Python AltIMU 예제들

예제 #1

#!/usr/bin/python

from datetime import datetime
from time import sleep

from altimu import AltIMU

imu = AltIMU()
imu.enable()

imu.calibrateGyroAngles()

#for x in range(1000):
#    startTime = datetime.now()
#    angles = imu.trackGyroAngles(deltaT = 0.0002)

#print angles

start = datetime.now()
imu.initComplementaryFromAccel = True
imu.initKalmanFromAccel = True
while True:
    stop = datetime.now() - start
    start = datetime.now()
    deltaT = stop.microseconds / 1000000.0
    print " "
    #    print "Loop:", deltaT
    #    print "Accel:", imu.getAccelerometerAngles()
    print "Gyro:", imu.getComplementaryAngles(deltaT=deltaT)
    print "Accelerometer (G):", imu.getAccInG()
    #    print "Gyro:", imu.getKalmanAngles(deltaT = deltaT)

예제 #2

#!/usr/bin/python

from datetime import datetime
from time import sleep

from altimu import AltIMU

imu = AltIMU()
imu.enable(True, False, True, False, False)

imu.calibrateGyroAngles()

#for x in range(1000):
#    startTime = datetime.now()
#    angles = imu.trackGyroAngles(deltaT = 0.0002)

#print angles

start = datetime.now()

while True:
    stop = datetime.now() - start
    start = datetime.now()
    deltaT = stop.microseconds/1000000.0
    print " "
    print "Loop:", deltaT
    print "Accel:", imu.getAccelerometerAngles()
    print "Gyro:", imu.trackGyroAngles(deltaT = deltaT)
    sleep(0.02)

예제 #3

from altimu import AltIMU
from time import sleep
from datetime import datetime

imu = AltIMU()
imu.enable()

imu.calibrateGyroAngles()

start = datetime.now()

count = 0
while count < 100:
    stop = datetime.now() - start
    start = datetime.now()
    deltaT = stop.microseconds / 1000000.0

    print " "
    print "Loop:", deltaT
    print "Accel:", imu.getAccelerometerAngles()
    print "Gyro:", imu.trackGyroAngles(deltaT=deltaT)
    print "Kalman:", imu.getKalmanAngles(deltaT=deltaT)
    count += 1
    sleep(0.02)

예제 #4

파일: test2.py 프로젝트: tkurbad/mipSIE

#!/usr/bin/python

from datetime import datetime
from time import sleep

from altimu import AltIMU

imu = AltIMU()
imu.enable()

imu.calibrateGyroAngles()

#for x in range(1000):
#    startTime = datetime.now()
#    angles = imu.trackGyroAngles(deltaT = 0.0002)

#print angles

start = datetime.now()

while True:
    stop = datetime.now() - start
    start = datetime.now()
    deltaT = stop.microseconds/1000000.0
    print " "
    print "Loop:", deltaT
    print "Accel:", imu.getAccelerometerAngles()
    print "Gyro:", imu.trackGyroAngles(deltaT = deltaT)
    sleep(0.02)

예제 #5

파일: test2.py 프로젝트: conroy-cheers/cone_detector

#!/usr/bin/python

from datetime import datetime
from time import sleep

from altimu import AltIMU

imu = AltIMU()
imu.enable()

imu.calibrateGyroAngles()

#for x in range(1000):
#    startTime = datetime.now()
#    angles = imu.trackGyroAngles(deltaT = 0.0002)

#print angles

start = datetime.now()

while True:
    stop = datetime.now() - start
    start = datetime.now()
    deltaT = stop.microseconds/1000000.0
    print(" ")
    print("Loop:", deltaT)
    print("Accel:", imu.getAccelerometerAngles())
    print("Gyro:", imu.trackGyroAngles(deltaT = deltaT))
    sleep(0.1)

예제 #6

from datetime import datetime
import time
import csv
from altimu import AltIMU
import os
import math
print "ReadAccGyro.py is starting"

imu = AltIMU()
imu.enable(True, True, True, True, True)

quit = False
FREQ = float(open("/home/pi/Desktop/PSLT-Subscale/FREQ.txt", 'r').read())
start = time.time()
lastAccList = [0.0, 0.0, 0.0]
lastGyroList = [0.0, 0.0, 0.0]
lastMagList = [0.0, 0.0, 0.0]
errs = 0

while (not quit):
    try:
        errs = 0
        with open("/home/pi/Desktop/PSLT-Subscale/Data/AccGyroData.csv",
                  "ab") as dataFile:
            data = "\n"

            accList = imu.getAccelerometerRaw()

            if (not (accList[0] == None)):
                data += str(accList[0] / 4098.0) + ","
                lastAccList[0] = accList[0]

예제 #7

파일: gyrotest.py 프로젝트: tangshiyuan/mipSIE

#!/usr/bin/python

from datetime import datetime
from time import sleep

from altimu import AltIMU

imu = AltIMU()
imu.enable()

imu.calibrateGyroAngles()

#for x in range(1000):
#    startTime = datetime.now()
#    angles = imu.trackGyroAngles(deltaT = 0.0002)

#print angles

start = datetime.now()

while True:
    stop = datetime.now() - start
    deltaT = stop.microseconds / 1000000.0
    print " "
    print "Interval(s):", stop.total_seconds()
    #print "Interval(s):", deltaT
    print "Accel Angles:", imu.getAccelerometerAngles()
    #print "Gyro Angles:", imu.trackGyroAngles(deltaT = deltaT)
    #print "Rotation Rate: ", imu.getGyroRotationRates() # ok
    #print "Complimentary:", imu.getComplementaryAngles(deltaT = deltaT) # fixed
    #print "Karman:", imu.getKalmanAngles(deltaT = deltaT) # kinda fixed...

예제 #8

파일: sensors.py 프로젝트: Sinic98/mqtt-vehicle

def enableSensors():
    # accel
    accel = AltIMU()
    accel.enable_accelerometer()

    # magnet
    magnet = AltIMU()
    magnet.enable_magnetometer()

    # gyro
    gyro = AltIMU()
    gyro.enable_gyroscope()

    # altitude
    alti = AltIMU()
    alti.enable_barometer()

    return accel, magnet, gyro, alti

예제 #9

#!/usr/bin/python

from datetime import datetime
from time import sleep

from altimu import AltIMU
imu = AltIMU()
imu.enable()
#data = []
imu.calibrateGyroAngles()

#for x in range(1000):
#    startTime = datetime.now()
#    angles = imu.trackGyroAngles(deltaT = 0.0002)

#print angles

start = datetime.now()

while (1):
    stop = datetime.now() - start
    #start = datetime.now()
    deltaT = stop.microseconds / 1000000.0
    print " "
    print "Loop:", deltaT
    print "Accel:", imu.getAccelerometerAngles()
    print "Gyro:", imu.trackGyroAngles(deltaT=deltaT)
    print "AngleCouple", imu.getComplementaryAngles(deltaT=deltaT)
    #data.append(imu.getComplementaryAngles(deltaT = deltaT))
    print "KalmanAngles", imu.getKalmanAngles(deltaT=deltaT)
    sleep(0.1)