def initCMMD(self):
DES_CMMD = 2
sensor = Sensor(self.calMatrix)
for i in range(6):
current_command = 0
sensor.config_dac(i, current_command)
sample = sensor.poll()
while sample.sum[i] < DES_CMMD:
current_command += 1
sensor.config_dac(i, current_command)
sample = sensor.poll()
while sample.sum[i] > DES_CMMD:
current_command -= 0.1
sensor.config_dac(i, current_command)
sample = sensor.poll()
while sample.sum[i] < DES_CMMD:
current_command += 0.01
sensor.config_dac(i, current_command)
sample = sensor.poll()
print "**************************************"
print "Common-mode values of channels A to F:"
print sample.sum
print "**************************************"
sensor.disconnect()
def __initOFS(self):
self.calMatrix = np.eye(6)
sensor = Sensor(self.calMatrix)
# test all modules are working
time.sleep(1)
sample = sensor.poll()
for cmmd in sample.sum:
if cmmd < 0.5:
cont = False
print('Sum Signal too low (' + str(cmmd) + 'V)')
sensor.disconnect()
self.rep_ids = {
0x1: 'Accelerometer',
0x2: 'Gyroscope',
0x4: 'Linear Acceleration',
0x5: 'Rotation Vector',
0x8: 'Game Rotation Vector'
}
self.crc8_table = crc.calculate_CRC8_table()
self.crc32_table = crc.calculate_CRC32_table()
if cmmd < 0.5:
cont = False
print('Sum Signal too low (' + str(cmmd) + 'V)')
for i in range(6):
current_command = 0
sensor.config_dac(i, current_command)
sample = sensor.poll()
while sample.sum[i] < DES_CMMD:
current_command += 1
sensor.config_dac(i, current_command)
sample = sensor.poll()
while sample.sum[i] > DES_CMMD:
current_command -= 0.1
sensor.config_dac(i, current_command)
sample = sensor.poll()
while sample.sum[i] < DES_CMMD:
current_command += 0.01
sensor.config_dac(i, current_command)
sample = sensor.poll()
print "**************************************"
print "Common-mode values of channels A to F:"
print sample.sum
print "**************************************"
sensor.disconnect()
