def getValue(self):
"""
Return a 9-elements list containing all IMU reading
"""
lib.lsm9ds1_readAccel(self.__conn)
lib.lsm9ds1_readGyro(self.__conn)
lib.lsm9ds1_readMag(self.__conn)
ax = lib.lsm9ds1_getAccelX(self.__conn)
ay = lib.lsm9ds1_getAccelY(self.__conn)
az = lib.lsm9ds1_getAccelZ(self.__conn)
cax = lib.lsm9ds1_calcAccel(self.__conn, ax)
cay = lib.lsm9ds1_calcAccel(self.__conn, ay)
caz = lib.lsm9ds1_calcAccel(self.__conn, az)
gx = lib.lsm9ds1_getGyroX(self.__conn)
gy = lib.lsm9ds1_getGyroY(self.__conn)
gz = lib.lsm9ds1_getGyroZ(self.__conn)
cgx = lib.lsm9ds1_calcGyro(self.__conn, gx)
cgy = lib.lsm9ds1_calcGyro(self.__conn, gy)
cgz = lib.lsm9ds1_calcGyro(self.__conn, gz)
mx = lib.lsm9ds1_getMagX(self.__conn)
my = lib.lsm9ds1_getMagY(self.__conn)
mz = lib.lsm9ds1_getMagZ(self.__conn)
cmx = lib.lsm9ds1_calcMag(self.__conn, mx)
cmy = lib.lsm9ds1_calcMag(self.__conn, my)
cmz = lib.lsm9ds1_calcMag(self.__conn, mz)
return [cax, cay, caz, cgx, cgy, cgz, cmx, cmy, cmz]
def getData():
#connect with IMU
imu = lib.lsm9ds1_create()
lib.lsm9ds1_begin(imu)
if lib.lsm9ds1_begin(imu) == 0:
print("Failed to communicate with LSM9DS1.")
quit()
lib.lsm9ds1_calibrate(imu)
while True:
#get IMU accel data
global lasttime
#new structure testing
if lib.lsm9ds1_accelAvailable(imu) > 0 and ser.in_waiting > 8:
lib.lsm9ds1_readAccel(imu)
ax = lib.lsm9ds1_getAccelX(imu)
ay = lib.lsm9ds1_getAccelY(imu)
cax = lib.lsm9ds1_calcAccel(imu, ax)
cay = lib.lsm9ds1_calcAccel(imu, ay)
#TFmini data
recv = ser.read(9)
ser.reset_input_buffer()
if recv[0] == 0x59 and recv[1] == 0x59:
distance = recv[2] + recv[3] * 256
ser.reset_input_buffer()
currentTime = str(datetime.datetime.now())
#timestamp data
row = [
currentTime, distance, cax, cay
] #the row being written to csv file, just x and y accel
diff = time.time() - lasttime
print(diff)
lasttime = time.time()
print(row)
def getData():
global lasttime
#connect with IMU
imu = lib.lsm9ds1_create()
lib.lsm9ds1_begin(imu)
if lib.lsm9ds1_begin(imu) == 0:
print("Failed to communicate with LSM9DS1.")
quit()
lib.lsm9ds1_calibrate(imu)
current = time.time()
while current - startTime < 10:
current = time.time()
if lib.lsm9ds1_accelAvailable(imu) > 0 and ser.in_waiting > 8:
lib.lsm9ds1_readAccel(imu)
ax = lib.lsm9ds1_getAccelX(imu)
ay = lib.lsm9ds1_getAccelY(imu)
az = lib.lsm9ds1_getAccelZ(imu)
cax = lib.lsm9ds1_calcAccel(imu, ax)
cay = lib.lsm9ds1_calcAccel(imu, ay)
caz = lib.lsm9ds1_calcAccel(imu, az)
gx = lib.lsm9ds1_getGyroX(imu)
gy = lib.lsm9ds1_getGyroY(imu)
gz = lib.lsm9ds1_getGyroZ(imu)
cgx = lib.lsm9ds1_calcGyro(imu, gx)
cgy = lib.lsm9ds1_calcGyro(imu, gy)
cgz = lib.lsm9ds1_calcGyro(imu, gz)
#TFmini data
recv = ser.read(9)
ser.reset_input_buffer()
if recv[0] == 0x59 and recv[1] == 0x59:
distance = recv[2] + recv[3] * 256
ser.reset_input_buffer()
currentTime = str(datetime.datetime.now()); #timestamp data
