arduino

DataHandling/LIDARDataPublisher.py

@@ -1,50 +1,34 @@
 #Tiger Cao
 #1/15/2024
 
-import rospy
-
-from sensor_msgs.msg import PointCloud, Point32
-
 import math
 
-def lidar_publisher():
-    #Initialize ROS node
-    rospy.init_node('lidar_publisher')
-
-
-    #create Publisher
-    lidar_pub=rospy.Publisher('/lidar_scan')
-
-    #define publishing rate
-    rate=rospy.Rate(10) #10 Hz
-
-
+def main():
     #main loop
-    while not rospy.is_shutdown():
+    while True:
         #calls method to get data
-        lidar_data=get_parsed_lidar()
-
-        #instantiates point cloud message to publish later
-        lidar_msg=PointCloud()
-
-
-        #fill headers of point cloud message
-        lidar_msg.header.stamp=rospy.Time.now()
-        lidar_msg.header.frame_id="placeholder" #replace with SET Robot base link
-
-        #for points in lidar_data retrieved, convert to x y
-        for point in lidar_data:
-            x = point * math.cos(0) # replace 0 with angle given in parsed data
-            y = point * math.sin(0) # replace 0 with angle given in parsed data
-            z=0.0
-            #populate point cloud message with points
-            lidar_msg.points.append(Point32(x=x, y=y, z=z))
-
-        #pulish
-        lidar_pub.publish(lidar_msg)
-
-        #sleep to match publishing rate
-        rate.sleep()
+        output=process.stdout.readline().decode('utf-8').strip()
+        if output:
+            print("Received:", output)
+
+
+        # #fill headers of point cloud message
+        # lidar_msg.header.stamp=rospy.Time.now()
+        # lidar_msg.header.frame_id="placeholder" #replace with SET Robot base link
+        #
+        # #for points in lidar_data retrieved, convert to x y
+        # for point in lidar_data:
+        #     x = point * math.cos(0) # replace 0 with angle given in parsed data
+        #     y = point * math.sin(0) # replace 0 with angle given in parsed data
+        #     z=0.0
+        #     #populate point cloud message with points
+        #     lidar_msg.points.append(Point32(x=x, y=y, z=z))
+        #
+        # #pulish
+        # lidar_pub.publish(lidar_msg)
+        #
+        # #sleep to match publishing rate
+        # rate.sleep()
 
 
 
@@ -54,8 +38,5 @@ def get_parsed_lidar():
 
 
 if __name__ == '__main__':
-    try:
-        lidar_publisher()
-    except rospy.ROSInterruptException:
-        pass
+    main()
 

DataHandling/arduino.py

@@ -0,0 +1,32 @@
+import serial
+import math
+
+# Configure the serial port. Change the port and baud rate as needed.
+# 50 units is equal to 1 CM
+ser = serial.Serial('/dev/cu.usbmodem101', 9600)  # COM3 is an example, you need to specify your port
+
+try:
+    distance = True
+    while True:
+        data = ser.readline().decode().strip()
+        if distance:
+            print("Distance:", data/50)
+            distance = not distance
+        else:
+            print("Strength:", data)
+            distance = not distance
+except KeyboardInterrupt:
+    ser.close()  # Close the serial port on Ctrl+C
+
+
+def convert_xy(angle, distance):
+    angle_radians = math.radians(angle)
+
+    # Calculate the relative x and y coordinates
+    x = distance * math.cos(angle_radians)
+    y = distance * math.sin(angle_radians)
+
+    return x, y
+
+
+