デザインを変更しました．機能は前回と同じです．
背景画を使うことにしました．以下の画像を，pythonのプログラムと同じフォルダにいれてください．
まずはAVRマイコンに以下のプログラムを入力します．
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#include<avr/io.h> #include<avr/interrupt.h> int G=0; long x=0,y=0,v=0,w=0,p=0,q=0,k=0; int xH=0,xL=0,yH=0,yL=0,vH=0,vL=0,wH=0,wL=0,pH=0,pL=0,qH=0,qL=0; void AVR_init(void) { DDRA=0b11111111; DDRB=0b11111111; DDRC=0b11111111; DDRD=0b11111111; DDRE=0b11111110; DDRF=0b11111111; DDRG=0b11111111; } void USART_init(void) { unsigned int baud; baud=8000000/16/38400-1;//ボーレートの計算 UBRR0H = (unsigned char)(baud>>8);//ボーレート上位 UBRR0L = (unsigned char)baud; //ボーレート下位 UCSR0C = (1<<USBS0)|(3<<UCSZ00); UCSR0B = (1<<RXEN0)|(1<<TXEN0)|(1<<RXCIE0);//送受信可 & 受信割り込み許可 } void Utx(int data) //マイコンからデータを送信する { while ( !(UCSR0A & (1<<UDRE0)) ); UDR0 = data; } unsigned char Urx(void) //マイコンがデータを受信する { while ( !(UCSR0A & (1<<RXC0)) ); return UDR0; } void xbee(long a) { Utx(0X30+a/100.); //0X30='0' a%=100; Utx(0X30+a/10.); a%=10; Utx(0X30+a); Utx(0x0a); //LF Utx(0x0d); //CR } void time1_init(void) //time1設定 { TCCR1A =0B00000000; TCCR1B =0B00001010; //8分周 OCR1A =10000; //0.01s間隔割り込み } ISR(USART0_RX_vect) { int RX_num = UDR0; if(RX_num == 's') { G=1; x=0,y=0,v=0,w=0,p=0,q=0; } } ISR(TIMER1_COMPA_vect) //タイマ割り込み { //要素1 x += 1; y += 1; k = x; xH = (k>>8); xL = k; k = y; yH = (k>>8); yL = k; Utx('u');Utx(xH);Utx(xL); Utx('i');Utx(yH);Utx(yL); //要素2; v += 1; w += 5; k = v; vH = (k>>8); vL = k; k = w; wH = (k>>8); wL = k; Utx('v');Utx(vH);Utx(vL); Utx('w');Utx(wH);Utx(wL); //要素3 p += 1; q += 10; k = p; pH = (k>>8); pL = k; k = q; qH = (k>>8); qL = k; Utx('p');Utx(pH);Utx(pL); Utx('q');Utx(qH);Utx(qL); } int main(void) { AVR_init(); USART_init(); time1_init(); sei(); TIMSK = (0<<OCIE1A); //タイマ割り込み拒否 //受信されるまで待つ for(;;) { if(G == 1){break;} Utx('1'); } TIMSK = (1<<OCIE1A); //タイマ割り込み許可 for(;;){ int RX_num = Urx(); if(RX_num == 's') { x=0,y=0,v=0,w=0,p=0,q=0; } } } |
次にIDLEに以下のプログラムを入力します．
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#imege background_image = 'background.png' import pygame from pygame.locals import * from sys import exit import time import serial #serial_setup com03 =serial.Serial(2,baudrate=38400) #variable screen_width = 1200 screen_height = 700 height = 510 width = 740 offset = 100 memory = 20 radius = 2 #color_setup BabyBlues =(48,126,169) BabyBlues2 =(28,106,149) LittleBooties =(118,180,219) LittleBooties2=(28,90,129) ABoy =(192,222,246) White =(255,255,255) AGirl =(246,162,183) co=25 Jaded1 =(87,192,132) Jaded2 =(87+co,192+co,132+co) Pumpkin1 =(224,110,2) Pumpkin2 =(224+co,110+co,2+co) purple1 =(153+co,52+co,106+co) purple2 =(153,52,106) #pygame_init pygame.init() screen = pygame.display.set_mode((screen_width,screen_height),0,32) background = pygame.image.load(background_image).convert() font = pygame.font.SysFont('raavi',45) fonts = pygame.font.SysFont('raavi',20) text1 = fonts.render("0",True,White,0) text2 = font.render("X",True,White,0) text3 = font.render("Y",True,White,0) text4 = fonts.render("66000",True,White,0) text5 = fonts.render("10000",True,White,0) text12 = fonts.render("X",True,White,0) text13 = fonts.render("Y",True,White,0) #element_name text8 = font.render("E1",True,White,0) text9 = font.render("E2",True,White,0) text10 = font.render("E3",True,White,0) text11 = font.render("RESET",True,White,0) #start for i in range(1,501): com03.write('s') #roop1 while 1: break_num = 1 #variable_init u,uH,uL,i,iH,iL,v,vH,vL,w,wH,wL,p,pH,pL,q,H,qL= 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 T=0 #display_draw_and_update