def __init__(self, dataFile, connection, SaveSensorData):
# Create an instance of the sensor object
self.sensor = ms5837.MS5837_30BA()
# Check if we were able to connect to the sensor
if (self.sensor._bus == None):
# There is no depth sensor connected
return None
else:
# A is the matrix we need to create that converts the last state to the new one, in our case it's just 1 because we get depth measurements directly
A = numpy.matrix([1])
# H is the matrix we need to create that converts sensors readings into state variables, since we get the readings directly from the sensor this is 1
H = numpy.matrix([1])
# B is the control matrix, since this is a 1D case and because we have no inputs that we can change we can set this to zero.
B = 0
# Q is the process covariance, since we want accurate values we set this to a very low value
Q = numpy.matrix([0.001])
# R is the measurement covariance, using a conservative estimate of 0.1 is fair
R = numpy.matrix([0.1])
# IC is the original prediction of the depth, setting this to normal room conditions makes sense
IC = self.currentDepth
# P is the initial prediction of the covariance, setting it to 1 is reasonable
P = numpy.matrix([1])
# We must initialize the sensor before reading it
self.sensor.init()
# Create the filter
self._filter = KalmanFilter(A, B, H, IC, P, Q, R)
# Create and start the process
p = Process(target=self.UpdateValue,
args=(connection, dataFile, SaveSensorData))
p.start()
def __init__(self):
rospy.init_node('pressure_node')
self.sensor = ms5837.MS5837_30BA()
# Initiating Subscribers and Publishers
self.pub_pressure = rospy.Publisher('sensors/pressure',
FluidPressure,
queue_size=1)
self.pub_temp = rospy.Publisher('sensors/temperature',
Temperature,
queue_size=1)
self.pub_depth = rospy.Publisher('sensors/depth',
Float64,
queue_size=1)
if not self.sensor.init():
rospy.logfatal('Failed to initialize.')
else:
if not self.sensor.read():
rospy.logfatal('Failed to read.')
else:
rospy.loginfo('Successfully initialized with pressure: ' +
str(ATM_PRESSURE_PA) + ' and gravity: ' +
str(LOCAL_GRAVITY))
self.talker()
def init_pressure(self):
try:
self.pressure_sensor = ms5837.MS5837_30BA()
self.pressure_sensor.init()
except Exception:
print("Pressure sensor could not be initialized")
pass
def run():
# Initialize ROS
rospy.init_node('bar30_node', anonymous=True)
pub = rospy.Publisher('/barometer', Barometer, queue_size=1)
# Connect to the Bar30 sensor on I2C bus 1
rospy.loginfo("Connecting to Bar30...")
sensor = ms5837.MS5837_30BA(1)
if not sensor.init():
rospy.logerr("Can't initialize Bar30")
exit(1)
sensor.setFluidDensity(ms5837.DENSITY_SALTWATER)
rate = rospy.Rate(10) # Max rate on the RPi3 seems to be 22 hz
# Loop until Ctrl-C
rospy.loginfo("Connected to Bar30, entering main loop")
while not rospy.is_shutdown():
if sensor.read():
msg = Barometer()
msg.header.stamp = rospy.Time.now()
msg.pressure = sensor.pressure() * 100.0 # Pascals
msg.temperature = sensor.temperature() # Celsius
msg.depth = sensor.depth() # meters
pub.publish(msg)
else:
rospy.logerr("Can't read Bar30")
rate.sleep()
def __init__(self, emitsignal):
self.emit_Signal = emitsignal
self.pilot_enable = False
self.enable = False
self.Kp = 250
self.Ki = 53
self.Kd = 35
self.sensor = ms5837.MS5837_30BA()
self.sensor.setFluidDensity(1000) # kg/m^3
self.sample_time = 0.01
self.current_time = time.time()
self.last_time = self.current_time
self.pwm_zero = 305
self.out_max = 400
self.out_min = 240
self.zero_offset = 305
self.fwd_zero_offset = 317
self.bwd_zero_offset = 296
try:
if not self.sensor.init():
exit(1)
if not self.sensor.read():
exit(1)
except:
pass
self.depth = 0.0
self.sensor_offset = self.sensor.depth()
self.SetPoint = self.sensor_offset
self.clear()
def publish():
sensor = ms5837.MS5837_30BA()
sensor.init()
tempPub = rospy.Publisher('ExternalTemperature', Temperature, queue_size=1)
depthPub = rospy.Publisher('Depth', Float32, queue_size=1)
rospy.init_node('Depth')
temp = Temperature()
depth = Float32()
freq = rospy.Rate(1)
while not rospy.is_shutdown():
sensor.read()
temp.temperature = sensor.temperature()
depth.data = sensor.depth()
tempPub.publish(temp)
depthPub.publish(depth)
freq.sleep()
def __init__(self):
super().__init__('bar30_node')
# Connect to the Bar30 sensor
# RPi is bus 1, UP Board is bus 5
self.get_logger().info("connecting to Bar30...")
