def readGyroAngles():
# Read the gyroscope
imu=IMU() # Default IC2 port 1
imu.gyro_range("245DPS")
imu.read_gyro()
angles = qM.getEuler()
return Angles
def sensor_reader ():
jaylen_data = IMU()
jaylen_data.initialize()
#enable sensors here
jaylen_data.enable_accel()
jaylen_data.enable_gyro()
#declaring the range of the accelerometer
jaylen_data.accel_range("8G")
jaylen_data.read_accel()
jaylen_data.read_gyro()
ax = jaylen_data.ax
ay = jaylen_data.ay
az = jaylen_data.az
gx = jaylen_data.gx
gy = jaylen_data.gy
gz = jaylen_data.gz
return ax, ay, az
# accel_x.pop(0)
# accel_x.append(imu.ax-accel_offset.ax)
# accel_time.pop(0)
# accel_time.append(current_time)
velocity = 0
gyro_data = open('gyro_data.txt', 'w')
time_data = open('time_data.txt', 'w')
start_time = time.time()
end_time = start_time + 60
while (time.time() < end_time):
#imu.read_accel()
current_time = time.time()
#imu.read_mag()
imu.read_gyro()
#imu.readTemp()
#accel_x.pop(0)
#accel_x.append(imu.ax-accel_offset.ax)
#accel_time.pop(0)
#accel_time.append(current_time)
gyro_data.write(str(imu.gz) + "\n")
time_data.write(str(current_time-start_time) + "\n")
#velocity = np.trapz([accel_x[0], accel_x[2]], x=[0, accel_time[2]-accel_time[0]])
#print "Acceleration before offset x: " + str(imu.ax)
#print "Acceleration x: " + str(imu.ax-accel_offset.ax)
#print "time: " + str(accel_time[2])
#print "Velocity: " + str(velocity)
# this is for non-blocking input
old_settings = termios.tcgetattr(sys.stdin)
try:
tty.setcbreak(sys.stdin.fileno())
imu.read_mag()
mag = (imu.mx, imu.my, imu.mz)
calibrate(mag)
print fuse.magbias
while (1):
imu.read_accel()
imu.read_mag()
imu.read_gyro()
imu.readTemp()
#gather the accel results for the fusion algorithm
accel = (float(imu.ax), float(imu.ay), float(imu.az))
gyro = (float(imu.gx), float(imu.gy), float(imu.gz))
mag = (float(imu.mx), float(imu.my), float(imu.mz))
# Print the results
print "Accel: " + str(imu.ax) + ", " + str(imu.ay) + ", " + str(imu.az)
print "Mag: " + str(imu.mx) + ", " + str(imu.my) + ", " + str(imu.mz)
print "Gyro: " + str(imu.gx) + ", " + str(imu.gy) + ", " + str(imu.gz)
print "Temperature: " + str(imu.temp)
outFile_accel.write(
"{:7.3f},{:7.3f},{:7.3f},{:7.3f}, {:7.3f}, {:7.3f}\n".format(
imu.ax, imu.ay, imu.az, imu.gx, imu.gy, imu.gz))