screen.blit(background,(0,0)) screen.blit(text1,(119,600)) screen.blit(text12,(523,617)) screen.blit(text2,(screen_width-220,60)) screen.blit(text13,(98,310)) screen.blit(text3,(screen_width-220,135)) screen.blit(text4,(offset-30,offset-memory)) screen.blit(text5,(861,609)) screen.blit(text8,(screen_width-220,230)) screen.blit(text9,(screen_width-220,327)) screen.blit(text10,(screen_width-220,425)) screen.blit(text11,(screen_width-205,screen_height-105)) pygame.draw.rect(screen,LittleBooties2,Rect((150,90),(740,510))) pygame.draw.rect(screen,LittleBooties,Rect((154,94),(732,502))) for i in range(1,5): pygame.draw.line(screen,LittleBooties2,(154,94+100.4*i),(160,94+100.4*i),4) pygame.draw.line(screen,LittleBooties2,(154+732-7,94+100.4*i),(154+732,94+100.4*i),4) for i in range(1,8): pygame.draw.line(screen,LittleBooties2,(154+91.5*i,94),(154+91.5*i,100),4) pygame.draw.line(screen,LittleBooties2,(154+91.5*i,94+502-7),(154+91.5*i,94+502),4) #element_draw pygame.draw.circle(screen,Jaded1,(1096,263),25) pygame.draw.circle(screen,Pumpkin1,(1096,363),25) pygame.draw.circle(screen,purple1,(1096,458),25) pygame.draw.circle(screen,Jaded2,(1096,263),22) pygame.draw.circle(screen,Pumpkin2,(1096,363),22) pygame.draw.circle(screen,purple2,(1096,458),22) pygame.display.update() #roop2 while break_num: for event in pygame.event.get(): if event.type == QUIT: com03.close() exit() if event.type == MOUSEBUTTONDOWN and event.button == 1: mouse2 = pygame.mouse.get_pos() mouse_x2 = mouse2[0] mouse_y2 = mouse2[1] if (1161>=mouse2[0]>=960)and(655>=mouse2[1]>=592): pygame.draw.rect(screen,BabyBlues,Rect((screen_width-205,screen_height-105),(140,55))) pygame.display.update(Rect((screen_width-205,screen_height-105),(201,63))) for i in range(1,501): com03.write('s') if event.type == MOUSEBUTTONUP and event.button == 1: text11 = font.render("RESET",True,White,0) screen.blit(text11,(screen_width-205,screen_height-105)) pygame.display.update(Rect((screen_width-205,screen_height-105),(140,55))) if (1161>=mouse2[0]>=960)and(655>=mouse2[1]>=592): break_num = 0 #mouse_pos mouse = pygame.mouse.get_pos() mouse_x = mouse[0] mouse_y = mouse[1] mouse_x = (mouse_x-154.)*13.6 pygame.draw.rect(screen,BabyBlues,Rect((screen_width-180,60),(115,145))) text6 = fonts.render("%i"%(int(mouse_x)),True,White,0) text7 = fonts.render("%i"%(131*(-mouse_y+94+502)),True,White,0) screen.blit(text6,(screen_width-160,80)) screen.blit(text7,(screen_width-160,155)) pygame.display.update(Rect((screen_width-180,60),(115,145))) #circle_draw if T > 60: pygame.draw.circle(screen,Jaded1,(int(u)+154,94+502-i/132),radius+1) pygame.draw.circle(screen,Pumpkin1,(int(v)+154,94+502-w/132),radius+1) pygame.draw.circle(screen,purple1,(int(p)+154,94+502-q/132),radius+1) pygame.draw.circle(screen,Jaded2,(int(u)+154,94+502-i/132),radius) pygame.draw.circle(screen,Pumpkin2,(int(v)+154,94+502-w/132),radius) pygame.draw.circle(screen,purple2,(int(p)+154,94+502-q/132),radius) if 732>= u: pygame.display.update(Rect((int(u)+154-5,94+502-i/132-5),(10,10))) if 732>= v: pygame.display.update(Rect((int(v)+154-5,94+502-w/132-5),(10,10))) if 732>= p: pygame.display.update(Rect((int(p)+154-5,94+502-q/132-5),(10,10))) T += 1 #plot_pos num = com03.read(1) if num == 'u': num = com03.read(1) uH = ord(num) num = com03.read(1) uL = ord(num) u = ((uH<<8) + uL) /13.6 elif num == 'i': num = com03.read(1) iH = ord(num) num = com03.read(1) iL = ord(num) i = (iH<<8) + iL elif num == 'v': num = com03.read(1) vH = ord(num) num = com03.read(1) vL = ord(num) v = ((vH<<8) + vL) /13.6 elif num == 'w': num = com03.read(1) wH = ord(num) num = com03.read(1) wL = ord(num) w = (wH<<8) + wL elif num == 'p': num = com03.read(1) pH = ord(num) num = com03.read(1) pL = ord(num) p = ((pH<<8) + pL) /13.6 elif num == 'q': num = com03.read(1) qH = ord(num) num = com03.read(1) qL = ord(num) q = (qH<<8) + qL |
マイコン側の電源を入れて，PCに接続したXbeeの受信が確認できたらIDLEのプログラムを実行します．
このような画面がでてきたら成功です．
以上でリアルタイムグラフ作成は終わりです．
応用編として，このリアルタイムで表示できるグラフを使って，9軸センサの扱い方の紹介をしていますので，よかったら見てください．
4章-16 9軸センサをI2cで使いこなそう1(LSM9DS0)
