__author__ = 'ivanbahdanau'
#!/usr/bin/env python
import sys
import smbus
import bitify.python.sensors.imu as imu
from bitify.python.utils.i2cutils import i2c_raspberry_pi_bus_number
bus = smbus.SMBus(i2c_raspberry_pi_bus_number())
imu_controller = imu.IMU(bus, 0x69, 0x53, 0x1e, "IMU")
imu_controller.set_compass_offsets(41, 136, 9)
if len(sys.argv) >= 2 and sys.argv[1] == 'stat':
print "pitch,roll,yaw,axelX,axelY,axelZ"
for i in range(0, 5000):
( pitch, roll, yaw, axel_x, axel_y, axel_z) = imu_controller.read_pitch_roll_yaw_with_speeds()
result = "%.2f %.2f %.2f %.2f %.2f %.2f" % (roll, pitch, yaw, axel_x, axel_y, axel_z)
print result
else:
(pitch, roll, yaw, axel_x, axel_y, axel_z) = imu_controller.read_pitch_roll_yaw_with_speeds()
print "position:"
print " pitch = %.3f" % (pitch)
print " roll = %.3f" % (roll)
print " yaw = %.3f" % (yaw)
print "====================================="
def read_scaled_accel_y(self):
'''Return the SCALED Y accelerometer value'''
return self.accel_scaled_y
def read_scaled_accel_z(self):
'''Return the SCALED Z accelerometer value'''
return self.accel_scaled_z
def read_pitch(self):
'''Calculate the current pitch value in radians'''
x = self.read_scaled_accel_x()
y = self.read_scaled_accel_y()
z = self.read_scaled_accel_z()
return self.read_x_rotation(x, y, z)
def read_roll(self):
'''Calculate the current roll value in radians'''
x = self.read_scaled_accel_x()
y = self.read_scaled_accel_y()
z = self.read_scaled_accel_z()
return self.read_y_rotation(x, y, z)
if __name__ == "__main__":
bus = smbus.SMBus(I2CUtils.i2c_raspberry_pi_bus_number())
adxl345 = ADXL345(bus, 0x53, "accel")
adxl345.read_raw_data()
print adxl345.read_scaled_accel_x()
print adxl345.read_scaled_accel_y()
print adxl345.read_scaled_accel_z()
#!/usr/bin/env python
import web # web.py
import smbus
import bitify.python.sensors.imu as imu
from bitify.python.utils.i2cutils import i2c_raspberry_pi_bus_number
urls = (
'/', 'index'
)
bus = smbus.SMBus(i2c_raspberry_pi_bus_number())
imu_controller = imu.IMU(bus, 0x69, 0x53, 0x1e, "IMU")
imu_controller.set_compass_offsets(9, -10, -140)
app = web.application(urls, globals())
class index:
def GET(self):
(pitch, roll, yaw) = imu_controller.read_pitch_roll_yaw()
result = "%.2f %.2f %.2f" % (pitch, roll, yaw)
return result
if __name__ == "__main__":
app.run()
def read_scaled_accel_y(self):
'''Return the SCALED Y accelerometer value'''
return self.accel_scaled_y
def read_scaled_accel_z(self):
'''Return the SCALED Z accelerometer value'''
return self.accel_scaled_z
def read_pitch(self):
'''Calculate the current pitch value in radians'''
x = self.read_scaled_accel_x()
y = self.read_scaled_accel_y()
z = self.read_scaled_accel_z()
return self.read_x_rotation(x, y, z)
def read_roll(self):
'''Calculate the current roll value in radians'''
x = self.read_scaled_accel_x()
y = self.read_scaled_accel_y()
z = self.read_scaled_accel_z()
return self.read_y_rotation(x, y, z)
if __name__ == "__main__":
bus = smbus.SMBus(I2CUtils.i2c_raspberry_pi_bus_number())
adxl345=ADXL345(bus, 0x53, "accel")
adxl345.read_raw_data()
print adxl345.read_scaled_accel_x()
print adxl345.read_scaled_accel_y()
print adxl345.read_scaled_accel_z()
