def __init__(self,
service_port,
host_ip,
spots_available,
data_log_mode=False):
'''
This will create a ParKingClient
:param service_port:
:param host_ip:
:param data_log_mode:
:return:
'''
self.data_log_mode = data_log_mode
if self.data_log_mode:
self.log_file = self.create_logs()
self.data_file = self.create_data_file()
else:
self.log_file = None
self.data_file = None
self.index_for_csv = 1
self.host_ip = host_ip
self.service_port = service_port
self.running = False
self.sock = socket(AF_INET, SOCK_STREAM)
self.connect()
self.send_init_packet(spots_available)
alive_thread = Thread(target=self.keep_alive, args=())
alive_thread.daemon = True
alive_thread.start()
GPIO.setmode(GPIO.BCM)
self.write_to_log('creating sensor 1')
self.sensor_1 = i2c_hmc5883l.i2c_hmc5883l(1)
self.sensor_1.setContinuousMode()
self.sensor_1.setDeclination(0, 6)
self.write_to_log('sensor one created')
if not config.ONE_SENSOR:
self.write_to_log('creating sensor 2')
self.sensor_2 = i2c_hmc5883l.i2c_hmc5883l(0)
self.sensor_2.setContinuousMode()
self.sensor_2.setDeclination(0, 6)
self.write_to_log('sensor two created')
sleep(2)
(x, y, z) = self.read_from_sensor_1()
self.z_base_line_1 = z
self.last_z_signal_1 = 0
if not config.ONE_SENSOR:
(x, y, z) = self.read_from_sensor_2()
self.z_base_line_2 = z
self.last_z_signal_2 = 0
def __init__(self, service_port, host_ip, spots_available, data_log_mode=False):
'''
This will create a ParKingClient
:param service_port:
:param host_ip:
:param data_log_mode:
:return:
'''
self.data_log_mode = data_log_mode
if self.data_log_mode:
self.log_file = self.create_logs()
self.data_file = self.create_data_file()
else:
self.log_file = None
self.data_file = None
self.index_for_csv = 1
self.host_ip = host_ip
self.service_port = service_port
self.running = False
self.sock = socket(AF_INET, SOCK_STREAM)
self.connect()
self.send_init_packet(spots_available)
alive_thread = Thread(target=self.keep_alive, args=())
alive_thread.daemon = True
alive_thread.start()
GPIO.setmode(GPIO.BCM)
self.write_to_log('creating sensor 1')
self.sensor_1 = i2c_hmc5883l.i2c_hmc5883l(1)
self.sensor_1.setContinuousMode()
self.sensor_1.setDeclination(0,6)
self.write_to_log('sensor one created')
if not config.ONE_SENSOR:
self.write_to_log('creating sensor 2')
self.sensor_2 = i2c_hmc5883l.i2c_hmc5883l(0)
self.sensor_2.setContinuousMode()
self.sensor_2.setDeclination(0,6)
self.write_to_log('sensor two created')
sleep(2)
(x, y, z) = self.read_from_sensor_1()
self.z_base_line_1 = z
self.last_z_signal_1 = 0
if not config.ONE_SENSOR:
(x, y, z) = self.read_from_sensor_2()
self.z_base_line_2 = z
self.last_z_signal_2 = 0
def __init__(self):
self.hmc5883l = i2c_hmc5883l.i2c_hmc5883l(
1) #wenn nicht das erste I2C Gerät muss die Eins geändert werden
self.hmc5883l.setContinuousMode()
self.hmc5883l.setDeclination(2, 15)
def __init__(self, service_port, host_ip, spots_available, data_log_mode=False):
'''
This will create a ParKingClient
:param service_port:
:param host
:ip:
:param data_log_mode:
:return:
'''
self.data_log_mode = data_log_mode
if self.data_log_mode:
self.log_file = self.create_logs()
else:
self.log_file = None
self.host_ip = host_ip
self.service_port = service_port
self.running = False
self.sock = socket(AF_INET, SOCK_STREAM)
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BOARD)
self.write_to_log('creating sensor 1')
self.sensor_1 = i2c_hmc5883l.i2c_hmc5883l(1)
self.sensor_1.setContinuousMode()
self.sensor_1.setDeclination(0,6)
self.write_to_log('sensor one created')
sleep(2)
