def get_acc_y(bus):
(gyro_scaled_x, gyro_scaled_y, gyro_scaled_z, accel_scaled_x, accel_scaled_y, accel_scaled_z) = MPU6050.read_all(
bus
)
return (accel_scaled_x - zero_values["acc_y"]) * 90 + 90
acc_x_val = accel_scaled_x - zero_values["acc_x"]
acc_y_val = accel_scaled_y - zero_values["acc_y"]
# acc_y_val = acc_y_val - 1
acc_z_val = accel_scaled_z - zero_values["acc_z"]
# print "\t%s,%s,%s" % (acc_x_val,acc_y_val,acc_z_val)
R = math.sqrt(math.pow(acc_x_val, 2) + math.pow(acc_y_val, 2) + math.pow(acc_z_val, 2))
angle_y = math.acos(acc_y_val / R) * RAD_TO_DEG
return angle_y
def get_gyro_y_rate(bus):
(gyro_scaled_x, gyro_scaled_y, gyro_scaled_z, accel_scaled_x, accel_scaled_y, accel_scaled_z) = MPU6050.read_all(
bus
)
gyro_rate = -1 * (gyro_scaled_y - zero_values["gyro_y"])
return gyro_rate
