from magum import Magum
from array import *
DT = 0.02 # 20ms
axisOffset = array('i', [])
i = 0
magum = Magum(250, 1, 2, 1)
# first of all calibrate the sensor
axisOffset = magum.calibrateSens(1000)
while True:
try:
cFAngleAxis = magum.compFilter(
DT, axisOffset
) # Note: it might need a small time amount to get up to speed
except IOError: # avoid timeout errors
pass
if i % 20 == 0:
print str(int(round(cFAngleAxis[0], 0))) + ',' + str(
int(round(cFAngleAxis[1], 0))) + ',' + str(
int(round(cFAngleAxis[2], 0)))
i += 1
# it's better to use % operator for printing out data,
# time.sleep may cause uncorrect data do to sampling operation
from magum import Magum
from array import *
import time
# enable Gyro, Accelerometer and Magnetometer
magum = Magum(2000, 0, 2, 1) # G_scaleRange = 2000 | FsDouble = 0 (disabled) | A_scaleRange = 2 | lnoise = 1 (on)
while True:
axis = magum.readAData("deg")
print str(axis[0]) + "," + str(axis[1]) + "," + str(axis[2])
time.sleep(0.900)
from magum import Magum
from array import *
DT = 0.02 # 20ms
axisOffset = array('i', [])
magum = Magum(
250, 1, 2, 1
) # G_scaleRange = 250 | FsDouble = 1 (enabled) | A_scaleRange = 2 | lnoise = 1 (on)
i = 0
# first of all calibrate the sensors
axisOffset = magum.calibrateSens(1000)
while True:
try:
kFx = magum.kalmanFilter(DT, 'x', axisOffset)
kFy = magum.kalmanFilter(DT, 'y', axisOffset)
kFz = magum.kalmanFilter(DT, 'z', axisOffset)
except IOError:
pass
if i % 20 == 0:
print str(kFx) + ',' + str(kFy) + ',' + str(kFz)
i += 1
from magum import Magum
from array import *
DT = 0.02 # 20ms
axisOffset = array('i',[])
i = 0
magum = Magum(250,1,2,1)
# first of all calibrate the sensor
axisOffset = magum.calibrateSens(1000)
while True:
try:
cFAngleAxis = magum.compFilter(DT,axisOffset) # Note: it might need a small time amount to get up to speed
except IOError: # avoid timeout errors
pass
if i%20 == 0:
print str(int(round(cFAngleAxis[0],0))) + ',' + str(int(round(cFAngleAxis[1],0))) + ',' + str(int(round(cFAngleAxis[2],0)))
i += 1
# it's better to use % operator for printing out data,
# time.sleep may cause uncorrect data do to sampling operation
from magum import Magum
from array import *
DT = 0.02 # 20ms
axisOffset = array('i',[])
magum = Magum(250,1,2,1) # G_scaleRange = 250 | FsDouble = 1 (enabled) | A_scaleRange = 2 | lnoise = 1 (on)
i = 0
# first of all calibrate the sensors
axisOffset = magum.calibrateSens(1000)
while True:
try:
kFx = magum.kalmanFilter(DT,'x',axisOffset)
kFy = magum.kalmanFilter(DT,'y',axisOffset)
kFz = magum.kalmanFilter(DT,'z',axisOffset)
except IOError:
pass
if i%20 == 0:
print str(kFx) + ',' + str(kFy) + ',' + str(kFz)
i += 1
# Integrate to yield quaternion
q1 += qDot1 * deltat
q2 += qDot2 * deltat
q3 += qDot3 * deltat
q4 += qDot4 * deltat
norm = math.sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4) # normalize quaternion
norm = 1.0/norm
q.insert(0,q1 * norm)
q.insert(1,q2 * norm)
q.insert(2,q3 * norm)
q.insert(3,q4 * norm)
return q
magum = Magum(250,0,2,1)
i = 0
ar = array('f',[])
while True:
aCompArray = magum.readAData('gcomp')