(x, y, z) = self.read_from_sensor_1()
self.z_base_line_1 = z
self.last_z_signal_1 = 0
def writeCalibratedSamples(num, freq, infile, outfile):
# Calculate calibration constants
xc, yc, zc = calculateCalibration(infile)
print(xc)
print(yc)
print(zc)
# Instantiate I2C communication and set HMC5883L to continuous mode
hmc5883l = i2c_hmc5883l.i2c_hmc5883l(1)
hmc5883l.setContinuousMode()
# Store and return sample lists
xs = []
ys = []
zs = []
sleep_time = 1 / freq
# Take num samples of x, y, and z magnitudes
for i in list(range(num)):
x, y, z = hmc5883l.getAxes()
print(x)
print(y)
print(z)
x -= xc
y -= yc
z -= zc
outfile.write('%.2f,%.2f,%.2f\n' % (x, y, z))
xs.append(x)
ys.append(y)
zs.append(z)
time.sleep(sleep_time)
return xs, ys, zs
def main(): compass = i2c_hmc5883l.i2c_hmc5883l(4) # 4 is because /dev/i2c-4 is the GPIO I2C bus on the odroid compass.setContinuousMode() compass.setDeclination(0, 6) # Get data from compass 10 times and print for i in range(10): print(compass) time.delay(1)
def __init__(self, pin, i2c_port=1):
"""
Configures the GPIO pin powering the magnetometer.
Initializes I2C communication to HMC5883L magnetometer.
"""
self.gpio = OutputDevice(pin)
logger.info("Configured GPIO pin %d for magnetometer power" % pin)
self.hmc = i2c_hmc5883l(i2c_port, gauss=self.lower_bound)
logger.info("Initialized I2C communication at port %d" % i2c_port)
def __init__(self):
from i2clibraries import i2c_hmc5883l
from i2clibraries import i2c_adxl345
from i2clibraries import i2c_itg3205
i2c_port = 0 # different versions of the pi use different ports
self.accelerometer = i2c_adxl345.i2c_adxl345(i2c_port)
self.accelerometer.setScale(2)
self.gyroscope = i2c_itg3205.i2c_itg3205(i2c_port, addr=0x68)
self.magnetometer = i2c_hmc5883l.i2c_hmc5883l(i2c_port)
self.magnetometer.setContinuousMode()
self.magnetometer.setDeclination(1,43) # magnetic declination in degrees west (degrees, minute)
print("SEN10724 IMU initialised")
def compass():
# Create an object for the electronic compass, should be moved to the objects file
compass = i2c_hmc5883l.i2c_hmc5883l(1)
# Set the compass to measure continuously
compass.setContinuousMode()
# This is where it gets tricky. The setDeclination function is to set the magnetic declination for the place you want to use the compass
# For The Netherlands the magnetic Declination is 0,5 degrees per 7 radialdegrees
compass.setDeclination(0.5, 7)
while True:
# Break when a shutdown is requested
if ShutdownRequested:
break
# Else update the heading variables of the droid
else:
(CompassHeadingDegrees, CompassHeadingMinutes) = compass.getHeading()
def comp_heading(): from i2clibraries import i2c_hmc5883l import time # select i2c port hmc5883l = i2c_hmc5883l.i2c_hmc5883l(1) hmc5883l.setContinuousMode() # set magnetic declination hmc5883l.setDeclination(8,22) heading_list = hmc5883l.getHeading() minutes = heading_list[1]/60 heading = heading_list[0] + minutes return (heading)
def writeSamples(num, freq, outfile):
# Instantiate I2C communication and set HMC5883L to continuous mode
hmc5883l = i2c_hmc5883l.i2c_hmc5883l(1)
hmc5883l.setContinuousMode()
sleep_time = 1 / freq
# Take num samples of x, y, and z magnitudes
for i in list(range(num)):
x, y, z = hmc5883l.getAxes(
) # returns float('nan') if register overflow
print(x)
print(y)
print(z)
#if all([x!=None, y!=None, z!=None]):
outfile.write('%.2f,%.2f,%.2f\n' % (x, y, z))
time.sleep(sleep_time)
def __init__(self, compass_stack, compass_n, compass_s):
# Call Thread initializer
super(Compass, self).__init__()
