def readGyroAngles():
# Read the gyroscope
imu=IMU() # Default IC2 port 1
imu.gyro_range("245DPS")
imu.read_gyro()
angles = qM.getEuler()
return Angles
from SF_9DOF import IMU
import time
import numpy as np
# Create IMU object
imu = IMU() # To select a specific I2C port, use IMU(n). Default is 1.
# Initialize IMU
imu.initialize()
# Enable accel, mag, gyro, and temperature
imu.enable_accel()
imu.enable_mag()
imu.enable_gyro()
imu.enable_temp()
# Set range on accel, mag, and gyro
# Specify Options: "2G", "4G", "6G", "8G", "16G"
imu.accel_range("2G") # leave blank for default of "2G"
# Specify Options: "2GAUSS", "4GAUSS", "8GAUSS", "12GAUSS"
imu.mag_range("2GAUSS") # leave blank for default of "2GAUSS"
# Specify Options: "245DPS", "500DPS", "2000DPS"
imu.gyro_range("245DPS") # leave blank for default of "245DPS"
# Loop and read accel, mag, and gyro
class Offset_Gyro:
def __init__(self):
def initialize():
"""Creates and initializes the IMU object
Returns an IMU object
"""
# Create IMU object
imu = IMU() # To select a specific I2C port, use IMU(n). Default is 1.
imu.initialize()
# Enable accelerometer, magnetometer, gyroscope
imu.enable_accel()
imu.enable_mag()
imu.enable_gyro()
# Change IMU buffer mode to Bypass
# TODO: Try other modes as well
imu.accel_mode(0b001)
imu.gyro_mode(0b001)
# Specify ranges for accelerometer, magnetometer and gyroscope
# Accelerometer Options: "2G", "4G", "6G", "8G", "16G"
# Magnetometer Options: "2GAUSS", "4GAUSS", "8GAUSS", "12GAUSS"
# Gyroscope Options: "245DPS", "500DPS", "2000DPS"
imu.accel_range("16G")
imu.mag_range("2GAUSS")
imu.gyro_range("2000DPS")
return imu
WAITSECS = 0.02
NUMDATAPOINTS = 100
DIRECTORY = "gesture_data"
# Create Directory for file if does not exist
if not os.path.exists(DIRECTORY):
os.makedirs(DIRECTORY)
# Print Program Header
print("\
=======================================\n\
STARTING GESTURE RECORDING TOOL\n\
=======================================")
# Create IMU object
imu = IMU() # To select a specific I2C port, use IMU(n). Default is 1.
# Initialize IMU
imu.initialize()
# Enable accel, mag, gyro, and temperature
imu.enable_accel()
imu.enable_mag()
imu.enable_gyro()
imu.enable_temp()
# Set range on accel, mag, and gyro
# Specify Options: "2G", "4G", "6G", "8G", "16G"
imu.accel_range("2G") # leave blank for default of "2G"
def initialize():
imu = IMU()
imu.initialize()
imu.enable_gyro()
imu.gyro_range("2000DPS")
return imu
def initialize():
"""Creates and initializes the IMU object
Returns an IMU object
"""
# Create IMU object
imu = IMU() # To select a specific I2C port, use IMU(n). Default is 1.
