def __init__(self, buss_id, address):
self.gyro = Gyroscope(buss_id, address)
self.gyro_full_scale = 245
self.acc = Accelerometer(buss_id, address)
self.acc_full_scale = 2
self.fifo = Fifo(buss_id, address)
self.temp = Temperature(buss_id, address)
def run(self):
index = 0
max = len(self.file_list)
for file in self.file_list:
index = index + 1
self.config_dict['accelerometer'].update({
'index': index,
'max': max
})
accelerometer_featurizer = Accelerometer(
file, self.config_dict['accelerometer'])
df_feature_windows, df_acc = accelerometer_featurizer.run_feature_extraction(
)
df_feature_windows.to_csv(
os.path.join(self.out_dir, 'acc_' + os.path.basename(file)))
return 1
class Minimu:
VERSION = 'minimu9v5'
def __init__(self, buss_id, address):
self.gyro = Gyroscope(buss_id, address)
self.gyro_full_scale = 245
self.acc = Accelerometer(buss_id, address)
self.acc_full_scale = 2
self.fifo = Fifo(buss_id, address)
self.temp = Temperature(buss_id, address)
def enable(self, odr=104):
self.gyro.enable(odr)
self.gyro_full_scale = self.gyro.get_full_scale_selection()
self.acc.enable(odr)
self.acc_full_scale = self.acc.get_full_scale_selection()
self.fifo.enable(odr)
def disable(self):
self.gyro.disable()
self.acc.disable()
self.fifo.disable()
def read_fifo_raw(self):
data = np.array(self.fifo.get_data(), dtype=np.int)
return data
def read_fifo(self):
data = np.array(self.fifo.get_data(), dtype=np.double)
try:
data[:, :3] *= 1
except IndexError:
sleep(0.1)
data = np.array(self.fifo.get_data(), dtype=np.double)
data[:, :3] *= self.gyro_full_scale
data[:, -3:] *= self.acc_full_scale
data[data > 0] /= 32767
data[data < 0] /= 32768
return data
def read_temperature(self):
return self.temp.get_temperature()
dTmDiff = errorSignal[2, 0] - errorSignal[0, 0] #get time diff
drvt = getDerivative(errorSignal[0, 1], errorSignal[2, 1], dTmDiff)
#PID control equation
PID = ((0.2) * errorSignal[1, 1] + (0.2) * agrInteg + (0.2) * drvt) + 1
# print (errorSignal)
# print ("________")
return PID, agrInteg
#------------program system start------------#
#sensor objects
acc = Accelerometer()
alt = Altimeter()
#start clock count
tm = time.time()
#make dir to record flight data
root = "/home/pi/Documents/Flight Data/"
stamp = time.asctime(time.localtime(time.time()))
os.makedirs(root + stamp)
#to store max values for use in determining when to initiate controls
vMax = 0
hMax = 0
#for the storage of the error signals of previous cycles || structure: index | time, error
# dev = True import machine # from umqtt.simple import MQTTClient from accelerometer import Accelerometer import config import array from rollingaverage import RollingStats import mannet drumstick_id = config.id # See wiki for pinout: https://github.com/jackosx/CAMP/wiki/ESP32-Hardware # TODO: Make high or low in config to support 2 sticks stick = Accelerometer(scl=config.accel_scl, sda=config.accel_sda) buzz = machine.Pin(config.buzz_pin, machine.Pin.OUT) buzz.value(0) striking = False g_thresh = config.threshold queue_len = 100 strike_avg = RollingStats(10, 10) debounce_count = 0 buzz_count = 0 led_count = 0 # TODO for LEDs on strike
from accelerometer import Accelerometer
from barometer import Barometer
from gps import GPSSensor
import numpy as np
from time import sleep
# Initialise the i2c bus
I2CBUS_NUMBER = 1
bus = SMBus(I2CBUS_NUMBER)
# Initialise the gyroscope
gyroscope1 = Gyroscope(bus)
# Initialise the accelerometer
accelerometer1 = Accelerometer(bus)
# Initialise the barometer
barometer1 = Barometer(bus)
barometer1.calibrate()
# Initialise the GPS
gps1 = GPSSensor()
gps1.initialise()
# Initialise the server
server = com.ServerSocket()
server.connect()
try:
while True:
import machine
from umqtt.simple import MQTTClient
from accelerometer import Accelerometer
import config
import array
from rollingaverage import RollingStats
drumstick_id = config.id
# client = MQTTClient("drumstick-{}".format(config.id), "manatee.local")
# client.connect()
# See wiki for pinout: https://github.com/jackosx/CAMP/wiki/ESP32-Hardware
# TODO: Make high or low in config to support 2 sticks
stick = Accelerometer()
striking = False
g_thresh = config.threshold
queue_len = 100
hit_queue = array.array("H", [0] * queue_len)
hit_idx = 0
hit_count = 0
strike_avg = RollingStats(10, 10)
debounce_count = 0
prev_x, prev_y, prev_z = 0, 0, 0
# For debugging. Allows dev to adjust touch_thresh in REPL
class MesureWindow(Screen):
mesureState = ObjectProperty(None)
