def calibrate_sensors(bus):
global calibration
calibration = {"pitch": 0, "sample_count": 0}
print "Calibrating..."
MPU6050.loop(bus, duration=3.0, callback=calibrate)
print "Done."
return calibration["pitch"] / calibration["sample_count"]
"""
def __init__(self, debug=False):
super().__init__()
self.accBiases=[-86,9974,327]
#(-261.5295, -40.716, -17.288)
self.debug=debug
self.freq=100
self.bus = smbus.SMBus(1)
self.address = 0x68
self.firstAngles=True
self.bus.write_byte_data(self.address, 0x6b, 0)
self.bus.write_byte_data(self.address, 0x00, 0)
self.bus.write_byte_data(self.address, 0x1C, 0b00001000)
self.bus.write_byte_data(self.address, 0x10, 0)
self.bus.write_byte_data(self.address, 0x1B, 0)
self.bus.write_byte_data(self.address, 0x08, 0)
self.gyroOffsets=self.calibrateGyro()
self.mpu = MPU6050.MPU6050()
self.mpu.setGResolution(2)
self.bus.write_byte_data(self.address, 0x1C, 0b00001000)
self.bus.write_byte_data(self.address, 0x10, 0)
self.mpu.setSampleRate(self.freq)
time.sleep(0.01)
def init_gyroscope(
samplerate,
gresolution): # Wake the MPU-6050 up as it starts in sleep mode
ready = False
while ready == False:
try:
gyro.mpu6050 = MPU6050.MPU6050(
) # var init. KEEP HERE, MIGHT FAIL OTHERWISE
gyro.mpu6050.setup()
gyro.mpu6050.setSampleRate(samplerate) # 100 probably ok
gyro.mpu6050.setGResolution(
gresolution) # 2g for lessening vibration
ready = True # Let us know if setup successful
except:
pass # If setup fails, try again (DO NOTHING)
time.sleep(0.01)
def __init__(self, CODE):
#list of angles to do pushing
if (not CODE or (CODE != 6050 and CODE != 9250)):
raise ValueError
self.__gyro = None
self.maxAngle = -10000;
self.minAngle = 10000;
# init the Gyro Scope
if CODE == 6050 :
# TODO: DO INIT FOR 6050
import MPU6050
__gyro = MPU6050.MPU6050()
return None
def __init__(self): "Set up the Sensors stuff here" # QUSTIONABLE self.address = 0x68 # This is the address value read via the i2cdetect command self.bus = smbus.SMBus(1) self.gyro = MPU6050(bus, address, "MPU6050") self.library = Data() self.ultra_front_data = "put stuff here" self.ultra_top_data = "put stuff here" self.ultra_bottom_data = "put stuff here" self.gyro_data = [] # put stuff here (list) self.ULTRA_FRONT_PIN = "number" self.ULTRA_TOP_PIN = "number" self.ULTRA_BOTTOM_PIN = "number" self.GYRO_PIN = "number" joystick.init() self.controller = joystick.Joystic(0) self.controller.init() self.axes = self.controller.get_numaxes()
#!/usr/bin/python
import MPU6050
import math
mpu6050 = MPU6050.MPU6050()
mpu6050.setup()
mpu6050.setSampleRate(100)
mpu6050.setGResolution(16)
#sometimes I need to reset twice
I = mpu6050.readData()
Threshold = 0.2
ShakeFlag = False
while True:
#wait until new data available
while (mpu6050.readStatus() & 1) == 0:
pass
#read initial reading and put in I class
I = mpu6050.readData()
PeakForce = 0
for loop in range(20):
#wait until new data available
while (mpu6050.readStatus() & 1) == 0:
def __init__(self):
self.ag = MPU6050.MPU6050(0x68)
self.ag.set_gyro_range(MPU6050.MPU6050.GYRO_RANGE_250DEG)
self.gyro_abs = {'x': 0.0, 'y': 0.0, 'z': 0.0}
self.t = time.time()
# create data array
data = [float()] * 9
while check.value():
print("Waiting")
utime.sleep(1)
led.toggle()
print("Initialising Sensors")
# initialise barometer
baro_i2c = I2C(1, scl=Pin(19), sda=Pin(18))
baro = mpl(baro_i2c, mode=mpl.PRESSURE)
# initialise MPU6050
mpu = MPU6050.MPU6050(bus=0, scl=Pin(17), sda=Pin(16))
mpu.set_accel_range(16)
mpu.set_gyro_range(500)
start = utime.ticks_ms()
def get():
global data
global start
try:
pressure = baro.pressure()
temperature = baro.temperature()
motion = mpu.read()
dt = utime.ticks_diff(utime.ticks_ms(), start)
#!/usr/bin/python import MPU6050 import math import numpy import time mpu6050OUT = MPU6050.MPU6050() mpu6050IN = MPU6050.MPU6050() mpu6050OUT.setAddress(0x68) mpu6050IN.setAddress(0x69) mpu6050OUT.setup() mpu6050OUT.setSampleRate(1000) mpu6050OUT.setGResolution(16) #sometimes I need to reset twice I = mpu6050OUT.readData() mpu6050IN.setup() mpu6050IN.setSampleRate(1000) mpu6050IN.setGResolution(16) #sometimes I need to reset twice I = mpu6050IN.readData() Threshold = 0.2 ShakeFlag = False count = 0 countIn = 0
