import smbus #import SMBus module of I2C import math from time import sleep #import import os import time import datetime from datetime import datetime, timedelta from neo6 import GpsNeo6 gps=GpsNeo6(port="/dev/ttyUSB0",debit=9600,diff=2) #diff is difference between utc time en local time from hmc5883l import hmc5883l compass = hmc5883l(gauss = 4.7, declination = (-2,5)) #some MPU6050 Registers and their Address PWR_MGMT_1 = 0x6B SMPLRT_DIV = 0x19 CONFIG = 0x1A GYRO_CONFIG = 0x1B INT_ENABLE = 0x38 ACCEL_XOUT_H = 0x3B ACCEL_YOUT_H = 0x3D ACCEL_ZOUT_H = 0x3F GYRO_XOUT_H = 0x43 GYRO_YOUT_H = 0x45 GYRO_ZOUT_H = 0x47 def MPU_Init(): #write to sample rate register bus.write_byte_data(Device_Address, SMPLRT_DIV, 7) #Write to power management register bus.write_byte_data(Device_Address, PWR_MGMT_1, 1)
def main():
''' Defining a variable to name all the functions of the gps '''
gps = GpsNeo6(port="/dev/ttyAMA0", debit=9600,
diff=2) #diff is difference betw$
lat_FGC = 41.56344849685262
long_FGC = 2.0190451151906927
''' current position and where to walk to... start just 1m ahead '''
target_polar = [5.0, 0.0]
curr = targ = rect(target_polar)
''' initialize OpenAL context, asking for 44.1kHz to match HRIR data '''
contextAttr = [ALC_FREQUENCY, 44100, 0]
device = alcOpenDevice(None)
context = alcCreateContext(device,
(ctypes.c_int * len(contextAttr))(*contextAttr))
alcMakeContextCurrent(context)
''' listener at origin, facing down -z (ears at 1.5m height) '''
alListener3f(AL_POSITION, 0., 1.5, 0.)
alListener3f(AL_VELOCITY, 0., 0., 0.)
orient = [0.0, 0.0, -1.0, 0.0, 1.0, 0.0]
alListenerfv(AL_ORIENTATION, (ctypes.c_float * len(orient))(*orient))
''' this will be the source of ghostly footsteps... '''
source = c_uint(0)
alGenSources(1, source)
alSourcef(source, AL_PITCH, 1.)
alSourcef(source, AL_GAIN, 1.)
alSource3f(source, AL_POSITION, curr[0], curr[1], curr[2])
alSource3f(source, AL_VELOCITY, 0., 0., 0.)
alSourcei(source, AL_LOOPING, AL_TRUE)
''' allocate an OpenAL buffer and fill it with monaural sample data '''
buffer = ctypes.c_uint(0)
alGenBuffers(1, ctypes.pointer(buffer))
data = load('nord.raw')
dataSize = ctypes.c_int(len(data))
# for simplicity, assume raw file is signed-16b at 44.1kHz
alBufferData(buffer, AL_FORMAT_MONO16, data, dataSize, 44100)
gc.collect()
alSourcei(source, AL_BUFFER, buffer.value)
''' state initializations for the upcoming loop '''
random.seed()
dt = 1. / 60.
vel = 0.8 * dt
''' BEGIN! '''
alSourcePlay(source)
''' loop forever... walking to random, adjacent, integer coordinates '''
while (True):
''' Initial position of the x,y,z coordinates of the sound
relating to the current positions 'curr' and the target 'targ' one '''
gps.traite()
print(gps.time, gps.latitude, gps.longitude, gps.satellite)
lat_orig = gps.latitude
long_orig = gps.longitude
target_polar[1] = lat_orig - lat_FGC #Diferencia Latitud
target_polar[1] = long_orig - long_FGC #Diferencia Longitud
if target_polar[1] > 360.0:
target_polar[1] = target_polar[1] - 360.0
if target_polar[1] < 0.0:
target_polar[1] = target_polar[1] + 360.0
target_polar[1] = target_polar[1] * math.pi / 180.0
targ = rect(target_polar)
alSource3f(source[0], AL_POSITION, targ[0], targ[1], targ[2])
alSource3f(source[0], AL_VELOCITY, 0.0, 0.0, 0.0)
#print(curr, targ)
time.sleep((int)(1 * dt))
''' cleanup that should be done when you have a proper exit... ;) '''
alDeleteSources(1, ctypes.pointer(source))
alDeleteBuffers(1, ctypes.pointer(buffer))
alcDestroyContext(context)
alcCloseDevice(device)
return
def getGPS():
gps=GpsNeo6(port="/dev/ttyAMA0",debit=9600,diff=2) #diff is difference between utc time en local time
gps.traite()
return gps.latitude, gps.longitude, gps.speed
from neo6 import GpsNeo6
gps = GpsNeo6(port="/dev/ttyAMA0", debit=9600, diff=2)
while True:
gps.traite()
print(gps) # print all info
latstr = str(gps.latitude)
lonstr = str(gps.longitude)
print(gps.latitude, gps.longitude)
print(latstr, lonstr)