def __init__(self): self.m = motetalk.motetalk(self.fmtstr, self.header, "COM4", debug=False,timeout=0.5) startup(self.m) errwrite( "Sniffing...\n") #print "ts " + header try: (arr, t, crc) = self.m.nextline() (arr, t, crc) = self.m.nextline() (arr, t, crc) = self.m.nextline() except: pass
def sniff(header, format, verbose, graph): m = motetalk.motetalk(format, header, "/dev/tty.usbmodem1431", debug=False) startup(m) sys.stderr.write("Starting up OSC...\n") if verbose else "" client = OSC.OSCClient() if graph else "" client.connect(("127.0.0.1", 8000)) if graph else "" # note that the argument is a tupple and not two arguments sys.stderr.write("Sniffing...\n") if verbose else "" print "ts " + header try: (arr, t, crc) = m.nextline() (arr, t, crc) = m.nextline() (arr, t, crc) = m.nextline() except: sys.stderr.write("oops") if verbose else "" pass return client, m
fmtstr = '! H b b b H H H H H H h h h H H H H h h h B H B B' # header = "addr len cmd type n mx my mz lx ly lz ti gx gy gz cm ct ca ce cp i0 i1 i2 i3 i4 i5 i6 i7 i8 i9 ia ib ic mychk chk lqi rssi" # fmtstr = '! H b b b H h h h H H H H h h h H H H H H B B B B B B B B B B B B B B H B B' header = "addr len cmd type n sx sy z1 z3 ta mx my mz lx ly lz ti gx gy gz cm ct ca ce cp mychk chk lqi rssi" fmtstr = '! H b b b H H H H H H h h h H H H H h h h h h h h h B H B B' #Joey's Header header = "addr len cmd type n sx sy z1 z3 ta lx ly lz ti gx gy gz Address" fmtstr = '! H b b b H H H H H H H H H H h h h H' #Joey's Header header = "addr len cmd type n sx sy z1 z3 ta lx ly lz ti gx gy gz mx my mz Address" fmtstr = '! H b b b H H H H H H H H H H h h h h h h H' m1 = motetalk.motetalk(fmtstr, header, com1, debug=False, timeout = .5) startup(m1,chan1) #Channel 15 sys.stderr.write( "Sniffing...\n") print "ts " + header + " Time" try: (arr, t, crc) = m1.nextline() sys.stderr.write(com1) (arr, t, crc) = m1.nextline() sys.stderr.write(com1) (arr, t, crc) = m1.nextline() sys.stderr.write(com1) except: sys.stderr.write("oops")
# f.write(str("Header: " + tool + " " + act + " " + rep + " " + trl + " ") + "\n") print "Filename testVideo-" + str(testnum) + ".txt" f = open("testVideo-" + str(testnum) + ".txt", "w") f.write(str("timestamp, accX, accY, accZ, gyrX, gyrY, gyrZ, magX, magY, magZ") + "\n") done = 0 n = 0 oldarr = [] header = "addr len cmd type n sx sy z1 z3 ta lx ly lz ti gx gy gz mx my mz Address" fmtstr = '! H b b b H H H H H H H H H H h h h h h h H' m = motetalk.motetalk(fmtstr, header, "/dev/tty.usbmodem1431", debug=False) startup(m) sys.stderr.write( "Sniffing...\n") print "ts " + header try: (arr, t, crc) = m.nextline() (arr, t, crc) = m.nextline() (arr, t, crc) = m.nextline() except: sys.stderr.write("oops") pass while not done:
diff = a-lin_acc return tuple(diff), tuple(lin_acc) if __name__=="__main__": #timestamp t0 = time.time() #initialize motetalk/serial port stuff sport = "/dev/tty.usbmodemfa131" #raw_input('port \n') chan = "15" #raw_input('Channel to sniff \n') #filename = "data" #filename = raw_input('Log file to write to \n') #log = open(filename + ".txt", 'w') m = motetalk.motetalk(sport=sport,brate=115200) startup(m) sys.stderr.write( "Sniffing...\n") try: (arr, t, crc) = m.nextline() (arr, t, crc) = m.nextline() (arr, t, crc) = m.nextline() except: pass frames = 50 print "lets get crackin" fig, ax, lines = preparePlots(frames) plt.show()
sys.stderr.write(repr(sys.exc_info())) sys.stderr.write("\nQuitting... \n") return -1, None num_good = 0 num_bad = 0 num_skip = 0 done = 0 n = 0 oldarr = [] header = "addr len cmd type n sx sy z1 z3 ta mx my mz lx ly lz ti gx gy gz cm ct ca ce cp mychk chk lqi rssi" fmtstr = '! H b b b H H H H H H h h h H H H H h h h h h h h h B H B B' m = motetalk.motetalk(fmtstr, header, "/dev/ttyACM0", debug=False) startup(m) sys.stderr.write( "Sniffing...\n") print "ts " + header try: (arr, t, crc) = m.nextline() (arr, t, crc) = m.nextline() (arr, t, crc) = m.nextline() except: sys.stderr.write("oops") pass decimator = 0 while not done:
def pid(): global error_term, average_value, measurement, integral, const_integral, period, differential, const_differential, old_error_term, proportional, const_proportional, motor_output error_term = reference - average_value integral = integral + error_term * const_integral * period differential = const_differential * (error_term - old_error_term) / period proportional = error_term * const_proportional old_error = error_term motor_output = integral + differential + proportional if motor_output>255: motor_output = 255 elif motor_output<190: motor_output = 190 #YK's PID controller ends m = motetalk.motetalk(openwsnfmtstr, openwsnheader, "COM10") startup(m) #yk = open("yk.txt", "w") #ser.write("p") sys.stderr.write( "Sniffing...\n") print "ts " + openwsnheader # put the stuff here #try: #(arr, t, crc) = m.nextline() #(arr, t, crc) = m.nextline() #(arr, t, crc) = m.nextline() #except: #pass oldvalue = (0, 0, 0) #stores the value to send if there is an error in transmission tempvalue = (0, 0, 0) #stores the value to send to motor right after pid calculation
for port in availables: print ' ', index, port index += 1 try: num = int(raw_input('Enter the number:')) if num > 0 and num <= len(availables): selected = availables[num-1] except Exception as e: print "invalid input!" exit(1) header = "addr len cmd type n sx sy z1 z3 ta lx ly lz ti gx gy gz mx my mz Address" fmtstr = "! H b b b H H H H H H H H H H h h h h h h H" m = motetalk.motetalk(fmtstr, header, selected, debug=False) startup(m) sys.stderr.write( "Starting up OSC...\n") client = OSC.OSCClient() client.connect( ('127.0.0.1', 8000) ) # note that the argument is a tupple and not two arguments sys.stderr.write( "Sniffing...\n") print "ts " + header try: (arr, t, crc) = m.nextline() (arr, t, crc) = m.nextline() (arr, t, crc) = m.nextline() except: