def main(argv): id = imuSens.getID() #Verify chip ID print "Chip ID: 0x%02X. \r\n" % id imuSens.standbyMode() imuSens.activeMode() id = imuSens.getChipMode() #Configure sensor as accelerometer print "Chip Mode: 0x%02X. \r\n" % id id = imuSens.getTemperature() print "Chip Temperature: 0x%02X. \r\n" % id imuSens.configureAccelerometer() imuSens.configureMagnetometer() while True: if (imuSens.readStatusReg() & 0x80): x, y, z = imuSens.pollAccelerometer() print "Accelerometer data x: %d, y: %d, z: %d \r\n" % (x, y, z) pitch, roll = pitchAndroll(x, y, z) print "pitch %f, roll %f \r\n" % (pitch, roll) mx, my, mz = imuSens.pollMagnetometer() print "Magnetometer data mx: %d, my: %d, mz: %d \r\n" % (mx, my, mz) angle = mag_to_tilt_compensated_heading(mx, my, mz, pitch, roll) print "Angle: %f" % angle print "Heading : %f" % imuSens.getHeading() print "Shutting down"
def main(argv): id = imuSens.getID() #Verify chip ID print "Chip ID: 0x%02X. \r\n" % id imuSens.standbyMode() imuSens.activeMode() id = imuSens.getChipMode() #Configure sensor as accelerometer print "Chip Mode: 0x%02X. \r\n" % id id = imuSens.getTemperature() print "Chip Temperature: 0x%02X. \r\n" % id imuSens.configureAccelerometer() imuSens.configureMagnetometer() while True: if(imuSens.readStatusReg() & 0x80): x,y,z = imuSens.pollAccelerometer() print "Accelerometer data x: %d, y: %d, z: %d \r\n" % (x, y, z) pitch,roll = pitchAndroll(x,y,z) print "pitch %f, roll %f \r\n" % (pitch,roll) mx,my,mz = imuSens.pollMagnetometer() print "Magnetometer data mx: %d, my: %d, mz: %d \r\n" % (mx, my, mz) angle = mag_to_tilt_compensated_heading(mx, my, mz,pitch,roll) print "Angle: %f" % angle print "Heading : %f" % imuSens.getHeading() print "Shutting down"
def main(): id = imuSens.getID() #Verify chip ID print "Chip ID: 0x%02X. \r\n" % id imuSens.standbyMode() # imuSens.writeByte(0x0B,0x01) #Set to wake up imuSens.activeMode() id = imuSens.getChipMode() #Configure sensor as accelerometer print "Chip Mode: 0x%02X. \r\n" % id id = imuSens.getTemperature() print "Chip Temperature: 0x%02X. \r\n" % id #id = imuSens.readByte(PL_BF_ZCOMP) #print "PL_BF_ZCOMP: 0x%02X. \r\n" % id imuSens.configureAccelerometer() imuSens.configureMagnetometer() while True: if(imuSens.readStatusReg() & 0x80): x,y,z = imuSens.pollAccelerometer() print "Accelerometer data x: %d, y: %d, z: %d \r\n" % (x, y, z) # mx,my,mz = imuSens.pollMagnetometer() # print "Magnetometer data mx: %d, my: %d, mz: %d \r\n" % (mx, my, mz) print "Shutting down"
def main(argv): id = imuSens.getID() #Verify chip ID print "Chip ID: 0x%02X. \r\n" % id imuSens.standbyMode() imuSens.activeMode() id = imuSens.getChipMode() #Configure sensor as accelerometer print "Chip Mode: 0x%02X. \r\n" % id id = imuSens.getTemperature() print "Chip Temperature: 0x%02X. \r\n" % id def L1(): print "Landscape right.\r\n" def L2(): print "Landscape left. \r\n" def P1(): print "Portrait down.\r\n" def P2(): print "Portrait up.\r\n" options = {0 : L1, 1 : L2, 2 : P1, 3 : P2 } imuSens.configureAccelerometer() imuSens.configureMagnetometer() imuSens.configureOrientation(); modeprevious = 0 while True: if(imuSens.readStatusReg() & 0x80): orienta = imuSens.getOrientation() mode = (orienta >> 1) & 0x03 if (mode != modeprevious): options[mode]() modeprevious = mode print "Shutting down"
def main(argv): id = imuSens.getID() # Verify chip ID print "Chip ID: 0x%02X. \r\n" % id imuSens.standbyMode() imuSens.activeMode() id = imuSens.getChipMode() # Configure sensor as accelerometer print "Chip Mode: 0x%02X. \r\n" % id id = imuSens.getTemperature() print "Chip Temperature: 0x%02X. \r\n" % id def L1(): print "Landscape right.\r\n" def L2(): print "Landscape left. \r\n" def P1(): print "Portrait down.\r\n" def P2(): print "Portrait up.\r\n" options = {0: L1, 1: L2, 2: P1, 3: P2} imuSens.configureAccelerometer() imuSens.configureMagnetometer() imuSens.configureOrientation() modeprevious = 0 while True: if imuSens.readStatusReg() & 0x80: orienta = imuSens.getOrientation() mode = (orienta >> 1) & 0x03 if mode != modeprevious: options[mode]() modeprevious = mode print "Shutting down"