def imu(self):
imu = IMU() # To select a specific I2C port, use IMU(n). Default is 1.
imu.initialize()
# Enable accelerometer, magnetometer, gyroscope
imu.enable_accel()
imu.enable_mag()
imu.enable_gyro()
print imu.read_accel()
print imu.ax, imu.ay, imu.az
return imu
def sensor_reader ():
jaylen_data = IMU()
jaylen_data.initialize()
#enable sensors here
jaylen_data.enable_accel()
jaylen_data.enable_gyro()
#declaring the range of the accelerometer
jaylen_data.accel_range("8G")
jaylen_data.read_accel()
jaylen_data.read_gyro()
ax = jaylen_data.ax
ay = jaylen_data.ay
az = jaylen_data.az
gx = jaylen_data.gx
gy = jaylen_data.gy
gz = jaylen_data.gz
return ax, ay, az
return False
# this is for non-blocking input
old_settings = termios.tcgetattr(sys.stdin)
try:
tty.setcbreak(sys.stdin.fileno())
imu.read_mag()
mag = (imu.mx, imu.my, imu.mz)
calibrate(mag)
print fuse.magbias
while (1):
imu.read_accel()
imu.read_mag()
imu.read_gyro()
imu.readTemp()
#gather the accel results for the fusion algorithm
accel = (float(imu.ax), float(imu.ay), float(imu.az))
gyro = (float(imu.gx), float(imu.gy), float(imu.gz))
mag = (float(imu.mx), float(imu.my), float(imu.mz))
# Print the results
print "Accel: " + str(imu.ax) + ", " + str(imu.ay) + ", " + str(imu.az)
print "Mag: " + str(imu.mx) + ", " + str(imu.my) + ", " + str(imu.mz)
print "Gyro: " + str(imu.gx) + ", " + str(imu.gy) + ", " + str(imu.gz)
print "Temperature: " + str(imu.temp)
outFile_accel.write(
imu.enable_mag()
imu.enable_gyro()
imu.enable_temp()
# Set range on accel, mag, and gyro
# Specify Options: "2G", "4G", "6G", "8G", "16G"
imu.accel_range("2G") # leave blank for default of "2G"
# Specify Options: "2GAUSS", "4GAUSS", "8GAUSS", "12GAUSS"
imu.mag_range("2GAUSS") # leave blank for default of "2GAUSS"
# Specify Options: "245DPS", "500DPS", "2000DPS"
imu.gyro_range("245DPS") # leave blank for default of "245DPS"
# Loop and read accel, mag, and gyro
while(1):
imu.read_accel()
imu.read_mag()
imu.read_gyro()
imu.readTemp()
# Print the results
print "Accel: " + str(imu.ax) + ", " + str(imu.ay) + ", " + str(imu.az)
print "Mag: " + str(imu.mx) + ", " + str(imu.my) + ", " + str(imu.mz)
print "Gyro: " + str(imu.gx) + ", " + str(imu.gy) + ", " + str(imu.gz)
print "Temperature: " + str(imu.temp)
# Sleep for 1/10th of a second
time.sleep(0.1)
