myIMU_no_thrd_sparton = imu_no_thrd_sparton()
# myIMU_thrd_sparton = imu_thrd_sparton()
######## connect all IMUs #############################################
# myIMU_no_thrd_9250.connect()
# myIMU_thrd_9250.connect()
myIMU_no_thrd_sparton.connect()
# myIMU_thrd_sparton.connect()
# myIMU_base.connect()
# fix me take all and put into tools so multipal instantiations are can be achived
##########################################################################
myTools = imu_tools(imu=myIMU_no_thrd_sparton)
i = 0
print('start')
while i <= 3000:
print(i)
rawAccel = myTools.get_raw_scale_data()
myTools.rawData2Csv(rawAccel, i, 'sparton_imu_test_rot_z', 'C:/Users/bob/Desktop/Oscillatory-Motion-Tracking-With-x-IMU/')
i = i + 1
######## disconnect all IMUs #############################################
# myIMU_no_thrd_sparton.disconnect()
print(i)
''' test_filters.py - Use this program test the fft filters. ''' import numpy as np from imu_framework.tests.context import imu_tools import pylab as plt time = np.linspace(0,10,2000) signal = np.cos(3*np.pi*time) + np.cos(10*np.pi*time) signalIN = np.array([signal, 2*signal, 3*signal]).transpose() myTools = imu_tools(signal.size, deltaT=time[1]-time[0]) cut_signal_tools_10 = myTools.bandPassFilter(signalIN, 8, 11) cut_signal_tools_3 = myTools.bandPassFilter(signalIN, 1, 5) plt.subplot(331) plt.plot(time,signalIN[:,0]) plt.xlim(0,1) plt.subplot(332) plt.plot(time,signalIN[:,1]) plt.xlim(0,1) plt.subplot(333) plt.plot(time,signalIN[:,2]) plt.xlim(0,1) plt.subplot(334) plt.plot(time,cut_signal_tools_10[:,0]) plt.xlim(0,1)
myIMU_base = imu_base()
######## connect all IMUs #############################################
# myIMU_no_thrd_9250.connect()
# myIMU_thrd_9250.connect()
# myIMU_no_thrd_sparton.connect()
# myIMU_thrd_sparton.connect()
myIMU_base.connect(fileName='imu_base_data_upDown_z.csv')
# fix me take all and put into tools so multipal instantiations are can be achived
##########################################################################
# myTools = imu_tools(imu=myIMU_no_thrd_sparton)
myTools = imu_tools(fifoMemSize=10000, imu=myIMU_base)
i = 0
print('start')
while i <= 4999:
# rawAccel = myTools.get_raw_scale_data()
# print(i)
# print(rawAccel)
# myTools.dataForMatlabProcesing(rawAccel, i, 'LoggedData_CalInertialAndMag')
tcAcceleration = myTools.get_arhs_tcAccel()
# print(tcAcceleration)
# R = myTools.get_arhs_rot_matrix()
# print(R)
# myTools.procesedAccRot2Csv(tcAcceleration, R, i, 'dataFromPython', 'C:/Users/bob/Desktop/IMU/imu_framwork_matlab/test matlab/')
''' test_raw_data.py - Use this program to test the connection between an imu and the computer.
'''
''' test_connectivity.py - Use this file to test connectivity for the sparton or any other imu.
'''
from imu_framework.tests.context import imu_tools
from imu_framework.tests.context import imu_no_thrd_sparton
from time import sleep
if __name__ == '__main__':
myTools = imu_tools()
myIMU = imu_no_thrd_sparton()
myIMU.connect()
sleep(2)
myIMU.disconnect()
''' generate_post_processing_data_.py - Use this program to save processed imu data frm any imu on file.
'''
from imu_framework.tests.context import imu_tools
from imu_framework.tests.context import imu_base
import numpy as np
if __name__ == '__main__':
myIMU_base = imu_base()
myIMU_base.connect(fileName='LoggedData_CalInertialAndMag_eddited.csv')
myTools = imu_tools(imu=myIMU_base, deltaT=1 / 250)
endOffile = myIMU_base.lengthOfFile
rawAccel = np.zeros([endOffile, 3])
rawGyr = np.zeros([endOffile, 3])
tCAccel = np.zeros([endOffile, 3])
R1by9 = np.zeros([endOffile, 9])
i = 0
print('start')
while i <= endOffile - 1:
# rawData = myTools.get_raw_scale_data()
# rawAccel[i] = [rawData[0], rawData[1], rawData[2]]
# rawGyr [i] = [rawData[3], rawData[4], rawData[5]]
data = myTools.get_arhs_tcAccel_R()
myIMU_base = imu_base()
######## connect all IMUs #############################################
# myIMU_no_thrd_9250.connect()
# myIMU_thrd_9250.connect()
# myIMU_no_thrd_sparton.connect()
# myIMU_thrd_sparton.connect()
myIMU_base.connect()
# fix me take all and put into tools so multipal instantiations are can be achived
##########################################################################
myTools = imu_tools(imu=myIMU_base)
fig, axes = plt.subplots()
display = RealtimePlot(axes)
i = 0
print('start')
while i <= 4999:
rawAccel = myTools.get_raw_scale_data()
# print(i)
print(rawAccel)
# myTools.dataForMatlabProcesing(rawAccel, i, 'LoggedData_CalInertialAndMag')
# tcAcceleration = myTools.get_arhs_tcAccel()
# myIMU_thrd_sparton = imu_thrd_sparton()
# myIMU_base = imu_base()
######## connect all IMUs #############################################
# myIMU_no_thrd_9250.connect()
# myIMU_thrd_9250.connect()
myIMU_no_thrd_sparton.connect()
# myIMU_thrd_sparton.connect()
# myIMU_base.connect(fileName='imu_base_data_upDown_z.csv')
# fix me take all and put into tools so multipal instantiations are can be achived
##########################################################################
myTools = imu_tools(fifoMemSize=1000, imu=myIMU_no_thrd_sparton)
i = 0
print('start')
while i <= 10000:
R = myTools.get_arhs_rot_matrix()
pos = myTools.get_arhs_pos()
# print(i)
print(pos)
# myTools.procesedPosRot2Csv(pos, R, i, 'dataFromPython', 'C:/Users/bob/Desktop/IMU/imu_framwork_matlab/test matlab/')
i = i + 1
# print(myTools.get_arhs_vel_bank())