self._sensor = ms5837.MS5837_30BA(5)
if not self._sensor.init():
self.get_logger().fatal("can't initialize Bar30")
exit(1)
self.get_logger().info("connected to Bar30")
self._sensor.setFluidDensity(ms5837.DENSITY_SALTWATER)
# Publish at 10Hz
self._baro_pub = self.create_publisher(Barometer, '/barometer')
self.create_timer(0.1, self.timer_callback)
def __init__(self, time):
self.pressure = 0
self.ex_pressure = 0
self.pwm = 305
self.sensor = ms5837.MS5837_30BA()
self.time = time
print("sersnor")
if not self.sensor.init():
exit(1)
if not self.sensor.read():
exit(1)
print("Pressure: ", self.sensor.pressure(ms5837.UNITS_atm))
print("Temperature: ",
self.sensor.temperature(ms5837.UNITS_Centigrade))
self.freshwaterDepth = self.sensor.depth() # default is freshwater
self.sensor.setFluidDensity(ms5837.DENSITY_SALTWATER)
def publisher():
global depthKoef, depth
sensor = ms5837.MS5837_30BA()
if not sensor.init():
print "Sensor could not be initialized"
exit(1)
rospy.init_node("ms5837", anonymous=True)
pub_bar = rospy.Publisher("/ms5837/pressure", Float64, queue_size=0)
pub_temp = rospy.Publisher("/ms5837/temp", Float64, queue_size=0)
rospy.Subscriber("/interface/depthKoef", Bool, callback)
while not rospy.is_shutdown():
if sensor.read():
depth = sensor.depth()
depthKoef = depth - depthKoef
temp = sensor.temperature()
pub_bar.publish(data=depthKoef)
pub_temp.publish(data=temp)
else:
print "Sensor read failed!"
def __init__(self, samplerate = 100., density = 997., baseTime = 0.):
""" Constructor
:type samplerate: float
:type density: float
:param samplerate: rate at which to sample the pressure sensor, in Hz
:param density: density of the water, kg m^-3
"""
#Parse the input parameters
self.samplerate = samplerate
self.density = density
#FINAL variables
self.I2CBUS = 1
self.GRAV = 9.81
#Initialize the sensor
self.sensor = ms5837.MS5837_30BA()
test1 = self.sensor.init()
test2 = self.sensor.read()
self.initialized = test1 & test2
self.running = False
#Initialize output variables
if (baseTime == 0.):
self.baseTime = time.time()
else:
self.baseTime = baseTime
self.basepress = []
for x in range(1,10):
self.sensor.read()
self.basepress += [self.sensor.pressure()]
time.sleep(0.3)
self.basepress = stats.mean(self.basepress)
self.time = [time.time()-self.baseTime]
self.temp = [self.sensor.temperature()]
self.press = [self.basepress]
self.depth = [0]
def __init__(self):
self.fluid_pub = rospy.Publisher('fluid', FluidPressure, queue_size=1)
self.depth_stamped_pub = rospy.Publisher('depth_stamped',
Vector3Stamped,
queue_size=1)
self.depth_pub = rospy.Publisher('depth', Float64, queue_size=1)
self.temp_pub = rospy.Publisher('temperature',
Temperature,
queue_size=1)
self.sensor = ms5837.MS5837_30BA(
) # Default I2C bus is 1 (Raspberry Pi 3)
self.depth = None
self.depth_raw = None
self.count = 0
# We must initialize the sensor before reading it
if not self.sensor.init():
print("Sensor could not be initialized")
exit(1)
# We have to read values from sensor to update pressure and temperature
if not self.sensor.read():
print("Sensor read failed!")
