def __init__(self):
"""
Constructor of calibration
"""
self.count = 30
self.freeIMU = FreeIMU()
self.buff = [0.0 for i in range(11)]
self.acc_file = 'acc.txt'
self.magn_file = 'magn.txt'
self.tot_readings = 0
self.filesopened = False
self.a_f = open(self.acc_file,'r+')
self.m_f = open(self.magn_file,'r+')
#!/usr/bin/python
from FreeIMU import FreeIMU as FreeIMU
from time import sleep
sensor = FreeIMU()
while (True):
ax, ay, az, gx, gy, gz, mx, my, mz = sensor.getValues()
#print "-----------------Acceleration------------------------"
#print "AX = %f m/s^2 AY = %f m/s^2 AZ = %f m/s^2" %(ax,ay,az)
print "--------------------Gyroscope--------------------------"
print "GX = %f deg/sec GY = %f deg/sec GZ = %f deg/sec" % (gx, gy, gz)
#print"------------------Magnetometer-------------------------"
#print "MX = %f deg/sec MY = %f deg/sec MZ = %f deg/sec" %(mx,my,mz)
#alt = sensor.baro.getAltitude()
#print "-----------------------Altitude------------------------"
#print " meters = %f "%alt
#x,y,z = sensor.getEuler()
#print"---------------------Get Eulers--------------------------"
#print" x = %f o y = %f o z = %f o "%(x,y,z)
#sleep(0.1)
#x,y,z = sensor.getYawPitchRoll()
#mx,my,mz = sensor.magn.getValues()
#print "--------------------Magnetic fields------------------"
#print " x = %f y = %f z =%f "%(mx,my,mz)
#print "------------------Get Yaw Pitch Roll-----------------"
#print " yaw = %d o pitch = %d o roll = %d o "%(x,y,z)
This program is free software: you can redistribute it and/or modify it under the terms of the version 3 GNU General Public License as published by the Free Software Foundation. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>. """ count = 30 freeIMU = FreeIMU() buff = [0.0 for i in range(11)] acc_file = 'acc.txt' magn_file = 'magn.txt' tot_readings = 0 filesopened = False a_f = open(acc_file,'r+') m_f = open(magn_file,'r+') print "\n\nWelcome to the library calibration routine!Original from Fabio Varesano 2012\n Translated to python by Christian Hinostroza" print "loading the sensor" print "..." accgyro = freeIMU.accgyro magn = freeIMU.magn print "sensors loaded"
#!/usr/bin/python
from FreeIMU import FreeIMU as FreeIMU
from time import sleep
sensor = FreeIMU()
while(True):
ax,ay,az,gx,gy,gz,mx,my,mz = sensor.getValues()
#print "-----------------Acceleration------------------------"
#print "AX = %f m/s^2 AY = %f m/s^2 AZ = %f m/s^2" %(ax,ay,az)
print"--------------------Gyroscope--------------------------"
print "GX = %f deg/sec GY = %f deg/sec GZ = %f deg/sec" %(gx,gy,gz)
#print"------------------Magnetometer-------------------------"
#print "MX = %f deg/sec MY = %f deg/sec MZ = %f deg/sec" %(mx,my,mz)
#alt = sensor.baro.getAltitude()
#print "-----------------------Altitude------------------------"
#print " meters = %f "%alt
#x,y,z = sensor.getEuler()
#print"---------------------Get Eulers--------------------------"
#print" x = %f o y = %f o z = %f o "%(x,y,z)
#sleep(0.1)
#x,y,z = sensor.getYawPitchRoll()
#mx,my,mz = sensor.magn.getValues()
#print "--------------------Magnetic fields------------------"
#print " x = %f y = %f z =%f "%(mx,my,mz)
#print "------------------Get Yaw Pitch Roll-----------------"
This program is free software: you can redistribute it and/or modify it under the terms of the version 3 GNU General Public License as published by the Free Software Foundation. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>. """ count = 30 freeIMU = FreeIMU() buff = [0.0 for i in range(11)] acc_file = 'acc.txt' magn_file = 'magn.txt' tot_readings = 0 filesopened = False a_f = open(acc_file, 'r+') m_f = open(magn_file, 'r+') print "\n\nWelcome to the library calibration routine!Original from Fabio Varesano 2012\n Translated to python by Christian Hinostroza" print "loading the sensor" print "..." accgyro = freeIMU.accgyro magn = freeIMU.magn print "sensors loaded"
class Calibrate:
"""
Class to calibrate the sensors
"""
def __init__(self):
"""
Constructor of calibration
"""
self.count = 30
self.freeIMU = FreeIMU()
self.buff = [0.0 for i in range(11)]
self.acc_file = 'acc.txt'
self.magn_file = 'magn.txt'
self.tot_readings = 0
self.filesopened = False
self.a_f = open(self.acc_file,'r+')
self.m_f = open(self.magn_file,'r+')
def instructions(self):
"""
Display instructions for the calibration
"""
print "\n\nWelcome to the library calibration routine!"
print "loading the sensor"
print "..."
def loadSensor(self):
self.accgyro = self.freeIMU.accgyro
self.magn = self.freeIMU.magn
print "sensors loaded"
def openFiles(self):
"""
Sampling data
"""
self.a_f = open(self.acc_file,'r+')
self.m_f = open(self.magn_file,'r+')
print "files open\n"
self.filesopened = True
def writeValues(self):
"""
Write values into files previously open
"""
if self.filesopened:
for j in range(self.count):
self.buff[0],self.buff[1],self.buff[2],self.buff[3],self.buff[4],self.buff[5],self.buff[6],self.buff[7],self.buff[8],self.buff[9],self.buff[10] = self.freeIMU.getRawValues()
#log accelerometer values
readings_line = "%f %f %f\n" % (self.buff[0], self.buff[1], self.buff[2])
self.a_f.write(readings_line)
#log magnetometer values
readings_line = "%f %f %f\n" % (self.buff[6], self.buff[7], self.buff[8])
self.m_f.write(readings_line)
self.tot_readings = self.tot_readings + 1
if(self.tot_readings % 200 == 0):
print "%d readings logged. Hit CTRL + C to interrupt." % (self.tot_readings)
else:
print "file hasn't been opened\n"
def closeFiles(self):
self.a_f.close()
self.m_f.close()
print "\n%d values logged to %s and %s" % (self.tot_readings, self.acc_file, self.magn_file)
self.filesopened = False