# Get IGVC logger
self.logger = logging.getLogger("IGVC")
# Save stack and semaphores
self.compass_stack = compass_stack
self.compass_n = compass_n
self.compass_s = compass_s
self.stopped = False
# Instantiates compass
self.compass = i2c_hmc5883l.i2c_hmc5883l(4) # 4 is because /dev/i2c-4 is the GPIO I2C bus on the odroid
self.compass.setContinuousMode()
self.compass.setDeclination(0, 6)
def __init__(self,
service_port,
host_ip,
spots_available,
data_log_mode=False):
'''
This will create a ParKingClient
:param service_port:
:param host
:ip:
:param data_log_mode:
:return:
'''
self.data_log_mode = data_log_mode
if self.data_log_mode:
self.log_file = self.create_logs()
else:
self.log_file = None
self.host_ip = host_ip
self.service_port = service_port
self.running = False
self.sock = socket(AF_INET, SOCK_STREAM)
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BOARD)
self.write_to_log('creating sensor 1')
self.sensor_1 = i2c_hmc5883l.i2c_hmc5883l(1)
self.sensor_1.setContinuousMode()
self.sensor_1.setDeclination(0, 6)
self.write_to_log('sensor one created')
sleep(2)
(x, y, z) = self.read_from_sensor_1()
self.z_base_line_1 = z
self.last_z_signal_1 = 0
from i2clibraries import i2c_hmc5883l
import time
hmc5883l = i2c_hmc5883l.i2c_hmc5883l(
1) #choosing which i2c port to use, RPi2 model B uses port 1
hmc5883l.setContinuousMode()
hmc5883l.setDeclination(0, 6) #in brakets (degrees, minute)
#hmc5883l.getHeading()
for i in range(1, 10):
i = hmc5883l
print(i)
time.sleep(0.5)
#print(hmc5883l)
self.bct_POWER)
sleep(1)
# -----------------------------------------------------------------------------------------------
# test_main
if __name__ == "__main__":
test = Beacon_tx()
test.beacon_TX_config("up", "leadv 3", "noscan")
test.beacon_TX_cmd_format(test.bct_OCF_format, test.bct_IBEACONPROFIX,
test.bct_UUID, test.bct_MAJOR, test.bct_MINOR,
test.bct_POWER)
test.beacon_TX_cmd_setting(test.bct_OCF_setting, 100)
test.beacon_TX_cmd_operate(test.bct_OCF_operate, test.bct_start)
test_compass = compass.i2c_hmc5883l(1)
test_compass.setContinuousMode()
test_compass.setDeclination(0, 6)
test_gps = gps_module.gps()
print("Receiving GPS data")
print("BLE EMIT START")
ser = gps_module.serial.Serial(test_gps.port, baudrate=9600)
while True:
try:
test.beacon_TX_DevTrigger(test.formation, test_gps.beacon_lat,
test_gps.beacon_lon,
test_compass.getHeadingString())
print(test_compass)
for i in range(1, 17):
import bluetooth
import RPi.GPIO as GPIO #calling for header file which helps in using GPIOs of PI
import time
from i2clibraries import i2c_hmc5883l
MOTOR = 18
GPIO.setmode(
GPIO.BCM) #programming the GPIO by BCM pin numbers. (like PIN40 as GPIO21)
GPIO.setwarnings(False)
GPIO.setup(MOTOR, GPIO.OUT) #initialize GPIO18 (MOTOR) as an output Pin
p = GPIO.PWM(MOTOR, 50) #set up PWM on the MOTOR pin
hmctest = i2c_hmc5883l.i2c_hmc5883l(1)
hmctest.setContinuousMode()
hmctest.setDeclination(0, 13) #sets up pins for I2C module
while 1: # runs forever
server_socket = bluetooth.BluetoothSocket(bluetooth.RFCOMM)
port = 1
server_socket.bind(("", port))
client_socket = 0 #setting up the bluetooth module to get ready for a connection
print("Awaiting SPP bluetooth connection")
server_socket.listen(
1) #waits for an incoming connection before moving on.
client_socket, address = server_socket.accept(
) #accepts incoming connection.
print("Accepted connection from ", address)
p.start(2.5) #start PWM on MOTOR pin
while client_socket != 0: #runs only when there is a connected device.
try: #checks to see if there is still a connection.
