print "Connected"
print "Sent Connection Call"
print "Loading Calibration"
xCal = list()
yCal = list()
zCal = list()
with open('..\Data\CalibrationSignal.csv', 'rb') as csvDataFile:
csvReader = csv.reader(csvDataFile)
for row in csvReader:
xCal.append(float(row[0]))
yCal.append(float(row[1]))
zCal.append(float(row[2]))
imu = IMU()
imu.calcOffsets(xCal, yCal, zCal)
imu.getOffsets()
ser.write("t")
recordedData = []
start = time.time()
while (end - start) <= 30.0:
dataIn = []
val = ser.read()
while val != '_':
dataIn.append(val)
val = ser.read()
if dataIn[0] == '\x00':
dataIn = dataIn[1:]
axOff.append(float(row[0]))
ayOff.append(float(row[1]))
azOff.append(float(row[2]))
with open('IMUData60cm_x.csv', 'rb') as csvDataFile:
csvReader = csv.reader(csvDataFile)
for row in csvReader:
data1.append(float(row[0]))
data2.append(float(row[1]))
data3.append(float(row[2]))
originTap.append(int(row[6]))
##x_vel = integrate.cumtrapz(t, Ax, initial=0)
##x_Trap = integrate.cumtrapz(t,x_vel, initial=0)
mpu = IMU()
mpu.calcOffsets(axOff, ayOff, azOff)
mpu.setTime(30.0)
mpu.setAcceleration(data1, data2, data3)
Ax, Ay, Az = mpu.getAcceleration()
totalSum = 0
dt = len(Ax) / 30.0
t = mpu.time
x_vel = [sum(Ax[:i]) * -dt for i in range(len(Ax))]
x_pos = [sum(x_vel[:i]) * dt for i in range(len(x_vel))]
y_vel = [sum(Ay[:i]) * dt for i in range(len(Ay))]
y_pos = [sum(y_vel[:i]) * dt for i in range(len(y_vel))]
z_vel = [sum(Az[:i]) * -dt for i in range(len(Az))]
