3D data plotting problem

system · March 15, 2013, 11:30pm

Hi again guys,
I downloaded the Arduino AHRS code and I wanted to see the data in 3D real time so i downloaded the files(if you scroll down the posted URL adress you will see them) i need to run the "MinIMU-9-test.py" file atached in Arduino AHRS folder.But after installing everything and running the "MinIMU-9-test.py" I receive the result in text form like in arduino serial monitor.There is another window wich should be showing the data in 3D ,but it doesn't the window stays gray and the device manager says that its not responding.I am running a Windows 7 Ultimate (x64) .I tried to reinstall the needed programs with compatibility mode("with run as administrator" and " Run with Windows XP Service Pack 2" options selected) but its still not working.Does someone have an idea how to fix this.Appreciate your time.Cheers.
P.S. I can upload a photo if needed.

system · March 18, 2013, 10:02pm

Could anybody help here...

system · March 18, 2013, 10:20pm

At that link, it says:

(You will probably have to edit the file first and change the definition of ser to match the COM port your Arduino is using.)

-br

system · March 18, 2013, 10:30pm

I did change it! I can open and use the text part of the program( the window on the right) but the graphic part of the program is all gray and not responding (the windows on the left)
EDIT:Now I am thinking it can be some kind of conflict in the script file.Here is the source of the "MinIMU-9-test.py" file:

# MinIMU9ArduinoAHRS
# Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)

# Copyright (c) 2011 Pololu Corporation.
# http://www.pololu.com/

# MinIMU9ArduinoAHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
# http://code.google.com/p/sf9domahrs/

# sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
# Julio and Doug Weibel:
# http://code.google.com/p/ardu-imu/

# MinIMU9ArduinoAHRS is free software: you can redistribute it and/or modify it
# under the terms of the GNU Lesser General Public License as published by the
# Free Software Foundation, either version 3 of the License, or (at your option)
# any later version.

# MinIMU9ArduinoAHRS is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
# FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
# more details.

# You should have received a copy of the GNU Lesser General Public License along
# with MinIMU9ArduinoAHRS. If not, see <http://www.gnu.org/licenses/>.

################################################################################

# This is a test/3D visualization program for the Pololu MinIMU-9 + Arduino
# AHRS, based on "Test for Razor 9DOF IMU" by Jose Julio, copyright 2009.

# This script needs VPython, pyserial and pywin modules

# First Install Python 2.6.4 (Python 2.7 also works)
# Install pywin from http://sourceforge.net/projects/pywin32/
# Install pyserial from http://sourceforge.net/projects/pyserial/files/
# Install VPython from http://vpython.org/contents/download_windows.html

from visual import *
import serial
import string
import math

from time import time

grad2rad = 3.141592/180.0

# Check your COM port and baud rate
ser = serial.Serial(port='COM9',baudrate=115200, timeout=1)

# Main scene
scene=display(title="Pololu MinIMU-9 + Arduino AHRS")
scene.range=(1.2,1.2,1.2)
#scene.forward = (0,-1,-0.25)
scene.forward = (1,0,-0.25)
scene.up=(0,0,1)

# Second scene (Roll, Pitch, Yaw)
scene2 = display(title='Pololu MinIMU-9 + Arduino AHRS',x=0, y=0, width=500, height=200,center=(0,0,0), background=(0,0,0))
scene2.range=(1,1,1)
scene.width=500
scene.y=200

scene2.select()
#Roll, Pitch, Yaw
cil_roll = cylinder(pos=(-0.4,0,0),axis=(0.2,0,0),radius=0.01,color=color.red)
cil_roll2 = cylinder(pos=(-0.4,0,0),axis=(-0.2,0,0),radius=0.01,color=color.red)
cil_pitch = cylinder(pos=(0.1,0,0),axis=(0.2,0,0),radius=0.01,color=color.green)
cil_pitch2 = cylinder(pos=(0.1,0,0),axis=(-0.2,0,0),radius=0.01,color=color.green)
#cil_course = cylinder(pos=(0.6,0,0),axis=(0.2,0,0),radius=0.01,color=color.blue)
#cil_course2 = cylinder(pos=(0.6,0,0),axis=(-0.2,0,0),radius=0.01,color=color.blue)
arrow_course = arrow(pos=(0.6,0,0),color=color.cyan,axis=(-0.2,0,0), shaftwidth=0.02, fixedwidth=1)

#Roll,Pitch,Yaw labels
label(pos=(-0.4,0.3,0),text="Roll",box=0,opacity=0)
label(pos=(0.1,0.3,0),text="Pitch",box=0,opacity=0)
label(pos=(0.55,0.3,0),text="Yaw",box=0,opacity=0)
label(pos=(0.6,0.22,0),text="N",box=0,opacity=0,color=color.yellow)
label(pos=(0.6,-0.22,0),text="S",box=0,opacity=0,color=color.yellow)
label(pos=(0.38,0,0),text="W",box=0,opacity=0,color=color.yellow)
label(pos=(0.82,0,0),text="E",box=0,opacity=0,color=color.yellow)
label(pos=(0.75,0.15,0),height=7,text="NE",box=0,color=color.yellow)
label(pos=(0.45,0.15,0),height=7,text="NW",box=0,color=color.yellow)
label(pos=(0.75,-0.15,0),height=7,text="SE",box=0,color=color.yellow)
label(pos=(0.45,-0.15,0),height=7,text="SW",box=0,color=color.yellow)