exit(1)
fluid_density = rospy.get_param('~fluid_density', 1028)
self.depth_offset = rospy.get_param('~depth_offset', 0.0)
sample_rate = float(rospy.get_param('~sample_rate', 10.0))
self.sensor.setFluidDensity(fluid_density)
self.tare_service = rospy.Service('tare_depth_sensor',
std_srvs.srv.SetBool,
self.tareCallback)
self.depth_offset_service = rospy.Service('set_depth_sensor_offset',
floatpi.srv.SetDepthOffset,
self.setOffsetCallback)
rospy.Timer(rospy.Duration(1 / sample_rate), self.timerCallback)
def reset(self):
self.running = False
#Re-initialize the sensor
self.sensor = ms5837.MS5837_30BA()
self.sensor.init()
#Re-initialize everything
self.baseTime = time.time()
self.basepress = []
for x in range(1,10):
self.sensor.read()
self.basepress += [self.sensor.pressure()]
time.sleep(0.3)
self.basepress = stats.mean(self.basepress)
self.time = [time.time()-self.baseTime]
self.temp = [self.sensor.temperature()]
self.press = [self.basepress]
self.depth = [0]
#Restart the recording thread
self.daemonize()
def get_pressure(water_choice):
# Create sensor object
sensor = ms5837.MS5837_30BA() # Default I2C bus is 1 (Raspberry Pi 3)
# Must initialize pressure sensor before reading it
if not sensor.init():
print("Error initializing pressure sensor."
) # Print not needed in final version
exit(1)
# Freshwater vs Saltwater depth measurements set via user input form cmd center
if water_choice == "1":
# Saltwater
sensor.setFluidDensity(ms5837.DENSITY_SALTWATER)
freshwaterDepth = sensor.depth() # default is freshwater
water_choice = "0"
elif water_choice == "0":
# Freshwater
sensor.setFluidDensity(ms5837.DENSITY_FRESHWATER)
freshwaterDepth = sensor.depth() # default is freshwater
water_choice = "1"
else:
print("Error on water density choice."
) # Print not needed in final version
if sensor.read():
depth = sensor.pressure(ms5837.UNITS_psi) # Get presure in psi
#####print("P: %0.4f m \t T: %0.2f C %0.2f F\n" % ( # Print not needed in final version
###depth, # Sensor depth, either fresh or salf water depending on above
###sensor.temperature(), # Default is degrees C (no arguments)
###sensor.temperature(ms5837.UNITS_Farenheit))) # Request Farenheit
else:
print("Error reading pressure sensor."
) # Print not needed in final version
exit(1)
return depth
class DepthSensor: currentDepth = 0; # Relative to the MSL self.sensor = ms5837.MS5837_30BA() # A is the matrix we need to create that converts the last state to the new one, in our case it's just 1 because we get depth measurements directly A = numpy.matrix([1]) # H is the matrix we need to create that converts sensors readings into state variables, since we get the readings directly from the sensor this is 1 H = numpy.matrix([1]) # B is the control matrix, since this is a 1D case and because we have no inputs that we can change we can set this to zero. B = 0 # Q is the process covariance, since we want accurate values we set this to a very low value Q = numpy.matrix([0.00001]) # R is the measurement covariance, using a conservative estimate of 0.1 is fair R = numpy.matrix([0.1]) # IC is the original prediction of the depth, setting this to normal room conditions makes sense IC = self.currentDepth # P is the initial prediction of the covariance, setting it to 1 is reasonable P = numpy.matrix([1]) # We must initialize the sensor before reading it self.sensor.init() # Create the filter self._filter = KalmanFilter(A,B,H,IC,P,Q,R)
class AUV:
def __init__(self):
"""
Instantiate the AUV object
"""
self.mc = MotorController()
