new Stepper Controll and fix scan anomali

PoinCloudWeb.Scanner/StepperSteuerung/StepperSteuerung.ino

@@ -1,18 +1,18 @@
-#include <AFMotor.h>
+#include <CheapStepper.h>
 
 double degreeY = 0;
 String rxData = ""; //Empfangen
 
-// Connect a stepper motor with 200 steps per revolution (1.8 degree)
+CheapStepper stepper (8,9,10,11);
-// to motor port #1 (M1 and M2)
-AF_Stepper motor(200, 1);
 
 void setup() {
   Serial.begin(9600); // opens serial port, sets data rate to 9600 bps
-  motor.setSpeed(60);  // 60 rpm 
+  stepper.setRpm(24);
 }
 
 void loop() {
+
+  stepper.run();
   // send data only when you receive data:
   if (Serial.available() > 0) {
     // read the incoming byte:
@@ -37,23 +37,27 @@ void loop() {
 }
 
 String moveMotor(double y){
+
+  
   if(y < degreeY){
-    motor.step((int)calculateStepps(degreeY - y), BACKWARD, INTERLEAVE); //"interleave" means that it alternates between single and double to get twice the resolution (but of course its half the speed)
+    stepper.newMoveDegrees (true, calculateMove(y)); //true = im Uhrzeigersinn drehen
-    motor.release();  // Strom sparen und Überhitzung des Controllers vorbeugen!
+    //motor.step((int)calculateStepps(degreeY - y), BACKWARD, INTERLEAVE); //"interleave" means that it alternates between single and double to get twice the resolution (but of course its half the speed)
+    //motor.release();  // Strom sparen und Überhitzung des Controllers vorbeugen!
   }
   else{
-    motor.step((int)calculateStepps(y - degreeY), FORWARD, INTERLEAVE);
+    stepper.newMoveDegrees (false, calculateMove(y)); //false = gegen Uhrzeigersinn drehen
-    motor.release();
+    //motor.step((int)calculateStepps(y - degreeY), FORWARD, INTERLEAVE);
+    //motor.release();
   }
   degreeY = y;
   return "<move><" + (String)y + ">";
 }
 
-double calculateStepps(double y){
+double calculateMove(double y){
   double temp = 0;
   if(y < degreeY)
     temp = degreeY - y;
   else
     temp = y - degreeY;
-  return (y / 1.8) * 2; // *2 wegen interleave stepps / Falls Untersetzung, multiplikator anpassen!
+  return temp * 7.37 ;// Übersetzung 96/11 4,4/30,5
 }

PoinCloudWeb.Scanner/lida.py

@@ -5,7 +5,7 @@ import time # Time module
 #port = input("Enter port name which lidar is connected:") #windows
 #port = "/dev/ttyUSB0" #linux
 f = open("PoinCloudWeb.Scanner\datafile.txt","wt")
-Obj = PyLidar3.YdLidarX4(port='COM6',chunk_size=10000) #PyLidar3.your_version_of_lidar(port,chunk_size) 
+Obj = PyLidar3.YdLidarX4(port='COM6',chunk_size=20000) #PyLidar3.your_version_of_lidar(port,chunk_size) 
 if(Obj.Connect()):
     print(Obj.GetDeviceInfo())
     gen = Obj.StartScanning()
@@ -13,7 +13,7 @@ if(Obj.Connect()):
     data = next(gen)
     #print(data)
     for x,y  in data.items():
-        f.write("a:" + str(x) + " d:" + str(y) + "\n")
+        f.write(str(x) + " / " + str(y) + "\n")
     f.close()
     Obj.StopScanning()
     Obj.Disconnect()

PoinCloudWeb.Scanner/server.py

@@ -1,43 +1,88 @@
 # Importing Libraries
 import serial
 import time
+import PyLidar3
 
-arduino = serial.Serial(port='COM5', baudrate=9600)
+arduino = serial.Serial(port='COM8', baudrate=9600)
+lidar = PyLidar3.YdLidarX4(port='COM6',chunk_size=20000) #PyLidar3.your_version_of_lidar(port,chunk_size) 
+
+f = open("PoinCloudWeb.Scanner\datafile.txt","wt")
 
 print("Start ...")
 time.sleep(2)
 print("Ready:")
 
-def write_read(x):
+def arduino_write_read(x):
     arduino.write(bytes(x, 'utf-8'))
     data = arduino.readline()
     return filterY(str(data))
 
 def setY(y):
-    print(write_read("<set><"+str(y)+">"))
+    print(arduino_write_read("<set><"+str(y)+">"))
 
 def getY():
-    print(write_read("<get>"))
+    print(arduino_write_read("<get>"))
 
 def resetY():
-    print(write_read("<reset>"))
+    print(arduino_write_read("<reset>"))
 
 def zerotY():
-    print(write_read("<zero>"))
+    print(arduino_write_read("<zero>"))
 
 def filterY(data):
     temp = data[data.find("<"):data.find(">")]
     return temp + data[data.find("><"):data.find(">", data.find("><")+2)+1]
 
-def startScan(mode):
+def senddata(data,posy):
-    print("Scan gestartet")
+    for x,y  in data.items():
+        f.write("y:" + str(posy) + "x:" + str(x) + "d:" + str(y) + "\n")
 
-def stopScan():
+def startScaner(mode):
-    print("Scan gestoppt")
+    if(lidar.Connect()):
+        print(lidar.GetDeviceInfo())
+        gen = lidar.StartScanning()
+        t = time.time() # start time 
+        if(mode == "0"):
+            print("Mode 0")
+            for y in range(18):
+                senddata(next(gen),y*10)
+                time.sleep(2)
+                setY(y*10)
+                time.sleep(2)
+            setY(0)
+        elif(mode == "1"):
+            print("Mode 1")
+            for y in range(90):
+                senddata(next(gen),y*2)
+                time.sleep(1)
+                setY(y*2)
+                time.sleep(1)
+            setY(0)
+        elif(mode == "2"):
+            print("Mode 2")
+            for y in range(360):
+                senddata(next(gen),y*0.5)
+                time.sleep(1)
+                setY(y*0.5)
+                time.sleep(1)
+            setY(0)
 
-def getScanStatus():
+        else:
-    return "%"
+            print("Mode Error")
+
+        # data = next(gen)
+        # #print(data)
+        # for x,y  in data.items():
+        #     f.write("a:" + str(x) + " d:" + str(y) + "\n")
+        f.close()
+        lidar.StopScanning()
+        lidar.Disconnect()
+        print("Scaner gestoppt")
+    else:
+        print("Error connecting to device")
 
 while True:
-    for x in range(11):
+    startScaner(input("Scan Modus(0,1,2):"))
-        setY(x*36)
+    # for x in range(18):
+    #     setY(x*10)
+    #     time.sleep(1)