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Get_uwb_position.py
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Get_uwb_position.py
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import serial
import struct
import time
import math
def Check_sum(pdata,len):
sum = 0
for i in range(len):
sum+=int(pdata[i].encode('hex'),16)
sum = ~sum
return sum
def Get_uwb_position():
SERIAL_PORT = '/dev/ttyUSB1'
ser = serial.Serial(SERIAL_PORT,115200)
ser.timeout = None
vector = []
count = 0
flag = 0
debug = True
while True:
ser.flushInput()
data_string = ser.read(48)
print data_string.encode('hex')
while data_string[0:2] == '\xD6\x6D':
if(debug or Check_sum(data_string[2:27],25) == int(data_string[46:48].encode('hex'),16)):
report_x = int(data_string[14:15].encode('hex'),16)+int(data_string[15:16].encode('hex'),16)*256
report_y = int(data_string[16:17].encode('hex'),16)+int(data_string[17:18].encode('hex'),16)*256
report_z = int(data_string[18:19].encode('hex'),16)+int(data_string[19:20].encode('hex'),16)*256
vector.append([report_x,report_y,report_z])
posx=int(data_string[6:7].encode('hex'),16)+int(data_string[7:8].encode('hex'),16)*256
posy=int(data_string[8:9].encode('hex'),16)+int(data_string[9:10].encode('hex'),16)*256
posz=int(data_string[10:11].encode('hex'),16)+int(data_string[11:12].encode('hex'),16)*256
print posx
print posy
print posz
#print "%d,%d,%d" % (posx,posy,posz)
#a1_x = int(data_string[26:27].encode('hex'),16)+int(data_string[27:28].encode('hex'),16)*256
#a1_y = int(data_string[28:29].encode('hex'),16)+int(data_string[29:30].encode('hex'),16)*256
#a1_z = int(data_string[30:31].encode('hex'),16)+int(data_string[31:32].encode('hex'),16)*256
#print "%d,%d,%d" % (a1_x,a1_y,a1_z)
count += 1
if count >= 10:
flag = 1
break
data_string = ser.read(48)
print data_string.encode('hex')
if flag == 1:
break
average = [0,0,0]
for v in vector:
average[0] += v[0]
average[1] += v[1]
average[2] += v[2]
average[0] /= count;
average[1] /= count;
average[2] /= count;
if average[0] > 3000:
average[0] = -1
if average[1] > 3000:
average[1] = -1
print "done with work"
ser.close()
return average
def Get_uwb_distance():
SERIAL_PORT = '/dev/ttyUSB1'
ser = serial.Serial(SERIAL_PORT,115200)
ser.timeout = None
vector = []
count = 0
flag = 0
debug = True
while True:
ser.flushInput()
data_string = ser.read(48)
print data_string.encode('hex')
while data_string[0:2] == '\xD6\x6D':
if(debug or Check_sum(data_string[2:27],25) == int(data_string[46:48].encode('hex'),16)):
report_x = int(data_string[14:15].encode('hex'),16)+int(data_string[15:16].encode('hex'),16)*256
report_y = int(data_string[16:17].encode('hex'),16)+int(data_string[17:18].encode('hex'),16)*256
report_z = int(data_string[18:19].encode('hex'),16)+int(data_string[19:20].encode('hex'),16)*256
posx=int(data_string[6:7].encode('hex'),16)+int(data_string[7:8].encode('hex'),16)*256
posy=int(data_string[8:9].encode('hex'),16)+int(data_string[9:10].encode('hex'),16)*256
posz=int(data_string[10:11].encode('hex'),16)+int(data_string[11:12].encode('hex'),16)*256
vector.append([posx,posy,posz])
#print "%d,%d,%d" % (posx,posy,posz)
#a1_x = int(data_string[26:27].encode('hex'),16)+int(data_string[27:28].encode('hex'),16)*256
#a1_y = int(data_string[28:29].encode('hex'),16)+int(data_string[29:30].encode('hex'),16)*256
#a1_z = int(data_string[30:31].encode('hex'),16)+int(data_string[31:32].encode('hex'),16)*256
#print "%d,%d,%d" % (a1_x,a1_y,a1_z)
count += 1
if count >= 1:
flag = 1
break
data_string = ser.read(48)
if flag == 1:
break
average = [0,0,0]
for v in vector:
average[0] += v[0]
average[1] += v[1]
average[2] += v[2]
average[0] /= count;
average[1] /= count;
average[2] /= count;
print "done with work"
ser.close()
return average
if __name__ == "__main__":
offset = 30
while True:
report = Get_uwb_distance()
print report[0]
print report[1]
print report[2]
"""max = 0
min = 65536
for it in report :
if(it > max):
max = it
elif(it < min):
min = it
print "Max error : %s" % str(max - min)"""
if abs(report[0]-report[1]) < offset and abs(report[0]-report[2]) < offset and abs(report[1]-report[2]) < offset:
print "reach target"
elif report[0] > report[1] and report[0] > report[2]:
if abs(report[0]-report[1]) < offset:
print "go to anchor 2 inverse"
elif abs(report[0]-report[2]) < offset:
print "go to anchor 1 inverse"
else:
print "go to anchor 0"
elif report[1] > report[0] and report[1] > report[2]:
if abs(report[1]-report[0]) < offset:
print "go to anchor 2 inverse"
elif abs(report[1]-report[2]) < offset:
print "go to anchor 0 inverse"
else:
print "go to anchor 1"
elif report[2] > report[0] and report[2] > report[1]:
if abs(report[2]-report[0]) < offset:
print "go to anchor 1 inverse"
elif abs(report[2]-report[1]) < offset:
print "go to anchor 0 inverse"
else:
print "go to anchor 2"
#print "go North %f m, go East %f m" % ((500-report[1])/100.0,(5*math.pow(3,0.5)*100-report[0])/100.0)
#Drone.send_ned_velocity((500-report[1])/200.0,(5*math.pow(3,0.5)*100-report[0])/200.0,0,2)
#result = Get_uwb_location.Get_uwb_location()
#if math.fabs(500-result[1]) < 30 && math.fabs(5*math.pow(3,0.5)*100-result[0]) < 30:
# break