def main():
# Instantiate an AK8975 on I2C bus 0
sensor = sensorObj.AK8975()
## Exit handlers ##
# This function stops python from printing a stacktrace when you hit control-C
def SIGINTHandler(signum, frame):
raise SystemExit
# This function lets you run code on exit
def exitHandler():
print "Exiting"
sys.exit(0)
# Register exit handlers
atexit.register(exitHandler)
signal.signal(signal.SIGINT, SIGINTHandler)
sensor.init()
x = sensorObj.new_floatp()
y = sensorObj.new_floatp()
z = sensorObj.new_floatp()
while (1):
sensor.update()
sensor.getMagnetometer(x, y, z)
print "Magnetometer: MX: ", sensorObj.floatp_value(x),
print " MY: ", sensorObj.floatp_value(y),
print " MZ: ", sensorObj.floatp_value(z)
print
time.sleep(.5)
def main():
# Instantiate an MPU60X0 on I2C bus 0
sensor = sensorObj.MPU60X0()
## Exit handlers ##
# This function stops python from printing a stacktrace when you hit control-C
def SIGINTHandler(signum, frame):
raise SystemExit
# This function lets you run code on exit
def exitHandler():
print("Exiting")
sys.exit(0)
# Register exit handlers
atexit.register(exitHandler)
signal.signal(signal.SIGINT, SIGINTHandler)
UDP_IP = "192.168.0.10"
UDP_PORT = 6001
MESSAGE = ""
sensor.init()
x = sensorObj.new_floatp()
y = sensorObj.new_floatp()
z = sensorObj.new_floatp()
print('start')
while (1):
sensor.update()
sensor.getAccelerometer(x, y, z)
#print("Accelerometer: AX: ", sensorObj.floatp_value(ax), end=' ')
#print(" AY: ", sensorObj.floatp_value(ay), end=' ')
#print(" AZ: ", sensorObj.floatp_value(az))
MESSAGE = str(sensorObj.floatp_value(x)) + ' ' + str(
sensorObj.floatp_value(y)) + ' ' + str(sensorObj.floatp_value(z))
sensor.getGyroscope(x, y, z)
#print("Gyroscope: GX: ", sensorObj.floatp_value(x), end=' ')
#print(" GY: ", sensorObj.floatp_value(y), end=' ')
#print(" GZ: ", sensorObj.floatp_value(z))
#print("Temperature: ", sensor.getTemperature())
#print()
MESSAGE += ' ' + str(sensorObj.floatp_value(x)) + ' ' + str(
sensorObj.floatp_value(y)) + ' ' + str(sensorObj.floatp_value(z))
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.sendto(MESSAGE, (UDP_IP, UDP_PORT))
time.sleep(.1)
def RecieveData(self):
GyrBias = self.GyrBias
# Initialize the accumulative variables
x = pyupm_mpu9150.new_floatp()
y = pyupm_mpu9150.new_floatp()
z = pyupm_mpu9150.new_floatp()
ax = 0
ay = 0
az = 0
gx = 0
gy = 0
gz = 0
# Get the raw data
for i in range(self.const.AVGTIME):
self.update()
# Acceleration Data
self.getAccelerometer(x, y, z)
ax += pyupm_mpu9150.floatp_value(x)
ay += pyupm_mpu9150.floatp_value(y)
az += pyupm_mpu9150.floatp_value(z)
# Angular Speed Data
self.getGyroscope(x, y, z)
gx += pyupm_mpu9150.floatp_value(x)
gy += pyupm_mpu9150.floatp_value(y)
gz += pyupm_mpu9150.floatp_value(z)
# Pause time for next sampling
time.sleep(self.const.SAMPLETIME)
Acc = np.array([ax, ay, az])
Gyr = np.array([gx, gy, gz]) - GyrBias
Acc = Acc * self.const.G / self.const.AVGTIME
Gyr = Gyr / self.const.AVGTIME
self.Acc = Acc
self.Gyr = Gyr
def main():
# Instantiate an MPU60X0 on I2C bus 0
sensor = sensorObj.MPU60X0()
## Exit handlers ##
# This function stops python from printing a stacktrace when you hit control-C
def SIGINTHandler(signum, frame):
raise SystemExit
# This function lets you run code on exit
def exitHandler():
print "Exiting"
sys.exit(0)
# Register exit handlers
atexit.register(exitHandler)
signal.signal(signal.SIGINT, SIGINTHandler)
sensor.init()
x = sensorObj.new_floatp()
y = sensorObj.new_floatp()
z = sensorObj.new_floatp()
while (1):
sensor.update()
sensor.getAccelerometer(x, y, z)
print "Accelerometer: AX: ", sensorObj.floatp_value(x),
print " AY: ", sensorObj.floatp_value(y),
print " AZ: ", sensorObj.floatp_value(z)
sensor.getGyroscope(x, y, z)
print "Gyroscope: GX: ", sensorObj.floatp_value(x),
print " GY: ", sensorObj.floatp_value(y),
print " GZ: ", sensorObj.floatp_value(z)
print "Temperature: ", sensor.getTemperature()
print
time.sleep(.5)
# Register exit handlers
atexit.register(exitHandler)
signal.signal(signal.SIGINT, SIGINTHandler)
sensor.init()
x = sensorObj.new_floatp()
y = sensorObj.new_floatp()
z = sensorObj.new_floatp()
while (1):
