def __init__(self):
self.g = [0, 0, 1]
try:
self.ch = Spatial()
except RuntimeError as e:
print "FailAccel"
self.stopped = True
self.dynAccel = [0, 0, 0]
self.previousDynAccel = [0, 0, 0]
self.velocity = [0, 0, 0]
self.previousVelocity = [0, 0, 0]
self.distance = [0, 0, 0]
self.prevTime = time.time()
self.initTime = time.time()
self.q = [0, 0, 0, 0]
self.gyroOffset = [0, 0, 0]
self.F = open(
"/home/pi/MLRobot/Data2/AccelRawDyn" +
time.strftime("%e:%H:%M:%S", time.localtime(time.time())), "w")
line = "##########Next Run######### Trial " + str(
trialNumber) + "\nTime,Ax,Ay,Az,Gx,Gy,Gz, DynX, DynY, DynZ\n"
self.F.write(line)
self.ch.setOnSpatialDataHandler(self.AccelerationChangeHandler)
self.ch.openWaitForAttachment(5000)
self.ch.setDataInterval(int(samplingTime))
self.ch.zeroGyro()
def __init__(self):
self.ch = Spatial()
super(SpatialDevice, self).__init__(self.ch)
self.last_angles = [0.0, 0.0, 0.0]
self.compass_bearing_filter = []
self.bearing_filter_size = 2
self.compass_bearing = 0
def __init__(self):
# read info from vehicle
spatial0 = Spatial()
spatial0.setOnSpatialDataHandler(self.onSpatialData)
spatial0.openWaitForAttachment(5000)
# arm vehicle to see position
print('Gyro Armed')
# - Read the actual attitude: Roll, Pitch, and Yaw
self.UpdateGyro()
self.StartingGyro = self.Gyro
print('Orientation: ', self.getStartingGyro())
# - Read the actual position North, East, and Down
self.UpdatePosition()
self.StartingPosition = self.Position
print('Position: ', self.getStartingPosition())
# - Read the actual depth:
time.sleep(3)
print("Starting gyro: ", self.StartingGyro)
import sys
import time
import csv
import math
import array
from Phidget22.Devices.Spatial import *
from Phidget22.PhidgetException import *
from Phidget22.Phidget import *
from Phidget22.Net import *
from cmath import *
#from SpatialTry import *
lastAngles = [0, 0, 0]
try:
ch = Spatial()
except RuntimeError as e:
print("Runtime Exception %s" % e.details)
print("Press Enter to Exit...\n")
readin = sys.stdin.read(1)
exit(1)
def SpatialAttached(e):
try:
attached = e
attached.resetMagnetometerCorrectionParameters()
attached.setMagnetometerCorrectionParameters(
0.36341, 0.09927, 0.11774, -0.07688, 2.66012, 2.56018, 3.03476,
0.01156, -0.07656, 0.00600, 0.06844, -0.05628, 0.07447)
print("\nAttach Event Detected (Information Below)")
# Event Manager Definitions
#########################################################################
tiempo = []
ac0 = []
ac1 = []
ac2 = []
gr0 = []
gr1 = []
gr2 = []
mg0 = []
mg1 = []
mg2 = []
try:
Space = Spatial()
except RuntimeError as e:
print("Runtime Exception %s" % e.details)
print("Press Enter to Exit...\n")
readin = sys.stdin.read(1)
exit(1)
########################### Spatial Setup
def SpatialAttached(e):
try:
attached = e
print("\nAttach Event Detected (Information Below)")
print("===========================================")
print("Library Version: %s" % attached.getLibraryVersion())