<2:
print ("141")
continue
angle,dist = vals # separate into angle and distance
if dist > r_max:
dist = 0.0 # measuring more than r_max, it's likely inaccurate
print ("145")
dists[int(angle)] = dist
if angle % 5 ==0: # update every 5 degrees
print ("148")
pols.set_data(theta,dists)
fig.canvas.restore_region(axbackground)
ax.draw_artist(pols)
line1.set_data(np.repeat((angle*(np.pi/180.0)),2),
np.linspace(0.0,r_max,2))
ax.draw_artist(line1)
fig.canvas.blit(ax.bbox) # replot only data
fig.canvas.flush_events() # flush for next plot
else:
if data =='Radar Start': # start word on Arduino
start_word = True # wait for Arduino to output start word
print('Radar Starting...')
print ("10")
else:
continue
except KeyboardInterrupt:
plt.close('all')
print('Keyboard Interrupt')
break
此代码是假设将我编写的Arduino代码连接到上面的python代码。 但是我遇到两个错误。 打开串行监视器时。我得到的错误是：
回溯（最近通话最近）： 文件“”，第1行，位于 运行文件中的文件“ C：\ Program Files \ JetBrains \ PyCharm Community Edition 2020.2.2 \ plugins \ python-ce \ helpers \ pydev_pydev_bundle \ pydev_umd.py”，第197行 pydev_imports.execfile（filename，global_vars，local_vars）＃执行脚本 execfile中的文件“ C：\ Program Files \ JetBrains \ PyCharm Community Edition 2020.2.2 \ plugins \ python-ce \ helpers \ pydev_pydev_imps_pydev_execfile.py”，第18行 exec（compile（contents +“ \ n”，file，'exec'），glob，loc） 文件“ C：/ Users /（删除我的名字）/PycharmProjects/pythonProject/main.py”，第50行，在 ser.port = arduino_ports [0] IndexError：列表索引超出范围
当串行监视器关闭时。
回溯（最近通话最近）： 文件“”，第1行，位于 文件“ C：\ Program Files \ JetBrains \ PyCharm Community Edition 2020.2.2 \ plugins \ python-ce \ helpers \ pydev_pydev_bundle \ pydev_umd.py”在运行文件pydev_imports.execfile（filename，global_vars，local_vars）中的第197行脚本
exec文件中第18行的文件“ C：\ Program Files \ JetBrains \ PyCharm Community Edition 2020.2.2 \ plugins \ python-ce \ helpers \ pydev_pydev_imps_pydev_execfile.py” exec（compile（contents +“ \ n”，file，'exec'），glob，loc）
文件“ C：/ Users /（已删除名称）/PycharmProjects/pythonProject/main.py”，第52行，在 ser.flush（）＃清除端口
文件“ C：\ Users（删除了我的名字）\ PycharmProjects \ pythonProject \ venv \ lib \ site-packages \ serial \ serialwin32.py”，第343行，刷新 而self.out_waiting： 文件“ C：\ Users（删除了我的名字）\ PycharmProjects \ pythonProject \ venv \ lib \ site-packages \ serial \ serialwin32.py”，第445行，在out_waiting中 引发SerialException（“ ClearCommError失败（{！r}）”。format（ctypes.WinError（）））
serial.serialutil.SerialException：ClearCommError失败（OSError（9，'句柄无效。'，None，6））
目前我不确定该怎么办。