def initialize():
"""Creates and initializes the IMU object
Returns an IMU object
"""
# Create IMU object
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()
# Change IMU buffer mode to Bypass
# TODO: Try other modes as well
imu.accel_mode(0b001)
imu.gyro_mode(0b001)
# Specify ranges for accelerometer, magnetometer and gyroscope
# Accelerometer Options: "2G", "4G", "6G", "8G", "16G"
# Magnetometer Options: "2GAUSS", "4GAUSS", "8GAUSS", "12GAUSS"
# Gyroscope Options: "245DPS", "500DPS", "2000DPS"
imu.accel_range("16G")
imu.mag_range("2GAUSS")
imu.gyro_range("2000DPS")
return imu
def initialize():
"""Creates and initializes the IMU object
Returns an IMU object
"""
# Create IMU object
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()
# Change IMU buffer mode to Bypass
# TODO: Try other modes as well
imu.accel_mode(0b001)
imu.gyro_mode(0b001)
# Specify ranges for accelerometer, magnetometer and gyroscope
# Accelerometer Options: "2G", "4G", "6G", "8G", "16G"
# Magnetometer Options: "2GAUSS", "4GAUSS", "8GAUSS", "12GAUSS"
# Gyroscope Options: "245DPS", "500DPS", "2000DPS"
imu.accel_range("16G")
imu.mag_range("2GAUSS")
imu.gyro_range("2000DPS")
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
# Create IMU object
imu = IMU() # To select a specific I2C port, use IMU(n). Default is 1.
# Initialize IMU
imu.initialize()
# Enable accel, mag, gyro, and temperature
imu.enable_accel()
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
class Offset_Gyro:
def __init__(self):
imu.read_gyro()
self.gx = imu.gx
self.gy = imu.gy
self.gz = imu.gz
# Create IMU object
imu = IMU() # To select a specific I2C port, use IMU(n). Default is 1.
# Initialize IMU
imu.initialize()
# Enable accel, mag, gyro, and temperature
imu.enable_accel()
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"
def recordData(x):
tstamp = strftime("_%Y-%m-%d_%H%M%S", gmtime())
file = DIRECTORY + '/' + str(x) + tstamp + ".txt"
fd = open(file, 'w')
# Loop and read accel, mag, and gyro
for i in range(NUMDATAPOINTS):
import gobject as GObject
from SF_9DOF import IMU
import time
import json
import numpy as np
imu = IMU()
imu.initialize()
imu.enable_accel()
imu.enable_mag()
imu.enable_gyro()
imu.enable_temp()
imu.accel_range("2G")
imu.mag_range("2GAUSS")
imu.gyro_range("245DPS")
class Offset_Gyro:
def __init__(self):
imu.read_gyro()
self.gx = imu.gx
self.gy = imu.gy
self.gz = imu.gz
gyro_offset = Offset_Gyro()
from SF_9DOF import IMU
import time
import json
import numpy as np
import math
imu = IMU()
imu.initialize()
imu.enable_accel()
imu.enable_mag()
imu.enable_gyro()
imu.enable_temp()
imu.accel_range("2G")
imu.mag_range("2GAUSS")
imu.gyro_range("245DPS")
class Accel_Readings:
def __init__(self):
imu.read_accel()
self.ax = imu.ax
self.ay = imu.ay
self.az = imu.az
self.R = math.sqrt(math.pow(self.ax, 2) + math.pow(self.ay, 2) + math.pow(self.az, 2))
class Accel_Readings_Norm:
def __init__(self, accel):
self.axn = accel.ax/accel.R
self.ayn = accel.ay/accel.R
import time
import requests
import sys
import select
from SF_9DOF import IMU
#create IMU object
imu = IMU()
#Initialize IMU
imu.initialize()
imu.enable_accel()
imu.read_accel()
imu.accel_range("16G")
accel_x = []
accel_y = []
accel_z = []
#t_end = time.time() + 1
#while(imu.ax.size < 700):
accel_x.append(imu.ax)
accel_y.append(imu.ay)
accel_z.append(imu.az)
def start_checker():
if select.select([sys.stdin], [], [], 0) == ([sys.stdin], [], []):
c = sys.stdin.read(1)
return c
