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()