gCompArray = magum.readGData('rads')
mCompArray = magum.readMData('ut')
ar = madgwickQuaternionFilter(aCompArray,gCompArray,mCompArray)
if i%20 == 0:
print madgwickQuaternionFilter(aCompArray,gCompArray,mCompArray)
i += 1
def constrain(x):
if (x < -255):
return -255
if (x > 255):
return 255
return x
ser = serial.Serial('/dev/ttyMCC', 115200, timeout=0)
axisOffset = array('i', [])
# G_scaleRange = 250, FsDouble = 1 (enabled)
# A_scaleRange = 2, lnoise = 1 (on)
magum = Magum(250, 1, 2, 1)
axisOffset = magum.calibrateSens(1000)
DT = 0.1
Kp = 1.0
Ki = 0.0
Kd = 0.0
setpoint = 90.0
pid = PID(Kp, Ki, Kd, setpoint)
value = setpoint
pid.tunnings = (Kp, Ki, Kd)
while True:
time.sleep(DT)
#readPID(Kp, Ki, Kd)
from magum import Magum
from array import *
DT = 0.02 # 20ms
axisOffset = array('i',[])
i = 0
magum = Magum(250,1,2,1)
# first of all calibrate the sensor
axisOffset = magum.calibrateSens(1000)
while True:
try:
cFAngleAxis = magum.compFilter(DT,axisOffset)
except IOError: # avoid timeout errors
pass
if i%20 == 0:
print str(int(round(cFAngleAxis[0],0))) + ',' + str(int(round(cFAngleAxis[1],0))) + ',' + str(int(round(cFAngleAxis[2],0)))
i += 1
# it's better to use % operator for printing out data,
# time.sleep may cause uncorrect data do to sampling operation
from magum import Magum from array import * import time import math # enable Gyro, Accelerometer and Magnetometer magum = Magum(2000,0,2,1) # G_scaleRange = 2000 | FsDouble = 0 (disabled) | A_scaleRange = 2 | lnoise = 1 (on) axisOffset = magum.calibrateSens(1000) # calibration (not necessary with read Data functions) if axisOffset[0] >= 32768: axisOffset[0] -= 65536 if axisOffset[1] >= 32768: axisOffset[1] -= 65536 if axisOffset[2] >= 32768: axisOffset[2] -= 65536 aOffsetX = (axisOffset[0]/4) * 0.244 aOffsetY = (axisOffset[1]/4) * 0.244 aOffsetZ = (axisOffset[2]/4) * 0.244 aOffsetX2 = aOffsetX * aOffsetX aOffsetY2 = aOffsetY * aOffsetY aOffsetZ2 = aOffsetZ * aOffsetZ # getting angles aOffsetX = math.atan(aOffsetX/math.sqrt(aOffsetY2+aOffsetZ2))*(180/math.pi) aOffsetY = math.atan(aOffsetY/math.sqrt(aOffsetX2+aOffsetZ2))*(180/math.pi) aOffsetZ = math.atan(aOffsetZ/math.sqrt(aOffsetX2+aOffsetY2))*(180/math.pi)
from flask import Flask, render_template, jsonify
from magum import Magum
from array import *
import logging
app = Flask(__name__)
magum = Magum() # default configs
app.debug = False
log = logging.getLogger('werkzeug')
log.setLevel(logging.CRITICAL)
sensors = [{
'id': 1,
'name': 'Accelerometer'
}, {
'id': 2,
'name': 'Gyroscope'
}, {
'id': 3,
'name': 'Magnetometer'
}, {
'id': 4,
'name': 'Temperature'
}]
@app.route("/sensor/<int:sensor_id>", methods=['GET'])
def getSens(sensor_id):
if sensor_id == 1:
data = magum.readAData('gcomp')
from magum import Magum
from array import *
import time
# enable Gyro, Accelerometer and Magnetometer
magum = Magum(
2000, 0, 2, 1
) # G_scaleRange = 2000 | FsDouble = 0 (disabled) | A_scaleRange = 2 | lnoise = 1 (on)
while True:
axis = magum.readAData('deg')
print str(axis[0]) + ',' + str(axis[1]) + ',' + str(axis[2])
time.sleep(.900)