#!/usr/bin/env python
########################################################################
# Filename : MPU6050RAW.py
# Description : Read the Raw data of MPU6050.
# Author : freenove
# modification: 2016/07/18
########################################################################
import MPU6050
import time
mpu = MPU6050.MPU6050() #instantiate a MPU6050 class object
accel = [0] * 3 #store accelerometer data
gyro = [0] * 3 #store gyroscope data
def setup():
mpu.dmp_initialize() #initialize MPU6050
def loop():
while (True):
accel = mpu.get_acceleration() #get accelerometer data
gyro = mpu.get_rotation() #get gyroscope data
print "a/g:%d\t%d\t%d\t%d\t%d\t%d " % (accel[0], accel[1], accel[2],
gyro[0], gyro[1], gyro[2])
print "a/g:%.2f g\t%.2f g\t%.2f g\t%.2f d/s\t%.2f d/s\t%.2f d/s" % (
accel[0] / 16384.0, accel[1] / 16384.0, accel[2] / 16384.0,
gyro[0] / 131.0, gyro[1] / 131.0, gyro[2] / 131.0)
time.sleep(0.1)
if not (ShakeFlag):
ShakeFlag = True
print("{0} vibration detected: {1} G".format(name, PeakForce))
else:
ShakeFlag = False
def vibration():
while True:
detectVibration(mpu6050, "IN")
detectVibration(mpu6050OUT, "OUT")
mpu6050 = MPU6050.MPU6050()
address = 0x69
mpu6050.setAddress(address)
mpu6050.setup()
mpu6050.setSampleRate(1000)
mpu6050.setGResolution(16)
mpu6050OUT = MPU6050.MPU6050()
mpu6050OUT.setAddress(0x68)
mpu6050OUT.setup()
mpu6050OUT.setSampleRate(1000)
mpu6050OUT.setGResolution(16)
#sometimes I need to reset twice
vibIn = vibThread(mpu6050, "IN")
vibOut = vibThread(mpu6050OUT, "OUT")
def get_acc_y(bus):
(gyro_scaled_x, gyro_scaled_y, gyro_scaled_z, accel_scaled_x, accel_scaled_y, accel_scaled_z) = MPU6050.read_all(
bus
)
return (accel_scaled_x - zero_values["acc_y"]) * 90 + 90
acc_x_val = accel_scaled_x - zero_values["acc_x"]
acc_y_val = accel_scaled_y - zero_values["acc_y"]
# acc_y_val = acc_y_val - 1
acc_z_val = accel_scaled_z - zero_values["acc_z"]
# print "\t%s,%s,%s" % (acc_x_val,acc_y_val,acc_z_val)
R = math.sqrt(math.pow(acc_x_val, 2) + math.pow(acc_y_val, 2) + math.pow(acc_z_val, 2))
angle_y = math.acos(acc_y_val / R) * RAD_TO_DEG
return angle_y
def get_gyro_y_rate(bus):
(gyro_scaled_x, gyro_scaled_y, gyro_scaled_z, accel_scaled_x, accel_scaled_y, accel_scaled_z) = MPU6050.read_all(
bus
)
gyro_rate = -1 * (gyro_scaled_y - zero_values["gyro_y"])
return gyro_rate
def orient(bus):
MPU6050.loop(bus, duration=999999.0, callback=dump_data)
def balance(bus):
MPU6050.loop(bus, duration=999999.0, callback=adjust_wheels)
import MPU6050
import time
mpu = MPU6050.MPU6050() #class untuk MPU6050
accel = [0]*3 #untuk store accelerometer data
gyro = [0]*3 #untuk store gyroscope data
def setup():
mpu.dmp_initialize() #inisialisasi MPU6050
def loop():
while (True):
accel = mpu.get_acceleration() #get accelerometer data
gyro = mpu.get_rotation() #get gyroscope data
