def collect_data(suffix):
global SAMPLE_RATE
global w1
global row
print "Now recording " + suffix
ipcon = IPConnection() # Create IP connection
imu = IMU(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
# Set period for quaternion callback to 1s
imu.set_all_data_period(SAMPLE_RATE)
imu.set_orientation_period(SAMPLE_RATE)
imu.set_quaternion_period(SAMPLE_RATE)
f1 = open('data/letters/all_data_'+suffix+'.csv', 'wb')
w1 = csv.writer(f1)
row = []
# Register quaternion callback
imu.register_callback(imu.CALLBACK_ALL_DATA, cb_all_data)
imu.register_callback(imu.CALLBACK_ORIENTATION, cb_orientation_data)
imu.register_callback(imu.CALLBACK_QUATERNION, cb_quaternion_data)
raw_input('Press key to quit recording ' + suffix + ' \n') # Use input() in Python 3
ipcon.disconnect()
def cb_enumerate(uid, connected_uid, position, hardware_version,
firmware_version, device_identifier, enumeration_type):
if connected_uid == '0':
print 'Master Brick UID: \t%s' % (uid)
#print 'UID: %s' % uid
#print 'connected_uid: %s' % connected_uid
#print 'position: %s' % position
#print 'hardware_version: %i.%i.%i' % hardware_version
#print 'firmware_version: %i.%i.%i' % firmware_version
#print 'device_identifier: %d' % device_identifier
#print 'enumeration_type: %d' % enumeration_type
if enumeration_type == IPConnection.ENUMERATION_TYPE_CONNECTED or \
enumeration_type == IPConnection.ENUMERATION_TYPE_AVAILABLE:
# Enumeration is for IMU Brick
if device_identifier == IMU.DEVICE_IDENTIFIER:
print 'IMU Brick UID: \t\t%s' % (uid)
# Create imu device object
imu = IMU(uid, ipcon)
imu.set_all_data_period(100)
imu.register_callback(imu.CALLBACK_ALL_DATA, cb_imudynamic)
# Enumeration is for GPS Bricklet
if device_identifier == GPS.DEVICE_IDENTIFIER:
print 'GPS Bricklet UID: \t%s' % (uid)
# Create imu device object
gps = GPS(uid, ipcon)
gps.set_coordinates_callback_period(100)
gps.register_callback(gps.CALLBACK_COORDINATES, cb_coordinates)
yawrate = ang_z / 14.375 * 3.14 / 180.0
temp = temp / 100.0
collect(ax, ay, az, rollrate, pitchrate, yawrate, temp)
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if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
imu = IMU(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
print('IMU connected')
# Register callback
imu.set_all_data_period(10) #10ms
imu.register_callback(imu.CALLBACK_ALL_DATA, cb_imudynamic)
raw_input('Press key to exit\n') # Use input() in Python 3
ipcon.disconnect()
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# In[10]:
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
imu = IMU(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
print('IMU connected')
# Register callback
imu.set_all_data_period(10) #10ms
imu.register_callback(imu.CALLBACK_ALL_DATA, cb_imudynamic)
raw_input('Press key to exit\n') # Use input() in Python 3
ipcon.disconnect()
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