# Connection to onboard radio.
try:
# Jack Silberman's radio
#self.radio = Radio('/dev/serial/by-id/usb-FTDI_FT230X_Basic_UART_DN038PQU-if00-port0')
# Yonder's radio
self.radio = Radio(
'/dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_Controller_0001-if00-port0')
except Exception, e:
print("Radio not found. Exception is: ", e)
print("Exiting")
exit(1)
self.is_manual = True
self.pressure_sensor = ms5837.MS5837_30BA()
self.imu_sensor = BNO055.BNO055(serial_port='/dev/serial0', rst=18)
self.controller = PID(self.mc, TARGET_HEADING, CONTROL_TOLERANCE,
TARGET_TOLERANCE, IS_DEBUG_MODE, P, I, D)
print("Radio is not connected.")
def depth_read():
sensor = ms5837.MS5837_30BA() # Default I2C bus is 1 (Raspberry Pi 3)
#sensor = ms5837.MS5837_30BA(0) # Specify I2C bus
#sensor = ms5837.MS5837_02BA()
#sensor = ms5837.MS5837_02BA(0)
#sensor = ms5837.MS5837(model=ms5837.MS5837_MODEL_30BA, bus=0) # Specify model and bus
# We must initialize the sensor before reading it
if not sensor.init():
print "Sensor could not be initialized"
exit(1)
# We have to read values from sensor to update pressure and temperature
if not sensor.read(ms5837.OSR_8192): #read at .2 cm resolutin with high current and large read time
print "Sensor read failed!"
exit(1)
'''
print("Pressure: %.2f atm %.2f Torr %.2f psi") % (
sensor.pressure(ms5837.UNITS_atm),
sensor.pressure(ms5837.UNITS_Torr),
sensor.pressure(ms5837.UNITS_psi))
print("Temperature: %.2f C %.2f F %.2f K") % (
sensor.temperature(ms5837.UNITS_Centigrade),
sensor.temperature(ms5837.UNITS_Farenheit),
sensor.temperature(ms5837.UNITS_Kelvin))
'''
#freshwaterDepth = sensor.depth() # default is freshwater
#sensor.setFluidDensity(ms5837.DENSITY_SALTWATER)
#saltwaterDepth = sensor.depth() # No nead to read() again
#sensor.setFluidDensity(1000) # kg/m^3
#print("Depth: %.3f m (freshwater) %.3f m (saltwater)") % (freshwaterDepth, saltwaterDepth)
# fluidDensity doesn't matter for altitude() (always MSL air density)
#print("MSL Relative Altitude: %.2f m") % sensor.altitude() # relative to Mean Sea Level pressure in air
time.sleep(5)
i=0
t=0
n = 5 # filter window length
arr = [0]*n
arr_bar = [0]*n
# Spew readings
sensor.read(ms5837.OSR_8192)
init_depth = sensor.depth()*100 #to gauge atmospheric condition and substract from data
init_press = sensor.pressure()
while True:
if sensor.read(ms5837.OSR_8192):
if i == 20 or i == 0:
print("Depth(in cm) \t \t Pressure(in mbar) \t \t Temperature(in deg C)")
i = 0
'''
print("P: %0.1f mbar %0.3f psi\tT: %0.2f C %0.2f F") % (
sensor.pressure(), # Default is mbar (no arguments)
sensor.pressure(ms5837.UNITS_psi), # Request psi
sensor.temperature(), # Default is degrees C (no arguments)
sensor.temperature(ms5837.UNITS_Farenheit)) # Request Farenheit
'''
depth1 = sensor.depth()*100 - init_depth
depth2 = sensor.pressure()-init_press
# applying moving average filter for 10 values window
for j in range(n-1):
arr[j]=arr[j+1]
arr_bar[j]=arr_bar[j+1]
arr[j+1]=depth1
arr_bar[j+1]=depth2
avg = sum(arr)/n
avg_bar = sum(arr_bar)/n
#filter over
print("{} \t \t {} \t \t \t \t {}".format(avg,avg_bar,sensor.temperature()))
i=i+1
#t=t+1 #uncomment to use displaying live readings
#msg = str(t)+','+str(avg)+'\n'
#with open("/home/pi/buoy-codes/data files/testData 11-00(6 July 2018)mvg_avg.txt","a") as f:
# f.write(msg)
time.sleep(1)
else:
print "Sensor read failed!"
