def __init__(self, mpuadd, qmcadd, bmeadd, pwmadd, pwmfrequency):
self.mpuaddress = mpuadd
self.qmcaddress = qmcadd
self.bmeaddress = bmeadd
self.pwmaddress = pwmadd
self.qmcpollingrate = py_qmc5883l.ODR_50HZ
self.i2cport = 1
#connect to IC's
#adafruit pca9685
self.pwm = Adafruit_PCA9685.PCA9685(address=self.pwmaddress)
self.pwm.set_pwm_freq(pwmfrequency)
self.pwm.set_pwm(0, 0, 360)
self.pwm.set_pwm(1, 0, 360)
self.pwm.set_pwm(2, 0, 360)
self.pwm.set_pwm(3, 0, 360)
self.mpuaccelrange = mpu6050.ACCEL_RANGE_4G
#bme280
self.bus = smbus2.SMBus(self.i2cport)
self.bmecalibration_params = bme280.load_calibration_params(self.bus, self.bmeaddress)
#mpu6050
self.mpu6050 = mpu6050(self.mpuaddress)
#QMC5883L-TL
self.qmc5833lcalibrationdata = [[1.0303, 0.0255, -227.7989],
[0.0255, 1.0214, 1016.4415],
[0.0, 0.0, 1.0]]
self.qmc5883L = py_qmc5883l.QMC5883L(output_range=py_qmc5883l.RNG_2G, output_data_rate=self.qmcpollingrate)
#init kalman filtered mpu
self.kalmanfilter = AngleMeterAlpha.AngleMeterAlpha()
self.kalmanfilter.MPU_Init()
self.kalmanfilter.measure()
def _enable_sensors(self):
try:
logging.info("Opening Compass")
self.compass = py_qmc5883l.QMC5883L()
self._calibrate_forwards()
except Exception as e:
raise Exception("Error opening compass, no steering: " + str(e))
try:
self.bus = smbus.SMBus(1) # Rev 2 Pi uses 1
lightreading = self._read_lightsensor()
logging.info(f"Lightsensor reads {lightreading}")
except Exception as e:
raise Exception("Error opening light sensor, no pedals: " + str(e))
#sac baseball field homeplate
#long1 =-122.314747
#lat1 = 47.335092
#home
#long1 = -122.326768
#lat1 = 47.342301
tolerancelat = .0001
tolerancelong = .00003
#houselat = 47.342257833
#houselong = -122.326749667
gpsd = gps(mode=WATCH_ENABLE | WATCH_NEWSTYLE)
sensor = py_qmc5883l.QMC5883L()
sensor.calibration = [[1.00579223e+00, -9.69727879e-03, -8.50240184e+02],
[-9.69727879e-03, 1.01623506e+00, -1.77743179e+03],
[0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]
sensor.declination = 15.5
used = False
f = open("data/test-compass" + dt.isoformat() + ".dat", "w+")
g = open("data/test-coordinates" + dt.isoformat() + ".dat", "w+")
def calculate_correct_bearing(currentbearing):
newbearing = currentbearing + 50
if (type(currentbearing) != float):
raise TypeError("Only floats are supported as arguments")
import time
import py_qmc5883l
sensor = py_qmc5883l.QMC5883L(output_data_rate=py_qmc5883l.ODR_100HZ,
output_range=py_qmc5883l.RNG_8G)
def getMagnetStrength():
return sensor.get_magnet_raw()[1]
def main():
rot = 0
mode = 0
TRESHOLD = 100
while True:
mag = getMagnetStrength()
print(mag, rot)
if (mode == 0):
if (mag > TRESHOLD):
rot += 1
mode = 1
else:
if (mag < TRESHOLD):
mode = 0
#main()
import py_qmc5883l
import time
import math
import smbus
sensor = py_qmc5883l.QMC5883L(output_range=py_qmc5883l.RNG_8G)
flag = False
flag2 = True
start = 0
end = 0
during = 0
i = 0
i_store = 100
small_car = 50
big_car = 80
x = [0]
y = [0]
z = [0]
while (1):
x_temp, y_temp, z_temp = sensor.get_magnet_raw()
x.append(x_temp)
y.append(y_temp)
z.append(z_temp)
print(x[i], y[i], z[i])
if (flag is False and i > 10):
if (x[i] - x[i - 9] > 120
or y[i - 9] - y[i] > 600 and z[i - 9] - z[i] > 100):
start = time.time()
i_store = i
print("\033[1;35m start counting \033[0m")
start = (round(start, 3))
flag = True
def __init__(self):
self.sensor = py_qmc5883l.QMC5883L()
self.sensor.set_declination(-8.87)
self.sensor.calibration = [[1.2115, 0.11794, 1104.34691],
[0.11794, 1.06576, -625.31453], [0, 0, 1.0]]
def __init__(self):
self.sensor = py_qmc5883l.QMC5883L()
def main():
''' Defining a variable to name all the functions of the magnetometer '''
sensor = py_qmc5883l.QMC5883L()
''' current position and where to walk to... start just 1m ahead '''
target_polar = [5.0, 0.0]
curr = targ = rect(target_polar)
''' initialize OpenAL context, asking for 44.1kHz to match HRIR data '''
contextAttr = [ALC_FREQUENCY, 44100, 0]
device = alcOpenDevice(None)
context = alcCreateContext(device,
(ctypes.c_int * len(contextAttr))(*contextAttr))
alcMakeContextCurrent(context)
''' listener at origin, facing down -z (ears at 1.5m height) '''
alListener3f(AL_POSITION, 0., 1.5, 0.)