sensor.update()
sensor.getAccelerometer(x, y, z)
print "Accelerometer: AX: ", sensorObj.floatp_value(x),
print " AY: ", sensorObj.floatp_value(y),
print " AZ: ", sensorObj.floatp_value(z)
sensor.getGyroscope(x, y, z)
print "Gyroscope: GX: ", sensorObj.floatp_value(x),
print " GY: ", sensorObj.floatp_value(y),
print " GZ: ", sensorObj.floatp_value(z)
sensor.getMagnetometer(x, y, z)
print "Magnetometer: MX: ", sensorObj.floatp_value(x),
print " MY: ", sensorObj.floatp_value(y),
print " MZ: ", sensorObj.floatp_value(z)
print "Temperature: ", sensor.getTemperature()
print
def main():
"""
Initialization
"""
# Instantiate an MPU60X0 on I2C bus 0
sensor_1 = sensorObj.MPU60X0()
## Exit handlers ##
# This function stops python from printing a stacktrace when you hit control-C
def SIGINTHandler(signum, frame):
raise SystemExit
# This function lets you run code on exit
def exitHandler():
print("Exiting")
sys.exit(0)
# UDP Initialization
UDP_IP = "192.168.0.105"
UDP_PORT = 6001
MESSAGE = ""
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
# Register exit handlers
atexit.register(exitHandler)
signal.signal(signal.SIGINT, SIGINTHandler)
sensor_1.init()
sensor_1.enableTemperatureSensor(False)
if (not sensor_1.setDigitalLowPassFilter(20)):
print("Failed to set up filter")
#sensor_2.init()
sensor_1.setAccelerometerScale(3)
sensor_1.setGyroscopeScale(2)
x = sensorObj.new_floatp()
y = sensorObj.new_floatp()
z = sensorObj.new_floatp()
# Sample frequency
sampleFreq = 5
sampleTime = 1.0 / sampleFreq
while (1):
# Update the data in MPU
sensor_1.update()
"""
Get raw data from Accelerometer and Gyroscope
"""
sensor_1.getAccelerometer(x, y, z)
ax = sensorObj.floatp_value(x)
ay = sensorObj.floatp_value(y)
az = sensorObj.floatp_value(z)
sensor_1.getGyroscope(x, y, z)
gx = sensorObj.floatp_value(x)
gy = sensorObj.floatp_value(y)
gz = sensorObj.floatp_value(z)
"""
Send out message to server
"""
if (math.fabs(az) >= 0.02):
Pitch = math.atan(ax / az) * (180 / math.pi)
Roll = math.atan(ay / az) * (180 / math.pi)
else:
Pitch = 90
Roll = 0
MESSAGE = "{:.0f} {:.0f} 0 0".format(Pitch, Roll)
sock.sendto(MESSAGE, (UDP_IP, UDP_PORT))
sys.exit(0)
# Register exit handlers
atexit.register(exitHandler)
signal.signal(signal.SIGINT, SIGINTHandler)
sensor.init()
x = sensorObj.new_floatp()
y = sensorObj.new_floatp()
z = sensorObj.new_floatp()
while (1):
sensor.update()
sensor.getAccelerometer(x, y, z)
print "Accelerometer: AX: ", sensorObj.floatp_value(x),
print " AY: ", sensorObj.floatp_value(y),
print " AZ: ", sensorObj.floatp_value(z)
sensor.getGyroscope(x, y, z)
print "Gyroscope: GX: ", sensorObj.floatp_value(x),
print " GY: ", sensorObj.floatp_value(y),
print " GZ: ", sensorObj.floatp_value(z)
sensor.getMagnetometer(x, y, z)
print "Magnetometer: MX: ", sensorObj.floatp_value(x),
print " MY: ", sensorObj.floatp_value(y),
print " MZ: ", sensorObj.floatp_value(z)
print "Temperature: ", sensor.getTemperature()
print
## Exit handlers ##
# This function stops python from printing a stacktrace when you hit control-C
def SIGINTHandler(signum, frame):
raise SystemExit
# This function lets you run code on exit
def exitHandler():
print "Exiting"
sys.exit(0)
# Register exit handlers
atexit.register(exitHandler)
signal.signal(signal.SIGINT, SIGINTHandler)
sensor.init()
x = sensorObj.new_floatp()
y = sensorObj.new_floatp()
z = sensorObj.new_floatp()
while (1):
sensor.update()
sensor.getMagnetometer(x, y, z)
print "Magnetometer: MX: ", sensorObj.floatp_value(x),
print " MY: ", sensorObj.floatp_value(y),
print " MZ: ", sensorObj.floatp_value(z)
print
time.sleep(.5)
def SIGINTHandler(signum, frame):
raise SystemExit
# This function lets you run code on exit
def exitHandler():
print "Exiting"
sys.exit(0)
# Register exit handlers
atexit.register(exitHandler)
signal.signal(signal.SIGINT, SIGINTHandler)
sensor.init()
x = sensorObj.new_floatp()
y = sensorObj.new_floatp()
z = sensorObj.new_floatp()
while (1):
sensor.update()
sensor.getMagnetometer(x, y, z)
print "Magnetometer: MX: ", sensorObj.floatp_value(x),
print " MY: ", sensorObj.floatp_value(y),
print " MZ: ", sensorObj.floatp_value(z)
print
time.sleep(.5)