row = [currentTime,distance,cax,cay,caz,cgx,cgy,cgz] #the row being written to csv file, just x and y accel
rowList.append(row)
diff = time.time() - lasttime
timeDiffer.append(diff)
#print(diff)
lasttime = time.time()
#print(row)
print("start writing data")
with open(datafile,"a",newline = '') as csvfile:
spamwriter = csv.writer(csvfile, delimiter=',', quoting=csv.QUOTE_MINIMAL)
for i in range(len(rowList)):
row = [rowList[i]]
spamwriter.writerow(row)
print("start writing frequency")
with open(filename,"a",newline = '') as csvfile:
spamwriter = csv.writer(csvfile, delimiter=',', quoting=csv.QUOTE_MINIMAL)
for i in range(len(timeDiffer)):
row = [timeDiffer[i]]
spamwriter.writerow(row)
def getIMU():
global imu
lib.lsm9ds1_readAccel(imu)
ax = lib.lsm9ds1_getAccelX(imu)
ay = lib.lsm9ds1_getAccelY(imu)
az = lib.lsm9ds1_getAccelZ(imu)
cax = lib.lsm9ds1_calcAccel(imu, ax)
cay = lib.lsm9ds1_calcAccel(imu, ay)
caz = lib.lsm9ds1_calcAccel(imu, az)
gx = lib.lsm9ds1_getGyroX(imu)
gy = lib.lsm9ds1_getGyroY(imu)
gz = lib.lsm9ds1_getGyroZ(imu)
cgx = lib.lsm9ds1_calcGyro(imu, gx)
cgy = lib.lsm9ds1_calcGyro(imu, gy)
cgz = lib.lsm9ds1_calcGyro(imu, gz)
return (cax, cay, caz, cgx, cgy, cgz)
def getData():
global lasttime
#connect with IMU
imu = lib.lsm9ds1_create()
lib.lsm9ds1_begin(imu)
if lib.lsm9ds1_begin(imu) == 0:
print("Failed to communicate with LSM9DS1.")
quit()
lib.lsm9ds1_calibrate(imu)
while True:
#beforeIf = time.time()
time.sleep(0.2)
if lib.lsm9ds1_accelAvailable(imu) > 0:
afterIf = time.time()
lib.lsm9ds1_readAccel(imu)
ax = lib.lsm9ds1_getAccelX(imu)
ay = lib.lsm9ds1_getAccelY(imu)
az = lib.lsm9ds1_getAccelZ(imu)
cax = lib.lsm9ds1_calcAccel(imu, ax)
cay = lib.lsm9ds1_calcAccel(imu, ay)
caz = lib.lsm9ds1_calcAccel(imu, az)
gx = lib.lsm9ds1_getGyroX(imu)
gy = lib.lsm9ds1_getGyroY(imu)
gz = lib.lsm9ds1_getGyroZ(imu)
cgx = lib.lsm9ds1_calcGyro(imu, gx)
cgy = lib.lsm9ds1_calcGyro(imu, gy)
cgz = lib.lsm9ds1_calcGyro(imu, gz)
## #add to list
## caxl.append(cax)
## cayl.append(cay)
## cazl.append(caz)
## cgxl.append(cgx)
## cgyl.append(cgy)
## cgzl.append(cgz)
print(cax, cay, caz, cgx, cgy, cgz)
def getIMU():
global imu
lib.lsm9ds1_readAccel(imu)
lib.lsm9ds1_readGyro(imu)
lib.lsm9ds1_readMag(imu)
ax = lib.lsm9ds1_getAccelX(imu)
ay = lib.lsm9ds1_getAccelY(imu)
az = lib.lsm9ds1_getAccelZ(imu)
cax = lib.lsm9ds1_calcAccel(imu, ax)
cay = lib.lsm9ds1_calcAccel(imu, ay)
caz = lib.lsm9ds1_calcAccel(imu, az)
gx = lib.lsm9ds1_getGyroX(imu)
gy = lib.lsm9ds1_getGyroY(imu)
gz = lib.lsm9ds1_getGyroZ(imu)
cgx = lib.lsm9ds1_calcGyro(imu, gx)
cgy = lib.lsm9ds1_calcGyro(imu, gy)
cgz = lib.lsm9ds1_calcGyro(imu, gz)
mx = lib.lsm9ds1_getMagX(imu)
my = lib.lsm9ds1_getMagY(imu)
mz = lib.lsm9ds1_getMagZ(imu)
cmx = lib.lsm9ds1_calcMag(imu, mx)
cmy = lib.lsm9ds1_calcMag(imu, my)
cmz = lib.lsm9ds1_calcMag(imu, mz)
return (cax, cay, caz, cgx, cgy, cgz, cmx, cmy, cmz)
