def test(duration=0):
if duration:
print("Test LCD display for {:3d} seconds".format(duration))
objSched = Sched()
lcd0 = LCD(PINLIST, objSched, cols=16)
objSched.add_thread(lcd_thread(lcd0))
if duration:
objSched.add_thread(stop(duration, objSched))
objSched.run()
def test():
objSched = Sched()
lcd0 = LCD(PINLIST, objSched, cols=24)
objSched.add_thread(master(lcd=lcd0))
objSched.run()
imu = MPU9150('X') # Attached to 'X' bus, 1 device, disable interruots
fuse = Fusion()
def waitfunc():
yield from wait(0.1)
def lcd_thread(mylcd, imu, sw):
if sw.value() == 1:
mylcd[0] = "Calibrate. Push switch"
mylcd[1] = "when done"
yield from wait(0.1)
fuse.calibrate(imu.mag.xyz, lambda : not sw.value(), waitfunc)
print(fuse.magbias)
mylcd[0] = "{:5s}{:5s} {:5s}".format("Yaw","Pitch","Roll")
count = 0
while True:
yield from wait(0.02) # imu updates at 50Hz
count += 1
if count % 25 == 0:
mylcd[1] = "{:4.0f} {:4.0f} {:4.0f}".format(fuse.heading, fuse.pitch, fuse.roll)
fuse.update(imu.accel.xyz, imu.gyro.xyz, imu.mag.xyz)
# For 6DOF sensors
# fuse.update_nomag(imu.get_accel(), imu.get_gyro())
objSched = Sched()
lcd0 = LCD(PINLIST, objSched, cols = 24) # Should work with 16 column LCD
objSched.add_thread(lcd_thread(lcd0, imu, switch))
objSched.run()
from usched import Sched, wait, Poller
from lcdthread import LCD, PINLIST # Library supporting Hitachi LCD module
from mpu9150 import MPU9150
def pollfunc(mpu):
return 1 if mpu.mag_ready else None
def lcd_thread(mylcd, mpu9150):
k = mpu9150.mag_correction
mylcd[1] = "x {:5.3f} y {:5.3f} z {:5.3f}".format(k[0], k[1], k[2])
while True:
reason = (yield Poller(pollfunc,
(mpu9150, ))) # Scheduler returns when pollfunc
if reason[
1] == 1: # returns something other than None. 1 indicates ready.
xyz = mpu9150.mag.xyz
mylcd[0] = "x {:5.1f} y {:5.1f} z {:5.1f}".format(
xyz[0], xyz[1], xyz[2])
elif reason[1] == 2:
mylcd[0] = "Mag read failure"
yield from wait(0.5)
objSched = Sched()
lcd0 = LCD(PINLIST, objSched, cols=24)
mpu9150 = MPU9150('X')
objSched.add_thread(lcd_thread(lcd0, mpu9150))
objSched.run()