acc = Accelerometer()
analysisBtn = ObjectProperty(None)
analyse = ObjectProperty(None)
image_analyse = ObjectProperty(None)
count = NumericProperty(1)
image_command = ObjectProperty(None)
def on_pre_enter(self):
self.image_analyse.source = str(Path(os.path.abspath(__file__)).parent.joinpath("posture_img").joinpath("blank.png"))
self.image_command.source = str(Path(os.path.abspath(__file__)).parent.joinpath("posture_img").joinpath("command.png"))
def on_enter(self):
self.click = 0
self.acc.stop = False
def mesure_Btn(self):
self.click+=1
if self.click == 1 :
self.image_command.source = str(Path(os.path.abspath(__file__)).parent.joinpath("posture_img").joinpath("blank.png"))
t2 = Thread(target=self.acc.save_data)
t2.start()
self.mesureState.text = "[color=000000]Currently analyzing your posture...[/color]"
self.analysisBtn.text = "Stop analysis"
self.analysisBtn.background_color = (1,0,0,1)
self.countdown()
if self.click ==2 :
self.event.cancel()
self.acc.stop = True
self.mesureState.text = "[color=000000]Posture analysis is completed[/color]"
self.analysisBtn.text = "See the results"
self.analysisBtn.background_color = (0,0,0,1)
self.image_analyse.source = str(Path(os.path.abspath(__file__)).parent.joinpath("posture_img").joinpath("blank.png"))
if self.click == 3 :
self.analyse.get_possible_file()
try:
day = self.acc.date
except:
pass
else:
self.analyse.available_session(day)
session = self.analyse.sessions[-1]
self.analyse.confirmDate.text = day
self.analyse.btnSession.text = session
self.analyse.btnSession.background_color = 0,1,0,1
kv.current = "analyse"
def on_leave(self):
self.analysisBtn.text = "Start analysis"
self.analysisBtn.background_color =0,1,0,1
self.mesureState.text = ""
def countdown(self):
self.event = Clock.schedule_interval(self.update_label,0.5)
def update_label(self,time_limit):
#Function update_label is called every .5 sec, and the stickmans positions is updated by selecting the next image
self.count+=1
self.image_analyse.source = str(Path(os.path.abspath(__file__)).parent.joinpath("posture_img").joinpath("stickmans").joinpath(str(self.count)+".png"))
if self.count ==28:
self.count = 0
from accelerometer import Accelerometer
from sounds import Taunter
from consumer import KnockDetectingConsumer
reader = Accelerometer()
taunter = Taunter()
consumer = KnockDetectingConsumer(reader, taunter.taunt)
if __name__ == "__main__":
consumer.loop()
import time
from pirc522 import RFID
from tags import WeightTag
from display import Display
from accelerometer import Accelerometer
from log import log
import http
rf = RFID()
display = Display()
accel = Accelerometer()
tagWeight = 0
def handle_tag(tag):
# tag.weight = 20
global tagWeight
weightRead = tag.weight
if weightRead and weightRead != tagWeight:
display.show(weightRead)
if weightRead:
tagWeight = tag.weight
def get_tag():
rf.request()
err, uid = rf.anticoll()
if not err:
# log('Tag read, UID:', uid)
tag = WeightTag(rf, uid)
import numpy as np
import sys
from accelerometer import Accelerometer
from line_us import LineUs
# Open LineUs robot
my_line_us = LineUs('line-us.local')
time.sleep(1)
# Set speed
my_line_us.g94(30)
# Open camera
cap = cv2.VideoCapture(0)
# Open acceleromenter
accel = Accelerometer("/dev/ttyACM0")
# Create windows
img = np.zeros((int(1125 / 2), int(2000 / 2), 3))
cv2.namedWindow('Drawing image')
cv2.namedWindow('Camera')
x = 0
y = 0
# Main loop
while (1):
time.sleep(0.001)
# Get camera frame
ret, gray = cap.read()
sd = SD()
os.mount(sd, '/sd')
csv_file = open('/sd/data.csv', 'a')
log_file = open("/sd/log.txt", 'a')
logging.basicConfig(level=logging.DEBUG, filename=log_file)
logger = logging.getLogger("RoomMonitor")
logger.debug("Main loop starting")
comms = Comms()
wifi = WiFiManager()
comms.add_manager(0, wifi)
manager = DataManager(csv_file=csv_file)
acc = Accelerometer(
py, config.manager_mqtt_user + "/feeds/" + config.manager_mqtt_name +
".acceleration")
manager.add_sensor(acc)
light = Light(
py, config.manager_mqtt_user + "/feeds/" + config.manager_mqtt_name +
".light-1", config.manager_mqtt_user + "/feeds/" +
config.manager_mqtt_name + ".light-2")
manager.add_sensor(light)
press = Pressure(
py, config.manager_mqtt_user + "/feeds/" + config.manager_mqtt_name +
".pressure")
manager.add_sensor(press)
temphum = TempHum(
py, config.manager_mqtt_user + "/feeds/" + config.manager_mqtt_name +
".temperature", config.manager_mqtt_user + "/feeds/" +
config.manager_mqtt_name + ".humidity")