def __init__(self):
i2c = busio.I2C(board.SCL, board.SDA)
self.sensor = adafruit_lsm303.LSM303(i2c)
self.FORWARD = self.heading()
self.theta = atan2(
self.sensor.acceleration[0],
sqrt(self.sensor.acceleration[1]**2 +
self.sensor.acceleration[2]**2))
self.psi = atan2(
self.sensor.acceleration[1],
sqrt(self.sensor.acceleration[0]**2 +
self.sensor.acceleration[2]**2))
""" Display both accelerometer and magnetometer data once per second """
import time
import board
import busio
import adafruit_lsm303
i2c = busio.I2C(board.SCL, board.SDA)
sensor = adafruit_lsm303.LSM303(i2c)
while True:
raw_accel_x, raw_accel_y, raw_accel_z = sensor.raw_acceleration
accel_x, accel_y, accel_z = sensor.acceleration
raw_mag_x, raw_mag_y, raw_mag_z = sensor.raw_magnetic
mag_x, mag_y, mag_z = sensor.magnetic
print(
'Acceleration raw: ({0:6d}, {1:6d}, {2:6d}), (m/s^2): ({3:10.3f}, {4:10.3f}, {5:10.3f})'
.format(raw_accel_x, raw_accel_y, raw_accel_z, accel_x, accel_y,
accel_z))
print(
'Magnetometer raw: ({0:6d}, {1:6d}, {2:6d}), (gauss): ({3:10.3f}, {4:10.3f}, {5:10.3f})'
.format(raw_mag_x, raw_mag_y, raw_mag_z, mag_x, mag_y, mag_z))
print('')
time.sleep(1.0)
import numpy
import math
import time
import board
import busio
import adafruit_l3gd20
import adafruit_lsm303
import matplotlib.pyplot as plt
outf = open('output.txt', 'a')
outf.truncate(0)
# Hardware I2C setup:
I2C = busio.I2C(board.SCL, board.SDA)
sensorGyro = adafruit_l3gd20.L3GD20_I2C(I2C)
sensorCompass = adafruit_lsm303.LSM303(I2C)
sensorCompass.mag_rate = adafruit_lsm303.MAGRATE_220
accsX = []
accsY = []
accsZ = []
counter = 0
angles = numpy.arange(-90, 100, 10)
xReals = []
yReals = []
def readAngle():
acc_x, acc_y, acc_z = sensorCompass.acceleration
acc_z -= 0.74
import time import math import sys import board import busio import adafruit_lsm303 import neopixel import digitalio BLACK = 0x000000 RED = 0xFF0000 GREEN = 0x00FF00 BLUE = 0x0000FF i2c = busio.I2C(board.SCL, board.SDA) compass = adafruit_lsm303.LSM303(i2c) compass.mag_rate = adafruit_lsm303.MAGRATE_30 #compass.mag_gain = adafruit_lsm303.MAGGAIN_8_1 calibrate_button = digitalio.DigitalInOut(board.BUTTON_A) calibrate_button.direction = digitalio.Direction.INPUT calibrate_button.pull = digitalio.Pull.UP #------------------------------------------------------------------------------- # Replace these two lines with the results of calibration #------------------------------------------------------------------------------- raw_mins = [1000.0, 1000.0] raw_maxes = [-1000.0, -1000.0] #-------------------------------------------------------------------------------
if beschleunigung_x >= 3:
print("Bergab!")
FAHRGESCHWINDIGKEIT = 30
elif beschleunigung_x <= -3:
print("Bergauf!")
FAHRGESCHWINDIGKEIT = 75
else:
FAHRGESCHWINDIGKEIT = 50
def scale(wert, a, b, c, d):
wert = (wert-a)*((d-c)/(b-a))+c
return wert
try:
i2c_bus = busio.I2C(board.SCL, board.SDA)
beschl_kompass_sensor = adafruit_lsm303.LSM303(i2c_bus)
gyro_sensor = adafruit_l3gd20.L3GD20_I2C(i2c_bus)
kamera = PiCamera(resolution=(PIXEL_BREITE, PIXEL_HOEHE), framerate=32)
speichert_einen_frame = numpy.empty((PIXEL_HOEHE, PIXEL_BREITE, 3), dtype=numpy.uint8)
motorsteuerung = AFMotorShield(
pin_clk=23,
pin_data=6,
pin_enable=5,
pin_latch=26
)
motor_links = DCMotor(motorsteuerung, 2,
pwm_pin=22,
reversed=True
def loop(self):
"""
Magnet sensor loop. Watches the LSM303 magnetometer values and, if they
jump by a great enough threshold, initiates the berry-selected message.
"""
logging.info('Entering magnet selection loop')
try:
import board
import busio
import time
import adafruit_lsm303
i2c = busio.I2C(board.SCL, board.SDA)
sensor = adafruit_lsm303.LSM303(i2c)
count = 0
# Get initial reading by first waiting two seconds (so we ignore
# the useless initial value) and then watch for 600ms (200ms three
# times) and average the values together
time.sleep(1)
mag_readings = []
for i in range(0, MAG_NUMBER_VALUES):
mag_readings.insert(0, sensor.magnetic)
time.sleep(INITIAL_MAGNET_SENSOR_DELAY)
average_x = sum([r[0]
for r in mag_readings]) / float(MAG_NUMBER_VALUES)
average_y = sum([r[1]
for r in mag_readings]) / float(MAG_NUMBER_VALUES)
average_z = sum([r[2]
for r in mag_readings]) / float(MAG_NUMBER_VALUES)
while True:
mag = sensor.magnetic
if mag is not None:
# Check if we're above threshold and if so, send the message
try:
change_rate_x = abs(mag[0] / average_x)
except Exception:
change_rate_x = 0
try:
change_rate_y = abs(mag[1] / average_y)
except Exception:
change_rate_y = 0
try:
change_rate_z = abs(mag[2] / average_z)
except Exception:
change_rate_z = 0
if (change_rate_x > MAG_CHANGE_RATE_THRESHOLD
or change_rate_y > MAG_CHANGE_RATE_THRESHOLD
or change_rate_z > MAG_CHANGE_RATE_THRESHOLD
) and count == 0:
self.select()
# Don't keep sending select messages until after the
# selection delay is over (decrement this each pass through
# the loop)
count = SELECTION_DELAY_COUNT
# Update the average
# TODO: make this more elegant
mag_readings.insert(0, mag)
mag_readings.pop()
average_x = sum([r[0] for r in mag_readings
]) / float(MAG_NUMBER_VALUES)
average_y = sum([r[1] for r in mag_readings
]) / float(MAG_NUMBER_VALUES)
average_z = sum([r[2] for r in mag_readings
]) / float(MAG_NUMBER_VALUES)
# Wait
time.sleep(MAGNET_SENSOR_DELAY)
# Delay count
if count > 0:
count -= 1
except Exception as ex:
logging.error(
'\n *** ERROR, magnet sensor thread died: {}'.format(ex, ), )