print("a/g:%d\t%d\t%d\t%d\t%d\t%d\t"%(accel[0],accel[1]accel[2],gyro[0],gyro[1],gyro[2]))
print("a/g:%.2f g\t%.2f g\t%.2f g\t%.2f d/s\t%.2f d/s\t%.2f d/s"%(accel[0]/16384.0,accel[1]/16384.0,accel[2]/16384.0,gyro[0]/131.0,gyro[1]/131.0,gyro[2]/131.0))
time.sleep(0,1)
if __name__ == '__main__': #mulai program disini
print("Mulai untuk alat . . . ")
setup()
try:
loop()
except KeyboardInterrupt: #untuk exit saat menekan Ctrl+C
pass
def close_threads():
hilo_recepcion.stop_thread()
time.sleep(0.05)
hilo_envio.stop_thread()
time.sleep(0.05)
hilo_grafico.stop_thread()
time.sleep(0.05)
if (sys.argv[3] != "SIM_MODE"):
SIM_MODE = 0
else:
SIM_MODE = 1
com = Comunicacion.Comunicacion(sys.argv[1], BAUD_RATE, SIM_MODE)
acelerometro = MPU6050.mpu6050(com)
ultrasonido = Ultrasonic_Sensor.Ultrasonic_Sensor(com)
grafico = graphic.grafico(acelerometro, ultrasonido)
hilo_recepcion = ThreadHandler.ThreadHandler(com.receive, "Hilo de recepcion")
hilo_envio = ThreadHandler.ThreadHandler(com.send, "Hilo de envio")
hilo_grafico = ThreadHandler.ThreadHandler(grafico.run, "Hilo Grafico")
open_threads()
acelerometro.obtener_datos()
#acelerometro.calibrar()
acelerometro.print_datos()
pl = Planing.Planing(com, sys.argv[2])
pl.run()
#time.sleep(5)
close_threads()
import classThreads import MPU6050 import time import db #init Accelerometer Sensor inSensor = MPU6050.MPU6050() inSensor.setAddress(0x69) inSensor.setSampleRate(1000) inSensor.setGResolution(16) inSensor.setup() testID = 62 acc = classThreads.ManyAccThread(inSensor, testID, 2000) acc.start() acc.join()
time.sleep(0.05)
def close_threads():
hilo_recepcion.stop_thread()
time.sleep(0.05)
hilo_envio.stop_thread()
time.sleep(0.05)
hilo_grafico.stop_thread()
time.sleep(0.05)
if (sys.argv[3] != "SIM_MODE"):
SIM_MODE = 0
else:
SIM_MODE = 1
com = Comunicacion.Comunicacion(sys.argv[1],BAUD_RATE,SIM_MODE)
acelerometro = MPU6050.mpu6050(com)
ultrasonido = Ultrasonic_Sensor.Ultrasonic_Sensor(com)
grafico = graphic.grafico(acelerometro,ultrasonido)
hilo_recepcion = ThreadHandler.ThreadHandler(com.receive, "Hilo de recepcion")
hilo_envio = ThreadHandler.ThreadHandler(com.send, "Hilo de envio")
hilo_grafico = ThreadHandler.ThreadHandler(grafico.run, "Hilo Grafico")
open_threads()
acelerometro.obtener_datos()
#acelerometro.calibrar()
acelerometro.print_datos()
pl = Planing.Planing(com,sys.argv[2])
pl.run()
#time.sleep(5)
close_threads()
import MPU6050
import time
mpu = MPU6050.MPU6050()
accel = [0] * 3
gyro = [0] * 3
def setup():
mpu.dmp.initialize()
def loop():
while (1):
accel = mpu.get_acceleration()
gyro = mpu.get_rotation()
print("a/g:%d \t %d \t %d \t %d \t %d \t %d" %
(accel[0], accel[1], accel[2], gyro[0], gyro[1], gyro[2]))
print("HI")
time.sleep()
if __name__ == "__main__":
setup()
try:
loop()
except KeyboardInterrupt:
pass