exit(1)
def SensorReader():
print("SensorReader thread started.")
global depth
global pressure
global outsideTemp
global insideTemp
global humidity
try:
# Get I2C bus number 1
bus = smbus.SMBus(1)
####################################################################
# Setting up the sensor for outside pressure, temp and depth
# Used i2c address 76 (0x76)
sensor = ms5837.MS5837_30BA() # Default I2C bus is 1 (Raspberry Pi 3)
# We must initialize the sensor before reading it
if not sensor.init():
print("Sensor could not be initialized")
exit(1)
# We have to read values from sensor to update pressure and temperature
if not sensor.read():
print("Sensor read failed!")
exit(1)
print("\nPressure: {0} mbar \t{1} atm".format(
round(sensor.pressure(), 2),
round(sensor.pressure(ms5837.UNITS_atm), 2)))
print("Temperature: {0} C".format(
round(sensor.temperature(ms5837.UNITS_Centigrade), 2)))
freshwaterDepth = sensor.depth() # default is freshwater
sensor.setFluidDensity(ms5837.DENSITY_SALTWATER)
saltwaterDepth = sensor.depth() # No nead to read() again
#sensor.setFluidDensity(1000) # kg/m^3
print("Depth: {0} m (freshwater) {1} m (saltwater)".format(
round(freshwaterDepth, 3),
round(saltwaterDepth, 3)))
# fluidDensity doesn't matter for altitude() (always MSL air density)
print("MSL Relative Altitude: {0} m".format(round(sensor.altitude(), 2))) # relative to Mean Sea Level pressure in air
#####################################################################
time.sleep(2)
# Spew readings
while True:
bus.write_quick(0x27) # i2c address 27
time.sleep(0.1)
# HIH6130 address, 0x27(39)
# Read data back from 0x00(00), 4 bytes
# humidity MSB, humidity LSB, temp MSB, temp LSB
data = bus.read_i2c_block_data(0x27, 0x00, 4)
# Convert the data to 14-bits
humidity = ((((data[0] & 0x3F) * 256) + data[1]) * 100.0) / 16383.0
temp = (((data[2] & 0xFF) * 256) + (data[3] & 0xFC)) / 4
insideTemp = (temp / 16384.0) * 165.0 - 40.0 # Convert it to degrees Celsius
#fTemp = cTemp * 1.8 + 32
humidity = round(humidity, 2)
insideTemp = round(insideTemp, 2)
#print("Relative Humidity: {0} %% \tInside Temp: {1} C".format(
#round(humidity, 2),
#round(insideTemp, 2)))
##print("Temperature in Celsius: {0} C".format())
##print("Temperature in Fahrenheit: {0} F\n".format(round(fTemp, 2)))
if sensor.read():
## Sensor for outside pressure, temp and depth:
pressure = round(sensor.pressure(), 2)
outsideTemp = round(sensor.temperature(), 2)
depth = round(sensor.depth(), 2)
#print("Pressure: {0} mbar \tOutside Temp: {1} C \tDepth: {2} m\n".format(
#pressure, # Default is mbar (no arguments)
#outsideTemp, # Default is degrees C (no arguments)
#depth)) # Default is depth in meters (no arguments)
else:
print("Sensor read failed!")
