Feat/syncronous data

arduino/README.md

@@ -5,23 +5,23 @@ Arduino firmware for Grip sensor data collection.
 ## Setup for Data Collection
 
 1. Install Arduino IDE
-2. Open `sensor_reader/sensor_reader.ino`
-3. Set baud rate to **115200**
-4. Upload to Arduino Uno/Nano
-5. Connect sensors to analog pins
+1. Open `sensor_reader/sensor_reader.ino`
+1. Set baud rate to **115200**
+1. Upload to Arduino Uno/Nano
+1. Connect sensors to analog pins
 
 ## Pin Configuration
 
-| Arduino Pin | Signal Type | Sensor | Description |
-|-------------|-------------|--------|-------------|
-| **A0** | Raw | Sensor 4 | Raw analog signal |
-| **A1** | Processed | Sensor 4 | Filtered/envelope signal |
-| **A2** | Raw | Sensor 3 | Raw analog signal |
-| **A3** | Processed | Sensor 3 | Filtered/envelope signal |
-| **A4** | Raw | Sensor 2 | Raw analog signal |
-| **A5** | Processed | Sensor 2 | Filtered/envelope signal |
-| **A6** | Raw | Sensor 1 | Raw analog signal |
-| **A7** | Processed | Sensor 1 | Filtered/envelope signal |
+| Arduino Pin | Signal Type | Sensor   | Description              |
+| ----------- | ----------- | -------- | ------------------------ |
+| **A0**      | Raw         | Sensor 4 | Raw analog signal        |
+| **A1**      | Processed   | Sensor 4 | Filtered/envelope signal |
+| **A2**      | Raw         | Sensor 3 | Raw analog signal        |
+| **A3**      | Processed   | Sensor 3 | Filtered/envelope signal |
+| **A4**      | Raw         | Sensor 2 | Raw analog signal        |
+| **A5**      | Processed   | Sensor 2 | Filtered/envelope signal |
+| **A6**      | Raw         | Sensor 1 | Raw analog signal        |
+| **A7**      | Processed   | Sensor 1 | Filtered/envelope signal |
 
 ## Serial Output Format
 
@@ -30,6 +30,7 @@ Arduino firmware for Grip sensor data collection.
 **Order:** `env0,raw0,env1,raw1,env2,raw2,env3,raw3`
 
 Where:
+
 - `env0, raw0` = Sensor 4 (processed, raw)
 - `env1, raw1` = Sensor 3 (processed, raw)
 - `env2, raw2` = Sensor 2 (processed, raw)
@@ -38,16 +39,17 @@ Where:
 ## Viewing Data in Arduino IDE
 
 1. Upload `sensor_reader.ino` to Arduino
-2. Open **Tools → Serial Monitor**
-3. Set baud rate to **115200**
-4. You'll see live sensor data streaming at ~100Hz
+1. Open **Tools → Serial Monitor**
+1. Set baud rate to **115200**
+1. You'll see live sensor data streaming at ~30Hz
 
