rename folders from PoinCloudWeb to PointCloudWeb

PointCloudWeb.Scanner/StepperSteuerung/StepperSteuerung.ino

@@ -0,0 +1,63 @@
+#include <CheapStepper.h>
+
+double degreeY = 0;
+String rxData = ""; //Empfangen
+
+CheapStepper stepper (8,9,10,11);
+
+void setup() {
+  Serial.begin(9600); // opens serial port, sets data rate to 9600 bps
+  stepper.setRpm(24);
+}
+
+void loop() {
+
+  stepper.run();
+  // send data only when you receive data:
+  if (Serial.available() > 0) {
+    // read the incoming byte:
+    rxData = Serial.readString();
+    String command = rxData.substring(rxData.indexOf('<')+1,rxData.indexOf('>'));
+    if (command == "set"){
+      String temp = rxData.substring(rxData.indexOf("><")+2,rxData.indexOf('>',rxData.indexOf("><")+2));
+      Serial.println(moveMotor(temp.toDouble()));
+    }
+    else if(command == "get")
+      Serial.println("<get><" + (String)degreeY + ">");
+    else if(command == "reset"){
+      Serial.println(moveMotor(0));
+    }
+    else if(command == "zero"){
+      degreeY = 0;
+      Serial.println("<set><zero>");
+    }
+    else
+      Serial.println("<error><command>");
+  }
+}
+
+String moveMotor(double y){
+
+  
+  if(y < degreeY){
+    stepper.newMoveDegrees (true, calculateMove(y)); //true = im Uhrzeigersinn drehen
+    //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{
+    stepper.newMoveDegrees (false, calculateMove(y)); //false = gegen Uhrzeigersinn drehen
+    //motor.step((int)calculateStepps(y - degreeY), FORWARD, INTERLEAVE);
+    //motor.release();
+  }
+  degreeY = y;
+  return "<move><" + (String)y + ">";
+}
+
+double calculateMove(double y){
+  double temp = 0;
+  if(y < degreeY)
+    temp = degreeY - y;
+  else
+    temp = y - degreeY;
+  return temp * 7.37 ;// Übersetzung 96/11 4,4/30,5
+}

PointCloudWeb.Scanner/lida.py

@@ -0,0 +1,21 @@
+import PyLidar3
+import time # Time module
+#Serial port to which lidar connected, Get it from device manager windows
+#In linux type in terminal -- ls /dev/tty* 
+#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=20000) #PyLidar3.your_version_of_lidar(port,chunk_size) 
+if(Obj.Connect()):
+    print(Obj.GetDeviceInfo())
+    gen = Obj.StartScanning()
+    t = time.time() # start time 
+    data = next(gen)
+    #print(data)
+    for x,y  in data.items():
+        f.write(str(x) + " / " + str(y) + "\n")
+    f.close()
+    Obj.StopScanning()
+    Obj.Disconnect()
+else:
+    print("Error connecting to device")

PointCloudWeb.Scanner/server.py

@@ -0,0 +1,88 @@
+# Importing Libraries
+import serial
+import time
+import PyLidar3
+
+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 arduino_write_read(x):
+    arduino.write(bytes(x, 'utf-8'))
+    data = arduino.readline()
+    return filterY(str(data))
+
+def setY(y):
+    print(arduino_write_read("<set><"+str(y)+">"))
+
+def getY():
+    print(arduino_write_read("<get>"))
+
+def resetY():
+    print(arduino_write_read("<reset>"))
+
+def zerotY():
+    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 senddata(data,posy):
+    for x,y  in data.items():
+        f.write("y:" + str(posy) + "x:" + str(x) + "d:" + str(y) + "\n")
+
+def startScaner(mode):
+    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)
+
+        else:
+            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:
+    startScaner(input("Scan Modus(0,1,2):"))
+    # for x in range(18):
+    #     setY(x*10)
+    #     time.sleep(1)