gyro = SensorITG3200(1,0x68)
gyro.default_init()
zeroX,zeroY,zeroZ = gyro.calibrate(1000,0.002)
print 'Compass Initialization ... [Ok]'
compass = SensorHMC5338L(1,0x1e)
# Accelerometer:
# adxl(i2c_adapter,bus_nr,resolution)
# resolution: [0,1,2,3] for [2g,4g,8g,16g]
adx = Adxl(1,0x53,0)
helpInfo()
while not shutdown == 1:
data = []
data.append(adx.getRoll())
data.append(adx.getPitch())
data.append(compass.getBearing())
time.sleep(0.1)
send_array(conn, data)
continue
axes = adx.getAxes()
gx,gy,gz = gyro.read_data_calib()
mx,my,mz = compass.read_data()
data.append(axes['x'])
data.append(axes['y'])
data.append(axes['z'])
data.append(gx)
data.append(gy)
data.append(gz)
gyro = SensorITG3200(1, 0x68)
gyro.default_init()
zeroX, zeroY, zeroZ = gyro.calibrate(1000, 0.002)
print 'Compass Initialization ... [Ok]'
compass = SensorHMC5338L(1, 0x1e)
# Accelerometer:
# adxl(i2c_adapter,bus_nr,resolution)
# resolution: [0,1,2,3] for [2g,4g,8g,16g]
adx = Adxl(1, 0x53, 0)
helpInfo()
while not shutdown == 1:
data = []
data.append(adx.getRoll())
data.append(adx.getPitch())
data.append(compass.getBearing())
time.sleep(0.1)
send_array(conn, data)
continue
axes = adx.getAxes()
gx, gy, gz = gyro.read_data_calib()
mx, my, mz = compass.read_data()
data.append(axes['x'])
data.append(axes['y'])
data.append(axes['z'])
data.append(gx)
data.append(gy)
data.append(gz)
if input == 'q':
exit()
if input == 'a':
axes = adx.getAxes()
axesG = adx.toG(axes)
print "\n\nAcc X: ", axes['x'] , "m/s^2"
print "Acc X: ", axesG['x'], "G\t"
print "\n\nAcc Y: ", axes['y'] , "m/s^2"
print "Acc Y: ", axesG['y'], "G\t"
print "\n\nAcc Z: ", axes['z'] , "m/s^2"
print "Acc Z: ", axesG['z'], "G\t"
if input == 'r':
print "\n\nx rotation: " , adx.getRoll()
if input == 'p':
print "y rotation: " , adx.getPitch()
if input == 'm':
print "Bearing: ", compass.getBearing()
if input == 'h':
helpInfo()
if input == 'b':
tempPress = bmp085.read_temperature_and_pressure()
print 'T\t%.2f\nP\t%.2f\nA\t%f' % (tempPress[0],tempPress[1],bmp085.readAltitude())
if input == 't':
print "All data from the IMU: "
tempPress = bmp085.read_temperature_and_pressure()
gx,gy,gz = gyro.read_data_calib()
print 'T\t%.2f\nP\t%.2f\nA\t%f' % (tempPress[0],tempPress[1],bmp085.readAltitude(1016101610161016101610161016101610161016))
print 'gx:\t%d\ngy:\t%d\ngz:\t%d' % (gx,gy,gz)