def cb_enumerate(uid, connected_uid, position, hardware_version,
firmware_version, device_identifier, enumeration_type):
if connected_uid == '0':
print 'Master Brick UID: \t%s' % (uid)
#print 'UID: %s' % uid
#print 'connected_uid: %s' % connected_uid
#print 'position: %s' % position
#print 'hardware_version: %i.%i.%i' % hardware_version
#print 'firmware_version: %i.%i.%i' % firmware_version
#print 'device_identifier: %d' % device_identifier
#print 'enumeration_type: %d' % enumeration_type
if enumeration_type == IPConnection.ENUMERATION_TYPE_CONNECTED or \
enumeration_type == IPConnection.ENUMERATION_TYPE_AVAILABLE:
# Enumeration is for IMU Brick
if device_identifier == IMU.DEVICE_IDENTIFIER:
print 'IMU Brick UID: \t\t%s' % (uid)
# Create imu device object
imu = IMU(uid, ipcon)
imu.set_all_data_period(100)
imu.register_callback(imu.CALLBACK_ALL_DATA, cb_imudynamic)
# Enumeration is for GPS Bricklet
if device_identifier == GPS.DEVICE_IDENTIFIER:
print 'GPS Bricklet UID: \t%s' % (uid)
# Create imu device object
gps = GPS(uid, ipcon)
gps.set_coordinates_callback_period(100)
gps.register_callback(gps.CALLBACK_COORDINATES, cb_coordinates)
PORT = 4223
UID = "ABC" # Change to your UID
from tinkerforge.ip_connection import IPConnection
from tinkerforge.bricklet_gps import GPS
# Callback function for coordinates
def cb_coordinates(latitude, ns, longitude, ew, pdop, hdop, vdop, epe):
print('Latitude: ' + str(latitude / 1000000.0) + '° ' + ns)
print('Longitude: ' + str(longitude / 1000000.0) + '° ' + ew)
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
gps = GPS(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
# Set Period for coordinates callback to 1s (1000ms)
# Note: The callback is only called every second if the
# coordinates have changed since the last call!
gps.set_coordinates_callback_period(1000)
# Register coordinates callback to function cb_coordinates
gps.register_callback(gps.CALLBACK_COORDINATES, cb_coordinates)
raw_input('Press key to exit\n') # Use input() in Python 3
ipcon.disconnect()
HOST = "localhost"
PORT = 4223
UID = "ABC" # Change to your UID
from tinkerforge.ip_connection import IPConnection
from tinkerforge.bricklet_gps import GPS
# Callback function for coordinates
def cb_coordinates(latitude, ns, longitude, ew, pdop, hdop, vdop, epe):
print('Latitude: ' + str(latitude/1000000.0) + '° ' + ns)
print('Longitude: ' + str(longitude/1000000.0) + '° ' + ew)
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
gps = GPS(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
# Set Period for coordinates callback to 1s (1000ms)
# Note: The callback is only called every second if the
# coordinates have changed since the last call!
gps.set_coordinates_callback_period(1000)
# Register coordinates callback to function cb_coordinates
gps.register_callback(gps.CALLBACK_COORDINATES, cb_coordinates)
raw_input('Press key to exit\n') # Use input() in Python 3
ipcon.disconnect()