imu.initialize()
# Enable accelerometer, magnetometer, gyroscope
imu.enable_accel()
imu.enable_mag()
imu.enable_gyro()
# Change IMU buffer mode to Bypass
# TODO: Try other modes as well
imu.accel_mode(0b001)
imu.gyro_mode(0b001)
# Specify ranges for accelerometer, magnetometer and gyroscope
# Accelerometer Options: "2G", "4G", "6G", "8G", "16G"
# Magnetometer Options: "2GAUSS", "4GAUSS", "8GAUSS", "12GAUSS"
# Gyroscope Options: "245DPS", "500DPS", "2000DPS"
imu.accel_range("16G")
imu.mag_range("2GAUSS")
imu.gyro_range("2000DPS")
return imu
from SF_9DOF import IMU
import requests
import json
#create IMU object
imu = IMU()
#Initialize IMU
imu.initialize()
imu.enable_accel()
imu.read_accel()
accel_data = imu.ax
print str(accel_data)
print "accel data"
payload = {'firstName':'Kehlin',
'lastName':'Sizzaaane',
'accelData':str(accel_data)}
r=requests.post('https://contact-list-kehlin.herokuapp.com/contacts',json=payload)
import socket
import uuid
import dbus
import dbus.service
import dbus.mainloop.glib
try:
from gi.repository import GObject
except ImportError:
import gobject as GObject
from SF_9DOF import IMU
import time
import json
import numpy as np
imu = IMU()
imu.initialize()
imu.enable_accel()
imu.enable_mag()
imu.enable_gyro()
imu.enable_temp()
imu.accel_range("2G")
imu.mag_range("2GAUSS")
imu.gyro_range("245DPS")
class Offset_Gyro:
def __init__(self):
imu.read_gyro()
from SF_9DOF import IMU
from BaseHTTPServer import BaseHTTPRequestHandler, HTTPServer
#This class will handles any incoming request from
#the browser
import mraa
import sys
import time
#i2c = mraa.I2c(1)
#i2c.address(0x15)
imu = IMU()
imu.initialize()
imu.enable_accel()
imu.accel_range("2G")
PORT_NUMBER = 8000
class myHandler(BaseHTTPRequestHandler):
#Handler for the GET requests
def do_GET(self):
if self.path == '/val':
self.do_val()
else:
self.do_index()
return
def do_index(self):
self.send_response(200)
self.send_header('Content-type', 'text/html')
self.end_headers()
END_THROW_THRESHOLD = 20
FREQ_THRESHOLD = 0.5
gyroThrowReadings = []
curGyroReadingIndex = 0
oldIsThrowing = False
isThrowing = False
isThrowingCounter = 0
curTimeStamp = time.time()
allThrows = []
# Gyro stuff
imu = IMU()
# Network stuff
class Throw:
def __init__(self, gyroReadings, timestamp):
self.gyroReadings = list(gyroReadings) # Gyro readings are in Hz
self.timestamp = timestamp
self.dt = SYS_TICK_TIME
def initGyro():
imu.initialize()
imu.enable_gyro()
imu.gyro_range('245DPS')
def imu(self):
imu = IMU() # To select a specific I2C port, use IMU(n). Default is 1.
imu.initialize()
# Enable accelerometer, magnetometer, gyroscope
imu.enable_accel()
imu.enable_mag()
imu.enable_gyro()
print imu.read_accel()
print imu.ax, imu.ay, imu.az
return imu
import dbus
import dbus.service
import dbus.mainloop.glib
try:
from gi.repository import GObject
except ImportError:
import gobject as GObject
from SF_9DOF import IMU
import time
import json
import numpy as np
import math
imu = IMU()
imu.initialize()
imu.enable_accel()
imu.enable_mag()
imu.enable_gyro()
imu.enable_temp()
imu.accel_range("2G")
imu.mag_range("2GAUSS")
imu.gyro_range("245DPS")
class Accel_Readings:
def __init__(self):
imu.read_accel()
self.ax = imu.ax
import time
import requests
import sys
import select
from SF_9DOF import IMU
#create IMU object
imu = IMU()
#Initialize IMU
imu.initialize()
imu.enable_accel()
imu.read_accel()
imu.accel_range("16G")
accel_x = []
accel_y = []
accel_z = []
#t_end = time.time() + 1
#while(imu.ax.size < 700):
accel_x.append(imu.ax)
accel_y.append(imu.ay)
accel_z.append(imu.az)
def start_checker():
if select.select([sys.stdin], [], [], 0) == ([sys.stdin], [], []):
c = sys.stdin.read(1)
return c
def sensor_reader ():
jaylen_data = IMU()
jaylen_data.initialize()
#enable sensors here
jaylen_data.enable_accel()
jaylen_data.enable_gyro()
#declaring the range of the accelerometer
jaylen_data.accel_range("8G")
jaylen_data.read_accel()
jaylen_data.read_gyro()
ax = jaylen_data.ax
ay = jaylen_data.ay
az = jaylen_data.az
gx = jaylen_data.gx
gy = jaylen_data.gy
gz = jaylen_data.gz
return ax, ay, az
from servolib import PWMDriver
from servoDriverConfig import ServoDriver
import welby_balance as wB
from SF_9DOF import IMU
from config import GYRO
from config import XM
import numpy as np
import quatMath as qM
import time
import pandas as pd
G = GYRO()
G.CTRL_REG1_G = 240
G.CTRL_REG2_G = 40
imu = IMU()
imu.initialize()
imu.enable_gyro()
imu.gyro_range("2000DPS")
iterations = 10
period = 5
exes = [0] * period * iterations
wyes = [0] * period * iterations
zees = [0] * period * iterations
its = {
'avg exes': [0] * iterations,
'avg wyes': [0] * iterations,
'avg zees': [0] * iterations,
}
angles = {'exes': exes, 'wyes': wyes, 'zees': zees}
