def __init__(self, buss_id, address):
self.gyro = Gyroscope(buss_id, address)
self.gyro_full_scale = 245
self.acc = Accelerometer(buss_id, address)
self.acc_full_scale = 2
self.fifo = Fifo(buss_id, address)
self.temp = Temperature(buss_id, address)
class Minimu:
VERSION = 'minimu9v5'
def __init__(self, buss_id, address):
self.gyro = Gyroscope(buss_id, address)
self.gyro_full_scale = 245
self.acc = Accelerometer(buss_id, address)
self.acc_full_scale = 2
self.fifo = Fifo(buss_id, address)
self.temp = Temperature(buss_id, address)
def enable(self, odr=104):
self.gyro.enable(odr)
self.gyro_full_scale = self.gyro.get_full_scale_selection()
self.acc.enable(odr)
self.acc_full_scale = self.acc.get_full_scale_selection()
self.fifo.enable(odr)
def disable(self):
self.gyro.disable()
self.acc.disable()
self.fifo.disable()
def read_fifo_raw(self):
data = np.array(self.fifo.get_data(), dtype=np.int)
return data
def read_fifo(self):
data = np.array(self.fifo.get_data(), dtype=np.double)
try:
data[:, :3] *= 1
except IndexError:
sleep(0.1)
data = np.array(self.fifo.get_data(), dtype=np.double)
data[:, :3] *= self.gyro_full_scale
data[:, -3:] *= self.acc_full_scale
data[data > 0] /= 32767
data[data < 0] /= 32768
return data
def read_temperature(self):
return self.temp.get_temperature()
def main():
dt = 0.0001 # the unit time to calculate
Nsteps = 20 # steps to refresh the screen
gyro = Gyroscope()
show = Show() # create the screen to show the movement of gyroscope
control = Control(gyro) # create a screen to control gyroscope
while True:
rate(100) # refresh the screen 100 times one second
for i in range(Nsteps):
gyro.go(dt) # let the gyroscope go
x, y, z = gyro.GetPos()
angle = gyro.GetRotationVel() * dt * Nsteps
show.update(x, y, z,
angle) # update the position and angle of the gyroscope
control.ShowEnergy() # show total energy of gyroscope
import socket
import pickle
from math import sin, cos, pi, radians
from time import sleep
from random import randint
from gyroscope import Gyroscope
import board
import neopixel
g = Gyroscope()
FML = 59
FMR = FML + 1
BMR = 133
BML = BMR + 1
''' LONGBOARD
BACK. X is where setup is located
BMR BML
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import communications as com from smbus import SMBus from gyroscope import Gyroscope from accelerometer import Accelerometer from barometer import Barometer from gps import GPSSensor import numpy as np from time import sleep # Initialise the i2c bus I2CBUS_NUMBER = 1 bus = SMBus(I2CBUS_NUMBER) # Initialise the gyroscope gyroscope1 = Gyroscope(bus) # Initialise the accelerometer accelerometer1 = Accelerometer(bus) # Initialise the barometer barometer1 = Barometer(bus) barometer1.calibrate() # Initialise the GPS gps1 = GPSSensor() gps1.initialise() # Initialise the server server = com.ServerSocket() server.connect()
# Simple test for NeoPixels on Raspberry Pi
import time
import board
import neopixel
from gyroscope import Gyroscope
pixel_pin = board.D18 # NeoPixels must be connected to D10, D12, D18 or D21 to work.
num_pixels = 100 # Num of neopixels. 240 is my max
ORDER = neopixel.GRB # My strip needs this line for normal RGB format
g = Gyroscope()
with neopixel.NeoPixel(pixel_pin,
num_pixels,
brightness=0.2,
auto_write=False,
pixel_order=ORDER) as pixels:
while True:
x, y, z = g.get_xyz_acceleration()
pixels.fill((0, 0, 0))
if abs(x) > 0.3:
if x > 0:
print('right')
c = 0
else:
print('left')
c = 1
pixels[c::2] = [(100, 0, 0)] * (len(pixels) // 2)
else:
pixels.fill((0, 100, 0))
import matplotlib
matplotlib.use('tkagg')
import matplotlib.pyplot as plt
from itertools import count
import random
from matplotlib.animation import FuncAnimation
from gyroscope import Gyroscope
g = Gyroscope()
x_vals = []
y_vals = []
#index = count()
def animate(i):
#x_vals.append(next(index))
#y_vals.append(random.randint(0,5))
x, y = g.xy_rotation()
x_vals.append(x)
y_vals.append(y)
plt.cla()
plt.xlabel('X [degrees]')
plt.ylabel('Y [degrees]')
plt.xlim([-90, 90])