exit(1)
#time.sleep(0.1)
except (Exception, KeyboardInterrupt) as e:
#pass
#connection.close()
pwm_pitch.stop()
pwm_led.stop()
GPIO.cleanup()
finally:
# Clean up the connection
#pass
#connection.close()
pwm_pitch.stop()
pwm_led.stop()
GPIO.cleanup()
def main():
global running
i2c = busio.I2C(board.SCL, board.SDA)
ads = ADS.ADS1115(i2c)
chan = AnalogIn(ads, ADS.P0)
sensor = ms5837.MS5837_30BA()
sensor.init()
try:
server_socket = socket.socket()
server_socket.bind(('192.168.137.2', 50000))
server_socket.listen(0)
print('waiting a client ...')
connection, address_ip = server_socket.accept()
print('client accepted')
stream = connection.makefile('wb')
except:
print("can't create a connection")
t0 = time.perf_counter()
t_last = 0
## keyboard.add_hotkey('q', stop_running)
i = 0
running = True
while running:
ADC0_value = chan.value
ADC0_voltage = chan.voltage
sensor.read()
pressure = sensor.pressure()
temperature = sensor.temperature()
freshwaterDepth = sensor.depth()
t = (time.perf_counter() - t0) * 1000
delta_t = t - t_last
t_last = t
data = str(temperature) + ',' + str(pressure) + ',' + str(freshwaterDepth) + ',' + str(ADC0_value) + ',' + str(ADC0_voltage) + '\n'
i = i + 1
try:
stream.write(data.encode('Utf8'))
stream.flush()
except:
## print("can't send data")
pass
time.sleep(1)
try:
stream.close()
print('stream is closed')
except:
print("can't close stream")
try:
connection.close()
print('connection socket is closed')
except:
print("can't close connection")
try:
server_socket.close()
print('server socket is closed')
except:
print("can't close server socket")
print('End of program')
def __init__(self):
self.reading = False
self.sensor = ms5837.MS5837_30BA(1)
def __init__(self):
self.sensor = ms5837.MS5837_30BA(
) # Default I2C bus is 1 (Raspberry Pi 3)
self.client = Client(ports.DEPTH_DRIVER_PORT)
self.logger = Logger(filename='depth')
def depth_read():
#try:
# print('Sensor Operations will start in 5 seconds !')
sensor = ms5837.MS5837_30BA() # Default I2C bus is 1 (Raspberry Pi 3)
#sensor = ms5837.MS5837_30BA(0) # Specify I2C bus
#sensor = ms5837.MS5837_02BA()
#sensor = ms5837.MS5837_02BA(0)
#sensor = ms5837.MS5837(model=ms5837.MS5837_MODEL_30BA, bus=0) # Specify model and bus
# We must initialize the sensor before reading it
if not sensor.init():
print "Sensor could not be initialized"
exit(1)
# We have to read values from sensor to update pressure and temperature
if not sensor.read(
ms5837.OSR_8192
): #read at .2 cm resolutin with high current and large read time
print "Sensor read failed!"