L1 = label(pos=(-0.4,0.22,0),text="-",box=0,opacity=0)
L2 = label(pos=(0.1,0.22,0),text="-",box=0,opacity=0)
L3 = label(pos=(0.7,0.3,0),text="-",box=0,opacity=0)

# Main scene objects
scene.select()
# Reference axis (x,y,z)
arrow(color=color.green,axis=(1,0,0), shaftwidth=0.02, fixedwidth=1)
arrow(color=color.green,axis=(0,-1,0), shaftwidth=0.02 , fixedwidth=1)
arrow(color=color.green,axis=(0,0,-1), shaftwidth=0.02, fixedwidth=1)
# labels
label(pos=(0,0,0.8),text="Pololu MinIMU-9 + Arduino AHRS",box=0,opacity=0)
label(pos=(1,0,0),text="X",box=0,opacity=0)
label(pos=(0,-1,0),text="Y",box=0,opacity=0)
label(pos=(0,0,-1),text="Z",box=0,opacity=0)
# IMU object
platform = box(length=1, height=0.05, width=1, color=color.blue)
p_line = box(length=1,height=0.08,width=0.1,color=color.yellow)
plat_arrow = arrow(color=color.green,axis=(1,0,0), shaftwidth=0.06, fixedwidth=1)


f = open("Serial"+str(time())+".txt", 'w')

roll=0
pitch=0
yaw=0
while 1:
    line = ser.readline()
    if line.find("!ANG:") != -1: # filter out incomplete (invalid) lines
        line = line.replace("!ANG:","") # Delete "!ANG:"
        print line
        f.write(line) # Write to the output log file
        words = string.split(line,",") # Fields split
        if len(words) > 2:
            try:
                roll = float(words[0])*grad2rad
                pitch = float(words[1])*grad2rad
                yaw = float(words[2])*grad2rad
            except:
                print "Invalid line"

            axis=(cos(pitch)*cos(yaw),-cos(pitch)*sin(yaw),sin(pitch))
            up=(sin(roll)*sin(yaw)+cos(roll)*sin(pitch)*cos(yaw),sin(roll)*cos(yaw)-cos(roll)*sin(pitch)*sin(yaw),-cos(roll)*cos(pitch))
            platform.axis=axis
            platform.up=up
            platform.length=1.0
            platform.width=0.65
            plat_arrow.axis=axis
            plat_arrow.up=up
            plat_arrow.length=0.8
            p_line.axis=axis
            p_line.up=up
            cil_roll.axis=(0.2*cos(roll),0.2*sin(roll),0)
            cil_roll2.axis=(-0.2*cos(roll),-0.2*sin(roll),0)
            cil_pitch.axis=(0.2*cos(pitch),0.2*sin(pitch),0)
            cil_pitch2.axis=(-0.2*cos(pitch),-0.2*sin(pitch),0)
            arrow_course.axis=(0.2*sin(yaw),0.2*cos(yaw),0)
            L1.text = str(float(words[0]))
            L2.text = str(float(words[1]))
            L3.text = str(float(words[2]))
ser.close
f.close

system · April 9, 2013, 4:43am

I have the same problem. Has anyone figured out why it is happening?

system · November 30, 2014, 9:56pm

YES - The problem is the data that the MinIMU-9-test.py is looking for:
if line.find("!ANG:") != -1:

In the Pololu_Open sketch it outputs:

  if (millis() - printTimer > 50){
    printTimer = millis();
    GetEuler();
    Serial.print(printTimer);
    Serial.print(",");
    Serial.print(pitch);
    Serial.print(",");
    Serial.print(roll);
    Serial.print(",");
    Serial.println(yaw);
  }

So the Python display will never parse that data as it's looking for "!ANG:" - AND The ROLL and PITCH are swapped.
Try this:

  if (millis() - printTimer > 50){
    printTimer = millis();
    GetEuler();
    //Serial.print(printTimer);
    //Serial.print(",");
    Serial.print("!ANG:");
    Serial.print(roll);
    Serial.print(",");
    Serial.print(pitch);
    Serial.print(",");
    Serial.println(yaw);
  }

Don't forget that the first step is changing the COM port in MinIMU-9-test.py

Check your COM port and baud rate

ser = serial.Serial(port='COM5',baudrate=115200, timeout=1)

Good Luck!

Kris

system · May 3, 2015, 12:18pm

hi stunito0o0, do you find the reason of your problem? cause I have the same
thanks

nicholasnbx · January 20, 2016, 2:55am

i have the same problem too! the windows stays grey and its 'Not responding'. My sketch is correctly printing !ANG: so the python script does not have problem parsing the values. Besides, the text part of the program is working, only the graphic part is not working. Please helpppp

nicholasnbx · January 20, 2016, 6:37am

i managed to get it working by adding 'rate(100)' into the main while loop! somehow i think it refreshes the display. (: hope it works for you guys!

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3D data plotting problem

Check your COM port and baud rate

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