class GyroRead(SyncedSketch):
# Set me!
ss_pin = 10
def setup(self):
self.gyro = Gyro(self.tamp, self.ss_pin, integrate=True)
self.timer = Timer()
self.cali_timer = Timer()
self.calibration = 0.0
self.calibrated = False
def loop(self):
if self.timer.millis() > 100:
self.timer.reset()
# Valid gyro status is [0,1], see datasheet on ST1:ST0 bits
print "{:6f}, raw: 0x{:08x} = 0b{:032b}".format(
self.gyro.val, self.gyro.raw, self.gyro.raw)
# Janky autocalibration scheme
if not self.calibrated and self.cali_timer.millis() > 3000:
drift = self.gyro.val / (self.cali_timer.millis() / 1000.0)
# Arbitrary calibration tolerance of 0.1 deg/sec
if abs(drift) > 0.1:
self.calibration += drift
print "Calibration:", self.calibration
self.gyro.calibrate_bias(self.calibration)
else:
print "Calibration complete:", self.calibration
self.calibrated = True
self.gyro.reset_integration()
self.cali_timer.reset()
class GyroRead(SyncedSketch):
# Set me!
ss_pin = 10
def setup(self):
self.gyro = Gyro(self.tamp, self.ss_pin, integrate=True)
self.timer = Timer()
self.cali_timer = Timer()
self.calibration = 0.0
self.calibrated = False
def loop(self):
if self.timer.millis() > 100:
self.timer.reset()
# Valid gyro status is [0,1], see datasheet on ST1:ST0 bits
print "{:6f}, raw: 0x{:08x} = 0b{:032b}".format(self.gyro.val, self.gyro.raw, self.gyro.raw)
# Janky autocalibration scheme
if not self.calibrated and self.cali_timer.millis() > 3000:
drift = self.gyro.val / (self.cali_timer.millis() / 1000.0)
# Arbitrary calibration tolerance of 0.1 deg/sec
if abs(drift) > 0.1:
self.calibration += drift
print "Calibration:", self.calibration
self.gyro.calibrate_bias(self.calibration)
else:
print "Calibration complete:", self.calibration
self.calibrated = True
self.gyro.reset_integration()
self.cali_timer.reset()
