from bstem.platform import AdCord from bstem.platform import Bstem from datetime import datetime ad=AdCord() b=Bstem() ad.gyroscope.enabled=False ad.accelerometer.enabled=False ad.barometer.enabled=False ad.magnetometer.enabled=False print(ad.gyroscope.enabled,ad.accelerometer.enabled,ad.barometer.enabled,ad.magnetometer.enabled) ad.gyroscope.enabled=True ad.accelerometer.enabled=True ad.barometer.enabled=True ad.magnetometer.enabled=True print(ad.gyroscope.enabled,ad.accelerometer.enabled,ad.barometer.enabled,ad.magnetometer.enabled) '''ad.motor[0].speed=0.5 ad.motor[2].speed=-0.5''' t=datetime.time(datetime.now()) print("Time:",t) print("Second:",t.second) m=t.minute mi=t.minute print("Minute",m) while(m!=mi+20):
import tty, sys, termios from bstem.platform import AdCord ad1 = AdCord() class ReadChar(): def __enter__(self): self.fd = sys.stdin.fileno() self.old_settings = termios.tcgetattr(self.fd) tty.setraw(sys.stdin.fileno()) return sys.stdin.read(1) def __exit__(self, type, value, traceback): termios.tcsetattr(self.fd, termios.TCSADRAIN, self.old_settings) f = open('encoders.txt', 'w') def erun(): stscalar = 0.3 scalar = 0.5 newscalar = 0.1 while True: with ReadChar() as rc: char = rc #print(ord(char)) print("Leftwheel:", -ad1.encoder[2].position * 3.38) #left motor print("Rightwheel:", ad1.encoder[0].position * 3.38) #right motor
from bstem.sensor import Magnetometer from bstem import compass_calibration from bstem.platform import AdCord import time a= AdCord() while(True): x=a.magnetometer.x y=a.magnetometer.y z=a.magnetometer.z print(x ,"\t" ,y ,"\t", z, "\n") time.sleep(0.01)
from bstem.platform import AdCord from gyro_calib import * from encoders import * import threading adz = AdCord() g = threading.Thread(target=gyro) #gyro thread g.daemon = True g.start() e = threading.Thread(target=erun) #erun thread e.daemon = True e.start() r1 = open("agereadings.txt", "w") while True: gz = q.get() r1.write( str(gz) + "," + str(adz.accelerometer.value) + (-adz.encoder[3].position * 3.38) + (adz.encoder[1].position * 3.38) + "\n") r1.close()
from bstem.platform import AdCord from math import * import time import sys import Queue #import sys.exitfunc qg = Queue.Queue() #qo=Queue.Queue() adr = AdCord() offsetX = 0 offsetY = 0 offsetZ = 0 f = open("gyro_readrings_raw", 'w', 0) for i in range(1, 250): #junk values gyro = adr.gyroscope f.write(str(gyro.x) + "," + str(gyro.y) + "," + str(gyro.z) + "\n") f.write("-------------------" + "\n") for i in range(1, 500): #500 values mean offset #print(adr.gyroscope.z) gyro = adr.gyroscope #f.write(str(gyro.x)+","+str(gyro.y)+","+str(gyro.z)+"\n") offsetX += gyro.x * 57.2957795 offsetY += gyro.y * 57.2957795 offsetZ += gyro.z * 57.2957795 offsetX = offsetX / 500 offsetY = offsetY / 500 offsetZ = offsetZ / 500 print("Initializing Jarvis...\n") print("Offset:", offsetX, offsetY, offsetZ)