data = client_socket.recv(
from i2clibraries import i2c_hmc5883l
import time
compass = i2c_hmc5883l.i2c_hmc5883l(1)
def main():
global compass
compass.setContinuousMode()
compass.setDeclination(16, 0)
while 1:
heading = compass.getHeading()
print("Heading: " + str(heading[0]) + ", " + str(heading[1]))
time.sleep(1)
if __name__ == "__main__":
main()
def __init__(self, config: Config):
self.compass = i2c_hmc5883l.i2c_hmc5883l(config.compass.pin)
self.compass.setContinuousMode()
self.compass.setDeclination(*config.compass.declination)
self.calibrateCompass()
threading.Thread(target=self.getRelativeHeadingThread)
def connectCompass(self): try: self.hm = i2c_hmc5883l.i2c_hmc5883l(1) #i2c channel 1 self.hm.setContinuousMode() except Exception as e: raise e
if newHeading_Kart > 180:
newHeadingAdjusted_Kart = newHeading_Kart - 360
elif newHeading_Kart < -180:
newHeadingAdjusted_Kart = newHeading_Kart + 360
else:
newHeadingAdjusted_Kart = newHeading_Kart
return newHeadingAdjusted_Kart
#- Main code -#
#Interface with the GPS
gps_connection = gps3.GPSDSocket(host='127.0.0.1')
gps_fix = gps3.Fix()
#Interface with the Compass
hmc5883l = i2c_hmc5883l.i2c_hmc5883l(1)
hmc5883l.setContinuousMode()
hmc5883l.setDeclination(7, 52)
#Get the heading updates from the Arduino
#arduino=serial.Serial('/dev/ttyACM0',baudrate=9600, timeout = 3.0)
#arduino.isOpen()
compassHeading = None
while True:
time.sleep(0.1)
#compassHeading = arduino.readline().decode('UTF-8')
#compassHeading = compassHeading.rstrip()
compassHeading = get_KartHeading(hmc5883l)
print("== Compass ==")
print(compassHeading)
"""
Prints compass bearing every second.
Must be run with python3. Will not work if moved out of ~/summer2015/Compass/quick2wire-python-api
Attempt to use a i2clibraries code
source: http://think-bowl.com/raspberry-pi/i2c-python-library-3-axis-digital-compass-hmc5883l-with-the-raspberry-pi/
"""
import time
import os
#sets environment variables
os.system("export QUICK2WIRE_API_HOME=~/summer2015/Compass/quick2wire-python-api")
os.system("export PYTHONPATH=$PYTHONPATH:$QUICK2WIRE_API_HOME")
from i2clibraries import i2c_hmc5883l
hmc5883l = i2c_hmc5883l.i2c_hmc5883l(1, 0x1e, 0.88) #changed to 1
hmc5883l.setContinuousMode()
hmc5883l.setDeclination(-14, 42)
while True:
time.sleep(1)
print(hmc5883l)
# To get degrees and minutes into variables
#(degrees, minutes) = hmc5883l.getDeclination()
#(degress, minutes) = hmc5883l.getHeading()
# To get string of degrees and minutes
#declination = hmc5883l.getDeclinationString()
from envirophat import motion, analog, leds
import time
from i2clibraries import i2c_hmc5883l
# INITIALISATION START
compass = i2c_hmc5883l.i2c_hmc5883l(1)
compass.setContinuousMode()
compass.setDeclination(1, 47)
# INITIALISATION DONE
try:
print('started compass')
while True:
(heading, minutes) = compass.getHeading()
compareHeading = motion.heading()
print(heading, compareHeading)
time.sleep(.2)
except KeyboardInterrupt:
leds.off()
#- Main code -#
#File to write the data
archivo = open("coordenadas.txt","a")
archivo.write("Inicio\n")
#Interface with the controller
gamepad = InputDevice("/dev/input/event0")
print(gamepad)
#Interface with the GPS
gps_connection = gps3.GPSDSocket(host='127.0.0.1')
gps_fix = gps3.Fix()
#Interface with the Compass
hmc5883l = i2c_hmc5883l.i2c_hmc5883l(1)
hmc5883l.setContinuousMode()
hmc5883l.setDeclination(8,0)
adxl345 = i2c_adxl345.i2c_adxl345(1)
direccionFinal = 1
#Instance of the API
api = Api("carroV1")
compassHeading = None
velocity = 0
manual = True
while True:
def __init__(self):
self.hmc5883l = i2c_hmc5883l.i2c_hmc5883l(1)
self.hmc5883l.setContinuousMode()
self.hmc5883l.setDeclination(-20, 54)
threading.Thread.__init__(self)
