sonar.php_.txt (12976Bytes)
get_sonar.php_.txt (1369Bytes)
Prefacing everything i do with "I AM NOT A PROGRAMMER"...
Ok, so it's nowhere near perfect, but I thought I would post the code here in case anyone else wanted to tinker.
The sonar.php file which displays the instrument expects it's data as a JSON encoded data set in the form of:
{"ardtime":"43942","pan":"25","radius":"117","heading":"38.6"}
Ardtime is the millis counter sent from the Arduino at the time of start of scan. a UID if you like, to associate a set of data.
Pan is the angle at which the sonar pod is taking its reading with respect to the front of the rover.
Radius is the distance to target in Centimeters.
Heading is the compass direction the rover is pointing.
Currently it clears the face at the end of each sweep. When I get more time, I will be correcting that as well as integrating multiple overlapping scans to filter out noise. Yes... I am already normalizing each scan by averaging five pings per position, but still finding spurious reflections that are messing with the mapping.
get_sonar.php is the file that retrieves the dataset from MySQL and JSON encodes it for javascript/jquery.
And just for completion, here is the data set represented in the screenshot above.
{"success": true,"scan": [{"ardtime":"134","pan":"5","radius":"63","heading":"19.5"},{"ardtime":"134","pan":"10","radius":"74","heading":"19.5"},{"ardtime":"134","pan":"15","radius":"73","heading":"19.5"},{"ardtime":"134","pan":"20","radius":"76","heading":"19.5"},{"ardtime":"134","pan":"25","radius":"69","heading":"19.5"},{"ardtime":"134","pan":"30","radius":"61","heading":"19.5"},{"ardtime":"134","pan":"35","radius":"67","heading":"19.5"},{"ardtime":"134","pan":"40","radius":"61","heading":"19.5"},{"ardtime":"134","pan":"45","radius":"53","heading":"19.5"},{"ardtime":"134","pan":"50","radius":"54","heading":"19.5"},{"ardtime":"134","pan":"55","radius":"43","heading":"19.5"},{"ardtime":"134","pan":"60","radius":"53","heading":"19.5"},{"ardtime":"134","pan":"65","radius":"54","heading":"19.5"},{"ardtime":"134","pan":"70","radius":"56","heading":"19.5"},{"ardtime":"134","pan":"75","radius":"56","heading":"19.5"},{"ardtime":"134","pan":"80","radius":"41","heading":"19.5"},{"ardtime":"134","pan":"85","radius":"58","heading":"19.5"},{"ardtime":"134","pan":"95","radius":"61","heading":"19.6"},{"ardtime":"134","pan":"100","radius":"40","heading":"19.6"},{"ardtime":"134","pan":"105","radius":"50","heading":"19.6"},{"ardtime":"134","pan":"110","radius":"58","heading":"19.6"},{"ardtime":"134","pan":"115","radius":"48","heading":"19.6"},{"ardtime":"134","pan":"120","radius":"59","heading":"19.6"},{"ardtime":"134","pan":"125","radius":"87","heading":"19.6"},{"ardtime":"134","pan":"130","radius":"66","heading":"19.6"},{"ardtime":"134","pan":"135","radius":"75","heading":"19.6"},{"ardtime":"134","pan":"140","radius":"85","heading":"19.6"},{"ardtime":"134","pan":"145","radius":"97","heading":"19.6"},{"ardtime":"134","pan":"150","radius":"104","heading":"19.6"},{"ardtime":"134","pan":"155","radius":"68","heading":"19.6"},{"ardtime":"134","pan":"160","radius":"98","heading":"19.6"},{"ardtime":"134","pan":"165","radius":"102","heading":"19.6"},{"ardtime":"134","pan":"170","radius":"80","heading":"19.6"},{"ardtime":"134","pan":"175","radius":"86","heading":"19.6"},{"ardtime":"134","pan":"180","radius":"102","heading":"19.5"},{"ardtime":"134","pan":"185","radius":"81","heading":"19.5"},{"ardtime":"134","pan":"190","radius":"101","heading":"19.5"},{"ardtime":"134","pan":"195","radius":"98","heading":"19.5"},{"ardtime":"134","pan":"200","radius":"106","heading":"19.5"},{"ardtime":"134","pan":"205","radius":"69","heading":"19.5"},{"ardtime":"134","pan":"210","radius":"112","heading":"19.5"},{"ardtime":"134","pan":"215","radius":"68","heading":"19.5"},{"ardtime":"134","pan":"220","radius":"49","heading":"19.5"},{"ardtime":"134","pan":"225","radius":"71","heading":"19.5"},{"ardtime":"134","pan":"230","radius":"36","heading":"19.5"},{"ardtime":"134","pan":"235","radius":"30","heading":"19.5"},{"ardtime":"134","pan":"240","radius":"41","heading":"19.5"},{"ardtime":"134","pan":"245","radius":"40","heading":"19.5"},{"ardtime":"134","pan":"250","radius":"35","heading":"19.5"},{"ardtime":"134","pan":"255","radius":"46","heading":"19.5"},{"ardtime":"134","pan":"260","radius":"42","heading":"19.5"},{"ardtime":"134","pan":"265","radius":"53","heading":"19.5"},{"ardtime":"134","pan":"275","radius":"80","heading":"19.6"},{"ardtime":"134","pan":"280","radius":"59","heading":"19.6"},{"ardtime":"134","pan":"285","radius":"70","heading":"19.6"},{"ardtime":"134","pan":"290","radius":"74","heading":"19.6"},{"ardtime":"134","pan":"295","radius":"61","heading":"19.6"},{"ardtime":"134","pan":"300","radius":"74","heading":"19.6"},{"ardtime":"134","pan":"305","radius":"76","heading":"19.6"},{"ardtime":"134","pan":"310","radius":"70","heading":"19.6"},{"ardtime":"134","pan":"315","radius":"89","heading":"19.6"},{"ardtime":"134","pan":"320","radius":"93","heading":"19.6"},{"ardtime":"134","pan":"325","radius":"52","heading":"19.6"},{"ardtime":"134","pan":"330","radius":"77","heading":"19.6"},{"ardtime":"134","pan":"335","radius":"105","heading":"19.6"},{"ardtime":"134","pan":"340","radius":"65","heading":"19.6"},{"ardtime":"134","pan":"345","radius":"91","heading":"19.6"},{"ardtime":"134","pan":"350","radius":"88","heading":"19.6"},{"ardtime":"134","pan":"355","radius":"77","heading":"19.6"},{"ardtime":"134","pan":"360","radius":"74","heading":"19.5"}] }
Feel free to ping me (pun fully intended) if you have suggestions/modifications questions...
