def __init__(self, id, type, port, interval):
self.id = id
self.type = type
self.port = port
self.interval = interval
self.lastCapture = time.time()
if self.type == 'accelerometer':
grove6axis.init6Axis()
import grovepi
import time
import grove6axis
inputPortDistance = 4
inputPortTouch = 3
grovepi.pinMode(inputPortTouch,'INPUT')
inputPortLoudness = 2
inputPortLoudness2 = 2
grove6axis.init6Axis()
# nearDistanceThreshold = 60
typeTime = '%f'
typeLoudness = '%d'
typeDistance = '%d'
typeTouch = '%d'
typeOrientation = '%f'
typeAcceleration = '%f'
sensorVariables = [typeTime, typeDistance, typeLoudness, typeLoudness, typeTouch, typeOrientation, typeOrientation, typeOrientation, typeAcceleration, typeAcceleration, typeAcceleration]
header = 'time, distance, loudness, loudness2, touch, orientationX, orientationY, orientationZ, accelerationX, accelerationY, accelerationZ'
rowFormatString = ','.join(sensorVariables)
waitTime = 0.1
print(header)
while(True):
timestamp = time.time()
distance = grovepi.ultrasonicRead(inputPortDistance)
loudness = grovepi.analogRead(inputPortLoudness)
loudness2 = grovepi.analogRead(inputPortLoudness2)
touch = grovepi.digitalRead(inputPortTouch)
import grovepi
import grove6axis
import time
while True:
#read from 6-Axis Accelerometer&Compass sensor on input I1
grove6axis.init6Axis() # start it up
i1 = grove6axis.getOrientation() # returns orientation as yaw,pitch,roll
i2 = grove6axis.getAccel() # get acceleration values
i3 = grove6axis.getMag() # get magnetometer values
print('Orientation', i1)
print('Accel', i2)
print('Mag', i3)
#read from Tilt sensor on input D4
#d4= grovepi.digitalRead(4)
#read from Ultrasonic sensor on input D3
d3 = grovepi.ultrasonicRead(3)
#output the data
print("Ultrasonic_Distance:", d3)
# Read roughly 10 times a second
# - n.b. analog read takes time to do also
# set the time for 1s to display data
time.sleep(2)
import grovepi
import grove6axis
import time
import math
# The accelerometer should be plugged into an I2C port
# It should be a version 2.0 - the more complicated looking one
grove6axis.init6Axis() # Initialise the accelerometer
t = 0 # Initialise time
aDiffLo = 0 # Initialise the low-passed value for the difference in light levels
leanLo = math.pi / 2 # Initialise the low-passed value for the lean
problemTime = 20 # The number of seconds before there's a problem
problemAngle = math.pi / 8 # The angle at which there is a problem
calibrationPassesInit = 100 # Number of calibration passes
calibrationPasses = calibrationPassesInit # Calibration pass counter
a0Cal = 0 # Accumulator for the values recorded by a0
a1Cal = 0 # Accumulator for the values recorded by a1
def loPass(curr, val):
const = 0.05
return val * (1.0 - const) + curr * const
while True:
# Read from an analog sensor on input 0 (this should be the top one)
a0 = grovepi.analogRead(0)