exit(1)
'''
print("Pressure: %.2f atm %.2f Torr %.2f psi") % (
sensor.pressure(ms5837.UNITS_atm),
sensor.pressure(ms5837.UNITS_Torr),
sensor.pressure(ms5837.UNITS_psi))
print("Temperature: %.2f C %.2f F %.2f K") % (
sensor.temperature(ms5837.UNITS_Centigrade),
sensor.temperature(ms5837.UNITS_Farenheit),
sensor.temperature(ms5837.UNITS_Kelvin))
'''
#freshwaterDepth = sensor.depth() # default is freshwater
#sensor.setFluidDensity(ms5837.DENSITY_SALTWATER)
#saltwaterDepth = sensor.depth() # No nead to read() again
#sensor.setFluidDensity(1000) # kg/m^3
#print("Depth: %.3f m (freshwater) %.3f m (saltwater)") % (freshwaterDepth, saltwaterDepth)
# fluidDensity doesn't matter for altitude() (always MSL air density)
#print("MSL Relative Altitude: %.2f m") % sensor.altitude() # relative to Mean Sea Level pressure in air
time.sleep(5)
i = 0
n = 0 # for time on x axis
# Spew readings
#file = open("sensorData.txt",'a')
while True:
if sensor.read(ms5837.OSR_8192):
if i == 20 or i == 0:
print(
"Depth(in cm) \t \t Pressure(in mbar) \t \t Temperature(in deg C)"
)
i = 0
'''
print("P: %0.1f mbar %0.3f psi\tT: %0.2f C %0.2f F") % (
sensor.pressure(), # Default is mbar (no arguments)
sensor.pressure(ms5837.UNITS_psi), # Request psi
sensor.temperature(), # Default is degrees C (no arguments)
sensor.temperature(ms5837.UNITS_Farenheit)) # Request Farenheit
'''
print("{} \t \t {} \t \t \t \t {}".format(sensor.depth() * 100,
sensor.pressure(),
sensor.temperature()))
i = i + 1
n = n + 1
msg = str(n) + ',' + str(sensor.pressure()) + '\n'
with open("sensorData.txt", "a") as file:
file.write(msg)
#animate()
#ani = animation.FuncAnimation(fig, animate, interval=1000) #for 1 sec delay 1000
#plt.show()
time.sleep(1)
else:
print "Sensor read failed!"
exit(1)
kp = 29.0
ki = 0
kd = 0
direct = True
sample_time = 0.01 # seconds
output_value = 0.0
last_input = 0.0
out_max = 450
out_min = 250
zero_offset = 305
freshwaterDepth = 0.0
setpoint = 0.0
i_term = 0.0
windup_guard = 20.0
sensor = ms5837.MS5837_30BA()
# We must initialize the sensor before reading it
if not sensor.init():
exit(1)
# We have to read values from sensor to update pressure and temperature
if not sensor.read():
exit(1)
pwm = Adafruit_PCA9685.PCA9685()
pwm.set_pwm_freq(50)
last_time = time.time() - sample_time
sensor.setFluidDensity(1000) # kg/m^3
#!/usr/bin/python
# @author: Viviana Castillo, APL UW
##################################################################################
#print pressure sensor output
##################################################################################
#standard imports
import time
#third party imports
import ms5837
#-------------------------------------------------------------------------------------------------
#pressure sensor
#-------------------------------------------------------------------------------------------------
sensor = ms5837.MS5837_30BA() #default i2c bus is 1
#initialize sensor before reading it
#Pressure sensor checked if iniitialized
if not sensor.init():
print("Sensor could not be initialized")
exit(1)
#================================================================================
#Loop Begins
#================================================================================
while True:
#read sensor
if sensor.read():
print("P: %0.1f mbar %0.3f psi\tT: %0.2f C %0.2f F") % (
sensor.pressure(), sensor.pressure(ms5837.UNITS_psi),
#!/usr/bin/python
import ms5837
#import tsys01
import time
import os
#sensor_temp = tsys01.TSYS01()
sensor = ms5837.MS5837_30BA() # Default I2C bus is 1 (Raspberry Pi 3)
def timesample():
global samp_time
samp_time = os.popen("sudo hwclock -u -r").read()
samp_time = samp_time.split('.', 1)[0]
samp_time = samp_time.replace(" ", "_")
samp_time = samp_time.replace(" ", "_")
samp_time = samp_time.replace(":", "-")
samp_count = str(len(os.listdir("/home/pi/Documents/minion_data/")) + 1)
samp_time = samp_count + "-" + samp_time
# print samp_time
# We must initialize the sensor before reading it
#if not sensor_temp.init():
# print("Error initializing sensor")
# exit(1)
if not sensor.init():
print "Sensor could not be initialized"
def __init__(self, n=10):
self.sensor = ms5837.MS5837_30BA()
self.n = n #window size for median filter
self.calib_depth = 0