 Example output:
+
 ```
 # Grip Sensor System - 4 Sensors, 8 Channels
 # Sensor Order: 4, 3, 2, 1
 # Format: env0,raw0,env1,raw1,env2,raw2,env3,raw3
-# Sampling at ~100Hz
+# Sampling at ~30Hz
 #
 512,489,523,501,534,512,545,523
 511,490,522,500,535,513,544,522

arduino/sensor_pwm/sensor_8ch.ino

@@ -10,7 +10,7 @@
 const int NUM_SENSORS = 4;  // 4 sensor pairs
 const int SENSOR_PINS[NUM_SENSORS] = {A0, A1, A2, A3};
 const int BAUD_RATE = 115200;  // Fast baud rate for high sampling
-const int SAMPLE_DELAY = 10;   // 10ms = ~100Hz sampling
+const int SAMPLE_DELAY = 33;   // 33ms = ~30Hz sampling (matches data collection and inference)
 
 void setup() {
   Serial.begin(BAUD_RATE);
@@ -23,7 +23,7 @@ void setup() {
   // Print startup message (for debugging in Arduino IDE)
   Serial.println("# Grip Sensor System - 8 Channel");
   Serial.println("# Format: env0,raw0,env1,raw1,env2,raw2,env3,raw3");
-  Serial.println("# Sampling at ~100Hz");
+  Serial.println("# Sampling at ~30Hz");
   delay(1000);
 }
 

arduino/sensor_reader/sensor_reader.ino

@@ -18,5 +18,5 @@ void loop() {
     if (i < 3) Serial.print(";");
   }
   Serial.println();
-  delay(10);
+  delay(33);  // ~30Hz sampling rate (matches data collection and inference)
 }

arduino/sensor_servo_controller/sensor_servo_controller.ino

@@ -79,5 +79,5 @@ void loop() {
     }
   }
 
-  delay(10);  // 100Hz sampling rate
+  delay(33);  // ~30Hz sampling rate (matches data collection)
 }

data/tobias/calibration/calibration_left_hand.csv

@@ -0,0 +1,9 @@
+timestamp,2025-11-16T18:45:25.221550
+hand,Left
+finger_id,finger_name,extended_value,flexed_value
+0,Thumb Tip,0.582867814493423,0.24769850744210756
+1,Thumb Base,1.6730267197846638,0.7882208101675205
+2,Index,1.154674476270258,0.5944333955439255
+3,Middle,1.3091144701541093,0.5725791942295128
+4,Ring,1.2185373136177706,0.5891036379258903
+5,Pinky,1.0398178624731274,0.44178572650315145

data_collection/collectors/integrated_collector.py

@@ -94,7 +94,7 @@ def draw_hand_ui(detector, frame, hand_label):
 def collect_integrated_data(
     port: str = "MOCK",
     num_iterations: int = 1000,
-    sleep_time: float = 0.05,
+    sleep_time: float = 0.033,  # ~30Hz to match camera framerate
     batch_size: int = 100,
     username: str = "default",
 ) -> None:
@@ -146,12 +146,24 @@ def collect_integrated_data(
     batch_buffer = []
     should_exit = False
 
+    # Timing control for consistent sampling
+    target_sample_rate = 30.0  # Hz (matches typical webcam framerate)
+    sample_interval = 1.0 / target_sample_rate
+    last_sample_time = time.time()
+
+    print(
+        f"\n🎯 Target sampling rate: {target_sample_rate} Hz ({sample_interval * 1000:.1f}ms interval)"
+    )
+    print("=" * 60)
+
     try:
         with open(csv_file, "w", newline="") as f:
             writer = csv.writer(f)
             write_csv_header(writer)
 
             while sample_count < num_iterations and not should_exit:
+                current_time = time.time()
+
                 success, frame = cap.read()
 
                 if not success:
@@ -162,45 +174,44 @@ def collect_integrated_data(
                 frame = detector.findHands(frame)
                 key = cv2.waitKey(1) & 0xFF
 
-                # Read ALL sensor data from queue and push to monitor
+                # ALWAYS drain queue to keep data fresh (prevent old data accumulation)
+                # But only use the LATEST reading
                 try:
                     queue_count = 0
                     while not subscription.queue.empty():
                         payload = subscription.queue.get_nowait()
                         latest_sensor_values = parse_port_event(payload)
                         queue_count += 1
 
-                        # Debug: print first few values
-                        if queue_count == 1 and sample_count < 5:
-                            print(f"First sensor data: {latest_sensor_values}")
-
-                        # Push each reading to web monitor immediately
+                        # Push to web monitor for visualization
                         if web_monitor and len(latest_sensor_values) == 8:
                             web_monitor.push_data(latest_sensor_values)
                         elif web_monitor:
                             print(
                                 f"Warning: Got {len(latest_sensor_values)} values (expected 8)"
                             )
 
-                    # Debug: print queue activity regularly
-                    if queue_count > 0 and sample_count % 10 == 0:
-                        print(
-                            f"Queue: {queue_count} items processed | Sample: {sample_count} | Values: {latest_sensor_values[:4]}..."
-                        )
-
                 except Exception as e:
                     print(f"Error parsing sensor data: {e}")
                     import traceback
 
                     traceback.print_exc()
 
+                # Get hand data for current frame
                 hand_label, finger_values = get_hand_data(detector, frame)
                 draw_hand_ui(detector, frame, hand_label)
                 draw_sensor_data_panel(frame, latest_sensor_values[:8])
                 draw_collection_status_bar(
                     frame, is_collecting, sample_count, num_iterations
                 )
-                if is_collecting:
+
+                # RATE-LIMITED COLLECTION: Only save samples at target rate
+                time_since_last_sample = current_time - last_sample_time
+
+                if is_collecting and time_since_last_sample >= sample_interval:
+                    # Record sample with timestamp
+                    last_sample_time = current_time
+
                     row = (
                         [datetime.now().isoformat(), sample_count]
                         + latest_sensor_values[:8]
@@ -209,12 +220,13 @@ def collect_integrated_data(
                     )
                     batch_buffer.append(row)
                     sample_count += 1
+
                     if len(batch_buffer) >= batch_size:
                         writer.writerows(batch_buffer)
                         f.flush()
                         batch_buffer.clear()
                         print(
-                            f"\nBatch written: {sample_count}/{num_iterations} samples"
+                            f"\nBatch written: {sample_count}/{num_iterations} samples | Rate: {1.0 / time_since_last_sample:.1f} Hz"
                         )
                     if sample_count >= num_iterations:
                         if batch_buffer:
@@ -225,6 +237,7 @@ def collect_integrated_data(
                             f"\nCollection complete! {sample_count} samples collected."
                         )
                         break
+
                 cv2.imshow("Integrated Data Collection", frame)
 
                 if key == ord(" "):
@@ -306,7 +319,7 @@ def collect_integrated_data(
     collect_integrated_data(
         port=port,
         num_iterations=100000,
-        sleep_time=0.05,
+        sleep_time=0.033,  # Not used anymore, keeping for API compatibility
         batch_size=100,
         username=username,
     )