alListener3f(AL_VELOCITY, 0., 0., 0.)
orient = [0.0, 0.0, -1.0, 0.0, 1.0, 0.0]
alListenerfv(AL_ORIENTATION, (ctypes.c_float * len(orient))(*orient))
''' this will be the source of ghostly footsteps... '''
source = (ctypes.c_uint * 4)(0, 0)
alGenSources(4, cast(source, POINTER(ctypes.c_uint)))
alSourcef(source[0], AL_PITCH, 1.)
alSourcef(source[0], AL_GAIN, 1.)
alSource3f(source[0], AL_POSITION, curr[0], curr[1], curr[2])
alSource3f(source[0], AL_VELOCITY, 0., 0., 0.)
alSourcei(source[0], AL_LOOPING, AL_TRUE)
alSourcef(source[1], AL_PITCH, 1.)
alSourcef(source[1], AL_GAIN, 1.)
alSource3f(source[1], AL_POSITION, curr[0], curr[1], curr[2])
alSource3f(source[1], AL_VELOCITY, 0., 0., 0.)
alSourcei(source[1], AL_LOOPING, AL_TRUE)
alSourcef(source[2], AL_PITCH, 1.)
alSourcef(source[2], AL_GAIN, 1.)
alSource3f(source[2], AL_POSITION, curr[0], curr[1], curr[2])
alSource3f(source[2], AL_VELOCITY, 0., 0., 0.)
alSourcei(source[2], AL_LOOPING, AL_TRUE)
alSourcef(source[3], AL_PITCH, 1.)
alSourcef(source[3], AL_GAIN, 1.)
alSource3f(source[3], AL_POSITION, curr[0], curr[1], curr[2])
alSource3f(source[3], AL_VELOCITY, 0., 0., 0.)
alSourcei(source[3], AL_LOOPING, AL_TRUE)
''' allocate an OpenAL buffer and fill it with monaural sample data '''
buffer = (ctypes.c_uint * 4)(0, 0)
alGenBuffers(4, cast(buffer, POINTER(ctypes.c_uint)))
data = load('nord.raw')
data2 = load('sud.raw')
data3 = load('est.raw')
data4 = load('oest.raw')
dataSize = ctypes.c_int(len(data))
dataSize2 = ctypes.c_int(len(data2))
dataSize3 = ctypes.c_int(len(data3))
dataSize4 = ctypes.c_int(len(data4))
# for simplicity, assume raw file is signed-16b at 44.1kHz
alBufferData(buffer[0], AL_FORMAT_MONO16, data, dataSize, 44100)
gc.collect()
alBufferData(buffer[1], AL_FORMAT_MONO16, data2, dataSize2, 44100)
gc.collect()
alBufferData(buffer[2], AL_FORMAT_MONO16, data3, dataSize3, 44100)
gc.collect()
alBufferData(buffer[3], AL_FORMAT_MONO16, data4, dataSize4, 44100)
gc.collect()
alSourcei(source[0], AL_BUFFER, buffer[0])
alSourcei(source[1], AL_BUFFER, buffer[1])
alSourcei(source[2], AL_BUFFER, buffer[2])
alSourcei(source[3], AL_BUFFER, buffer[3])
''' state initializations for the upcoming loop '''
random.seed()
dt = 1. / 60.
