def initialize():
"""Creates and initializes the IMU object
Returns an IMU object
"""
# Create IMU object
imu = IMU() # To select a specific I2C port, use IMU(n). Default is 1.
imu.initialize()
# Enable accelerometer, magnetometer, gyroscope
imu.enable_accel()
imu.enable_mag()
imu.enable_gyro()
# Change IMU buffer mode to Bypass
# TODO: Try other modes as well
imu.accel_mode(0b001)
imu.gyro_mode(0b001)
# Specify ranges for accelerometer, magnetometer and gyroscope
# Accelerometer Options: "2G", "4G", "6G", "8G", "16G"
# Magnetometer Options: "2GAUSS", "4GAUSS", "8GAUSS", "12GAUSS"
# Gyroscope Options: "245DPS", "500DPS", "2000DPS"
imu.accel_range("16G")
imu.mag_range("2GAUSS")
imu.gyro_range("2000DPS")
return imu
def initialize():
"""Creates and initializes the IMU object
Returns an IMU object
"""
# Create IMU object
imu = IMU() # To select a specific I2C port, use IMU(n). Default is 1.
imu.initialize()
# Enable accelerometer, magnetometer, gyroscope
imu.enable_accel()
imu.enable_mag()
imu.enable_gyro()
# Change IMU buffer mode to Bypass
# TODO: Try other modes as well
imu.accel_mode(0b001)
imu.gyro_mode(0b001)
# Specify ranges for accelerometer, magnetometer and gyroscope
# Accelerometer Options: "2G", "4G", "6G", "8G", "16G"
# Magnetometer Options: "2GAUSS", "4GAUSS", "8GAUSS", "12GAUSS"
# Gyroscope Options: "245DPS", "500DPS", "2000DPS"
imu.accel_range("16G")
imu.mag_range("2GAUSS")
imu.gyro_range("2000DPS")
return imu
def readGyroAngles():
# Read the gyroscope
imu=IMU() # Default IC2 port 1
imu.gyro_range("245DPS")
imu.read_gyro()
angles = qM.getEuler()
return Angles
# Enable accel, mag, gyro, and temperature
imu.enable_accel()
imu.enable_mag()
imu.enable_gyro()
imu.enable_temp()
# Set range on accel, mag, and gyro
# Specify Options: "2G", "4G", "6G", "8G", "16G"
imu.accel_range("2G") # leave blank for default of "2G"
# Specify Options: "2GAUSS", "4GAUSS", "8GAUSS", "12GAUSS"
imu.mag_range("2GAUSS") # leave blank for default of "2GAUSS"
# Specify Options: "245DPS", "500DPS", "2000DPS"
imu.gyro_range("245DPS") # leave blank for default of "245DPS"
# Loop and read accel, mag, and gyro
class Offset_Gyro:
def __init__(self):
imu.read_gyro()
self.gx = imu.gx
self.gy = imu.gy
self.gz = imu.gz
#gyro_offset = Offset_Gyro()
def gyro_offset_calc():
print "Calculating Gyroscope Offsets..."
for i in range(2, 102):
# Enable accel, mag, gyro, and temperature
imu.enable_accel()
imu.enable_mag()
imu.enable_gyro()
imu.enable_temp()
# Set range on accel, mag, and gyro
# Specify Options: "2G", "4G", "6G", "8G", "16G"
imu.accel_range("2G") # leave blank for default of "2G"
# Specify Options: "2GAUSS", "4GAUSS", "8GAUSS", "12GAUSS"
imu.mag_range("2GAUSS") # leave blank for default of "2GAUSS"
# Specify Options: "245DPS", "500DPS", "2000DPS"
imu.gyro_range("245DPS") # leave blank for default of "245DPS"
def recordData(x):
tstamp = strftime("_%Y-%m-%d_%H%M%S", gmtime())
file = DIRECTORY + '/' + str(x) + tstamp + ".txt"
fd = open(file, 'w')
# Loop and read accel, mag, and gyro
for i in range(NUMDATAPOINTS):
imu.read_accel()
imu.read_gyro()
# Print the results
fd.write(
"Accel-X: %.8f\tY: %.8f\tZ: %.8f\t| Gyro-X: %.8f\tY: %.8f\tZ: %.8f\n\
def initialize():
imu = IMU()
imu.initialize()
imu.enable_gyro()
imu.gyro_range("2000DPS")
return imu
from SF_9DOF import IMU
import time
import json
import numpy as np
imu = IMU()
imu.initialize()
imu.enable_accel()
imu.enable_mag()
imu.enable_gyro()
imu.enable_temp()
imu.accel_range("2G")
imu.mag_range("2GAUSS")
imu.gyro_range("245DPS")
class Offset_Gyro:
def __init__(self):
imu.read_gyro()
self.gx = imu.gx
self.gy = imu.gy
self.gz = imu.gz
gyro_offset = Offset_Gyro()
def gyro_offset_calc():
print("Calculating Gyroscope Offset...")
import time
import json
import numpy as np
import math
imu = IMU()
imu.initialize()
imu.enable_accel()
imu.enable_mag()
imu.enable_gyro()
imu.enable_temp()
imu.accel_range("2G")
imu.mag_range("2GAUSS")
imu.gyro_range("245DPS")
class Accel_Readings:
def __init__(self):
imu.read_accel()
self.ax = imu.ax
self.ay = imu.ay
self.az = imu.az
self.R = math.sqrt(math.pow(self.ax, 2) + math.pow(self.ay, 2) + math.pow(self.az, 2))
class Accel_Readings_Norm:
def __init__(self, accel):
self.axn = accel.ax/accel.R
self.ayn = accel.ay/accel.R
self.azn = accel.az/accel.R
from SF_9DOF import IMU
from config import GYRO
from config import XM
import numpy as np
import quatMath as qM
import time
import pandas as pd
G = GYRO()
G.CTRL_REG1_G = 240
G.CTRL_REG2_G = 40
imu = IMU()
imu.initialize()
imu.enable_gyro()
imu.gyro_range("2000DPS")
iterations = 10
period = 5
exes = [0] * period * iterations
wyes = [0] * period * iterations
zees = [0] * period * iterations
its = {
'avg exes': [0] * iterations,
'avg wyes': [0] * iterations,
'avg zees': [0] * iterations,
}
angles = {'exes': exes, 'wyes': wyes, 'zees': zees}
df = pd.DataFrame(angles)
averages = pd.DataFrame(its)
