def __init__(self):
"""Set up the hardware we're using.
Set orientation to non-supported value to force initialization.
"""
self.imu = imu.IMU()
self.ssid = None
self.password = None
self.orientation = lcd.PORTRAIT
self.ButtonA = btnA
self.ButtonB = btnB
lcd.fill(BLACK)
self.SetOrientation()
def __init__(self):
"""Set up the hardware we're using.
Set orientation to non-supported value to force initialization.
"""
self.imu = imu.IMU()
self.ssid = None
self.password = None
self.orientation = lcd.PORTRAIT
self.chase_index = 0
self.old_chase = []
self.new_chase = []
lcd.fill(BLACK)
self.SetOrientation()
def gyro_start(obj):
global _pos
import i2c_bus
_pos = [0, 0]
lcd.image(0, 0, '/flash/img/3-3.jpg', type=lcd.JPG)
obj['color']= lcd.RED
from lib import imu
obj['imu'] = imu.IMU()
if obj['imu'].address == 0x68:
if obj['imu'].whoami == 0x19:
if get_bmm150_status():
obj['color'] = lcd.GREEN
lcd.print("IMU:MPU9250", 190, 20, 0xFFAAAA)
else:
obj['color'] = lcd.BLACK
elif obj['imu'].address == 0x6c:
if get_bmm150_status():
obj['color'] = lcd.BLUE
lcd.print("IMU:SHQ200", 190, 20, 0xFFAAAA)
obj['buf'] = [[0, 0] for i in range(0, 6)]
lcd.rect(65, 65, 60, 60, lcd.WHITE, lcd.WHITE) # old pic dot clean
def setUp(self):
self.imu = imu.IMU()
from m5stack import lcd
from machine import Pin
import utime as time
#from mpu9250 import MPU9250
import imu
from fusion import Fusion
from machine import I2C
i2c = I2C(sda=21, scl=22)
imu = imu.IMU()
fuse = Fusion()
def getmag(): # Return (x, y, z) tuple (blocking read)
return imu.mag.xyz
if btnA.isPressed():
print("Calibrating. Press switch when done.")
fuse.calibrate(getmag, BtnB.press, lambda: time.sleep(0.1))
if self.y > screen_height:
self.y = screen_height
def update(self, dx, dy):
lcd.pixel(self.x, self.y, bgcolor)
self.x += dx
self.y += dy
self.checkBorders()
lcd.pixel(self.x, self.y, self.color)
mc = object()
setScreenColor(bgcolor)
#hat_Joystick0 = hat.get(hat.JOYSTICK)
imu0 = imu.IMU()
gyroZeroX = imu0.gyro[1]
gyroZeroY = imu0.gyro[0]
label0 = M5TextBox(60, 15, "Text", lcd.FONT_Default,0xFFFFFF, rotate=180)
while True:
#mc_dx = int(hat_Joystick0.X / sensitivity)
#mc_dy = int(-hat_Joystick0.Y / sensitivity)
mc_dx = int((imu0.gyro[1] - gyroZeroX) / sensitivity)
mc_dy = int((imu0.gyro[0] - gyroZeroY) / sensitivity)
label0.setText(str(mc_dx) + ", " + str(mc_dy))
mc.update(mc_dx, mc_dy)
wait_ms(2)
#!/usr/bin/env python
import web # web.py
import smbus
import imu as imu
from 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()
if q[0] == 3:
q[0] = 'forearm'
response = {
'id': q[0],
'quaternion': {
'x': q[1],
'y': q[2],
'z': q[3],
'w': q[4]
},
'timestamp': q[5]
}
do_notify(response)
serial_port = serial.Serial(imu.get_port(), timeout=1, baudrate=115200)
sensor3 = imu.IMU(serial_port, 3)
sensor2 = imu.IMU(serial_port, 2)
t = thread.start_new_thread(main, ())
i = raw_input('Parar?')
running = False
sensor2.stop_streaming()
sensor3.stop_streaming()
# server()
# teste git
serial_port.close()
print 'adeus'
import imu
import time
gyro = imu.IMU()
while True:
print(gyro.ypr)
time.sleep(0.1)
get_euler_angles(call, addr, responseData)
elif service == 'registerListener':
register_listener(call, addr, responseData)
# responds
response['responseData'] = responseData
conn.send(json.dumps(response) + '\n')
conn.close()
# this is just a notify test!!! remove it!!!
register_listener(call, addr, responseData)
do_notify('newdata')
def server():
s = socket.socket()
localep = (HOST, PORT_IN)
s.bind(localep)
s.listen(5)
print 'listening on: ', localep, ';'
while True:
conn, addr = s.accept()
thread.start_new_thread(handle_incoming, (conn, addr))
serialPort = serial.Serial(DNG_PORT, baudrate=115200)
arm_IMU = imu.IMU(serialPort, ARM_IMU_ADDR)
foreamr_IMU = imu.IMU(serialPort, FOREARM_IMU_ADDR)
# starts listening...
server()
