Skip to content

Instantly share code, notes, and snippets.

@Tiryoh
Last active January 25, 2018 02:31
Show Gist options
  • Save Tiryoh/84b0f3e71caffb6422c9698a0db27803 to your computer and use it in GitHub Desktop.
Save Tiryoh/84b0f3e71caffb6422c9698a0db27803 to your computer and use it in GitHub Desktop.
Jupyter Notebook + Robot 2 (getting real time light sensor status from Raspberry Pi Mouse) https://youtu.be/sBr1ngoACnU
Display the source blob
Display the rendered blob
Raw
{
"cells": [
{
"cell_type": "code",
"execution_count": 1,
"metadata": {
"collapsed": true
},
"outputs": [],
"source": [
"# 数値計算及び描画に必要なモジュール\n",
"import numpy as np\n",
"import math\n",
"from matplotlib import pyplot as plt\n",
"from matplotlib import patches as patches\n",
"\n",
"# 通信用\n",
"import urllib.request\n",
"import time\n",
"import argparse\n",
"import json\n",
"import threading\n",
"\n",
"# JupyterNotebook用モジュール\n",
"from IPython import display\n",
"\n",
"# デバッグ用\n",
"from pprint import pprint"
]
},
{
"cell_type": "code",
"execution_count": 2,
"metadata": {
"collapsed": true
},
"outputs": [],
"source": [
"class Reciever(object):\n",
" def __init__(self, ip, port):\n",
" print(\"init\")\n",
" self.url = \"http://{}:{}\".format(ip, port)\n",
" print (\"connecting to \" + self.url)\n",
"\n",
" def get_sensor_val(self):\n",
" start = time.time()\n",
" request = urllib.request.Request(self.url)\n",
" response = urllib.request.urlopen(request)\n",
" sensor_dict = json.loads(response.read().decode('utf-8'))\n",
" return sensor_dict"
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"init\n",
"connecting to http://192.168.22.234:5000\n"
]
}
],
"source": [
"# r = Reciever(\"192.168.64.3\", 5000)\n",
"r = Reciever(\"192.168.22.234\", 5000)"
]
},
{
"cell_type": "code",
"execution_count": 4,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"{'line sensor': {'1': 11, '3': -2, '2': 16, '0': 26}, 'switch': {'1': 0, '2': 0, '0': 0}}\n",
"[{'line sensor': {'1': 11, '3': -2, '2': 16, '0': 26}, 'switch': {'1': 0, '2': 0, '0': 0}}]\n"
]
}
],
"source": [
"history = []\n",
"hoge = r.get_sensor_val()\n",
"history.append(hoge)\n",
"print(hoge)\n",
"print(history)"
]
},
{
"cell_type": "code",
"execution_count": 5,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"[{'line sensor': {'0': 26, '1': 11, '2': 16, '3': -2},\n",
" 'switch': {'0': 0, '1': 0, '2': 0}},\n",
" {'line sensor': {'0': 22, '1': 16, '2': 14, '3': 0},\n",
" 'switch': {'0': 0, '1': 0, '2': 0}},\n",
" {'line sensor': {'0': 30, '1': 12, '2': 15, '3': 2},\n",
" 'switch': {'0': 0, '1': 0, '2': 0}},\n",
" {'line sensor': {'0': 26, '1': 13, '2': 21, '3': 6},\n",
" 'switch': {'0': 0, '1': 0, '2': 0}},\n",
" {'line sensor': {'0': 22, '1': 14, '2': 20, '3': 3},\n",
" 'switch': {'0': 0, '1': 0, '2': 0}},\n",
" {'line sensor': {'0': 26, '1': 14, '2': 18, '3': 4},\n",
" 'switch': {'0': 0, '1': 0, '2': 0}},\n",
" {'line sensor': {'0': 27, '1': 12, '2': 8, '3': 7},\n",
" 'switch': {'0': 0, '1': 0, '2': 0}},\n",
" {'line sensor': {'0': 24, '1': 8, '2': 16, '3': -2},\n",
" 'switch': {'0': 0, '1': 0, '2': 0}},\n",
" {'line sensor': {'0': 26, '1': 10, '2': 14, '3': 7},\n",
" 'switch': {'0': 0, '1': 0, '2': 0}},\n",
" {'line sensor': {'0': 26, '1': 10, '2': 10, '3': 0},\n",
" 'switch': {'0': 0, '1': 0, '2': 0}},\n",
