def getMeasurement(self):
newMeasurement = Measurement()
newMeasurement.timeStamp = time.time()
newMeasurement.value = 1
newMeasurement.units = self.sensorUnits
return newMeasurement
def getAccMeasurement(self):
address = self.address_book['ACC_ADDRESS']
raw_data = self.readBlock(address, 'OUT_X_L_A')
time_meas = time.time()
acc_LSB = 0.732 * 1e-3 # g/LSB TODO: make this dependent on the initialisation command
factor_ms2_per_gn = 9.80665 # From http://www.bipm.org/utils/common/pdf/si_brochure_8_en.pdf#page=51
acc = [row * acc_LSB * factor_ms2_per_gn for row in raw_data]
# Create new measurement object
newMeasurement = Measurement()
newMeasurement.timeStamp = time_meas
newMeasurement.value = acc
newMeasurement.units = 'm/s^2'
return newMeasurement
def getMagMeasurement(self):
address = self.address_book['MAG_ADDRESS']
raw_data = self.readBlock(address, 'OUT_X_L_M')
time_meas = time.time()
mag_LSB = 0.48 * 1e-3 # G/LSB TODO: make this dependent on the initialisation command
factor_tesla_per_gauss = 1e-4 # http://en.wikipedia.org/wiki/Gauss_%28unit%29
mag_flux_density = [row * mag_LSB * factor_tesla_per_gauss for row in raw_data]
# Create new measurement object
newMeasurement = Measurement()
newMeasurement.timeStamp = time_meas
newMeasurement.value = mag_flux_density
newMeasurement.units = 'T'
return newMeasurement
def getMeasurement(self):
# Read raw data
rawData = self.__readSensor()
newMeasurement = Measurement()
if rawData[0].strip()[-3:] == 'YES':
time_meas = time.time()
time.sleep(0.2)
# Extract temperature from raw data
self.temperature = self.__formatSensorData(rawData[1])
newMeasurement.timeStamp = time_meas
newMeasurement.value = self.temperature
newMeasurement.units = self.sensorUnits
return newMeasurement
def getGyrMeasurement(self):
address = self.address_book['GYR_ADDRESS']
time_before = time.time()
raw_data = self.readBlock(address, 'OUT_X_L_G')
time_meas = time.time()
deltaT = time_meas-time_before
# print "max measurement delay [s]: " + str(deltaT)
gyr_LSB = 0.07 # deg/s/LSB TODO: make this dependent on the initialisation command
factor_rad_per_deg = 180 / np.pi
rate = [row * gyr_LSB * factor_rad_per_deg for row in raw_data]
# Create new measurement object
newMeasurement = Measurement()
newMeasurement.timeStamp = time_meas
newMeasurement.value = rate
newMeasurement.units = 'rad/s'
return newMeasurement