vel = 0.8 * dt
''' BEGIN! '''
alSourcePlay(source[0])
time.sleep(2)
alSourcePlay(source[1])
time.sleep(2)
alSourcePlay(source[2])
time.sleep(2)
alSourcePlay(source[3])
time.sleep(2)
''' loop forever... walking to random, adjacent, integer coordinates '''
while (True):
''' Initial position of the x,y,z coordinates of the sound
relating to the current positions 'curr' and the target 'targ' one '''
rho = round(sensor.get_bearing2(), 4)
print(rho)
target_polar[1] = 180 + rho #Coordenada NORD
target_polar[1] = 90 + rho #Coordenada EST
target_polar[1] = rho #Coordenada SUD
target_polar[1] = -90 + rho #Coordenada OEST
if target_polar[1] > 360.0:
target_polar[1] = target_polar[1] - 360.0
if target_polar[1] < 0.0:
target_polar[1] = target_polar[1] + 360.0
target_polar[1] = target_polar[1] * math.pi / 180.0
# print(target_polar[1])
targ = rect(target_polar)
# print(targ)
alSource3f(source[0], AL_POSITION, targ[0], targ[1], targ[2])
alSource3f(source[0], AL_VELOCITY, 0.0, 0.0, 0.0)
#print(curr, targ)
time.sleep((int)(1 * dt))
alSource3f(source[1], AL_POSITION, targ[0], targ[1], targ[2])
alSource3f(source[1], AL_VELOCITY, 0.0, 0.0, 0.0)
#print(curr, targ)
time.sleep((int)(1 * dt))
''' cleanup that should be done when you have a proper exit... ;) '''
alDeleteSources(1, ctypes.pointer(source))
alDeleteBuffers(1, ctypes.pointer(buffer))
alcDestroyContext(context)
alcCloseDevice(device)
return
def readCompass():
"""Returns compass bearing."""
sensor = py_qmc5883l.QMC5883L()
return sensor.get_bearing() - 90
import math
import Adafruit_ADS1x15
adc = Adafruit_ADS1x15.ADS1115()
GAIN = 1 #This sets the voltage range to 4.096V per 2**15
#from mpu6050 import mpu6050
#sensor = mpu6050(0x68)
HOST = ''
PORT = 52849
BUFSIZE = 1024
ADDR = (HOST, PORT)
tcpSerSock = socket(AF_INET, SOCK_STREAM)
tcpSerSock.bind(ADDR)
tcpSerSock.listen(5)
print('Waiting for connection')
print('...connected from:', ADDR)
sensor = qmc.QMC5883L()
sensor.calibration = [[1.03194204e+00, -5.83440263e-02, -6.59472052e+03],
[-5.83440263e-02, 1.10656882e+00, 4.03742821e+02],
[0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]
while True:
tcpDataSock, addr = tcpSerSock.accept()
#print("accepted")
try:
m = sensor.get_bearing()
except:
m = "none"
try:
#print(m)
def __init__(self):
sensor = py_qmc5883l.QMC5883L(output_range = py_qmc5883l.RNG_8G)
sensor.declination = declination_value
def GY85():
sensor = py_qmc5883l.QMC5883L()
sensor.calibration = [[1.030, 0.026, -227.799], [0.0255, 1.021, 1016.442],
[0.0, 0.0, 1.0]]
sensor.get_bearing()
return sensor.get_bearing_raw()
gps.cfg_rate(200) # установка частоты опроса
ser.flush() # очистка буфера
# начало времени GPST (Jan 6 1980 00:00:00.00)
gps_epoch = datetime.datetime(1980, 1, 6).timestamp()
# считывание параметров с файла param
with open('/home/pi/Documents/scripts/param', 'r') as prs:
freq = int(prs.readline()) # частота работы магнитометра
decl = float(prs.readline()) # склонение магн.поля в районе работ (dd.mm)
prs.close()
# COMPASS
# инициализация компаса
mag = py_qmc5883l.QMC5883L(i2c_bus=1, address=0x0d)
mag.set_declination(decl)
# при записи показаний магнитометра время считывается с RP.
# Поэтому исполнение скрипта продолжится после нахождения GPS достаточного
# количества спутников. При нажатии кнопки до нахождения спутников,
# программа закончит свою работу, и компьютер выключится.
while True:
if GPIO.event_detected(button):
time.sleep(1)
os.system('sudo shutdown now')
try:
s = ser.readline()
if b'$GPRMC' in s:
data = parse_GPS_message(s)
if (len(data[1]) > 6) and (len(data[9]) > 5) and \