" {'line sensor': {'0': 28, '1': 10, '2': 18, '3': 3},\n",
" 'switch': {'0': 0, '1': 0, '2': 0}}]\n"
]
}
],
"source": [
"for i in range(10):\n",
" hoge = r.get_sensor_val()\n",
" history.append(hoge)\n",
" time.sleep(0.1)\n",
"\n",
"pprint(history)"
]
},
{
"cell_type": "code",
"execution_count": 6,
"metadata": {},
"outputs": [
{
"data": {
"image/png": "iVBORw0KGgoAAAANSUhEUgAABQUAAAJOCAYAAAAOOGEhAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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\nYII=\n",
"text/plain": [
"<matplotlib.figure.Figure at 0x7f82fbe633c8>"
]
},
"metadata": {},
"output_type": "display_data"
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"done.\n"
]
}
],
"source": [
"history = []\n",
"\n",
"for i in range(30):\n",
" \n",
" if len(history) > 99:\n",
" history = []\n",
" \n",
" # ラズパイマウスから情報取得\n",
" for i in range(5):\n",
" hoge = r.get_sensor_val()\n",
" history.append(hoge)\n",
" time.sleep(0.1)\n",
" \n",
" # タイトル付き新規ウィンドウ、座標軸を用意\n",
" fig = plt.figure(figsize=(22, 10))\n",
" \n",
" graph = plt.subplot(1,2,1)\n",
" graph.set_title(\"sensor history\")\n",
" graph.set_xlim(0,100)\n",
" graph.set_ylim(-1.5,2000)\n",
" \n",
" view = plt.subplot(1,2,2)\n",
" view.set_title(\"robot vision\")\n",
" view.set_xlim(-10,10)\n",
" view.set_ylim(-10,10)\n",
"\n",
"\n",
" x_arr = np.array([])\n",
" y1_arr = np.array([])\n",
" y2_arr = np.array([])\n",
" y3_arr = np.array([])\n",
" y0_arr = np.array([])\n",
"\n",
" for i in range(len(history)):\n",
" x_arr = np.append(x_arr, i)\n",
" y0_arr = np.append(y0_arr, history[i][\"line sensor\"][\"0\"])\n",
" y1_arr = np.append(y1_arr, history[i][\"line sensor\"][\"1\"])\n",
" y2_arr = np.append(y2_arr, history[i][\"line sensor\"][\"2\"])\n",
" y3_arr = np.append(y3_arr, history[i][\"line sensor\"][\"3\"])\n",
"\n",
" graph.plot(x_arr, y0_arr, label = \"sensor 0(right front)\", color = 'blue')\n",
" graph.plot(x_arr, y1_arr, label = \"sensor 1(right side)\", color = 'orange')\n",
" graph.plot(x_arr, y2_arr, label = \"sensor 2(left side)\", color = 'green')\n",
" graph.plot(x_arr, y3_arr, label = \"sensor 3(left front)\", color = 'red')\n",
" \n",
" rf = patches.Circle(xy=(3, 5), radius=(history[len(history)-1][\"line sensor\"][\"0\"])/200, fc='blue')\n",
" rs = patches.Circle(xy=(7, 2), radius=(history[len(history)-1][\"line sensor\"][\"1\"])/200, fc='orange')\n",
" lf = patches.Circle(xy=(-3, 5), radius=(history[len(history)-1][\"line sensor\"][\"3\"])/200, fc='red')\n",
" ls = patches.Circle(xy=(-7, 2), radius=(history[len(history)-1][\"line sensor\"][\"2\"])/200, fc='green')\n",
" robot = patches.Rectangle(xy=(-3, -6), width=6, height=6, ec='#000000', fill=False)\n",
" view.add_patch(rf)\n",
" view.add_patch(rs)\n",
" view.add_patch(lf)\n",
" view.add_patch(ls)\n",
" view.add_patch(robot)\n",
"\n",
" # 左上に凡例を追加\n",
" graph.legend(loc='upper left')\n",
"\n",
" # 現在の状態を確認\n",
" display.clear_output(wait=True)\n",
" display.display(plt.gcf())\n",
" #time.sleep(0.05)\n",
" \n",
"print(\"done.\")"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {
"collapsed": true
},
"outputs": [],
"source": []
}
],
"metadata": {
"kernelspec": {
"display_name": "Python 3",
"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.6.1"
}
},
"nbformat": 4,
"nbformat_minor": 2
}
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment