for run in test_vel:
data[str(run)] = pd.DataFrame(columns=['imu_ang_z', 'elapsed'])
t0 = time.time()
ptu_on = False
imu_ang_z = np.zeros(N)
for i in range(N):
if ptu_on == False:
# print(time.time()-t0)
if time.time() - t0 > 2:
ptu_on = True
ptu.cmd('@01SSPD' + str(test_vel[cnt]) + '\r')
print('@01SSPD' + str(test_vel[cnt]) + '\r')
ptu.cmd('@01J+\r')
# print('test22')
imu_ang_z[i] = imu.grab_ang_r().z #this is the line failing
# print('test33')
time.sleep(0.005)
t1 = time.time()
ptu.cmd('@01STOP\r')
hz = N / (t1 - t0)
data[str(run)]['elapsed'] = np.linspace(0, t1 - t0, len(imu_ang_z))
data[str(run)]['imu_ang_z'] = imu_ang_z
cnt += 1
time.sleep(2)
print(cnt)
time.sleep(0.5)
plt.figure()
for run in test_vel:
#Initiate pandas dataframe to store IMU data in
data = pd.DataFrame(columns=[
'accel_x', 'accel_y', 'accel_z', 'angr_x', 'angr_y', 'angr_z', 'mag_x',
'mag_y', 'mag_z', 'elapsed'
])
t_start = time.time()
print('Recording VN100 IMU data for', record_time, 'seconds')
while (time.time() - t_start) < record_time:
#Grab time at beginning of each iteration to keep sampling time frequency consistent
t0 = time.time()
#Grab imu data
imu.grab_accel()
imu.grab_ang_r()
imu.grab_mag()
#Grab timestamp and add row to dataframe
elapsed = time.time() - t_start
data_add = [
imu.accel.x, imu.accel.y, imu.accel.z, imu.ang_r.x, imu.ang_r.y,
imu.ang_r.z, imu.mag.x, imu.mag.y, imu.mag.z, elapsed
]
data.loc[datetime.now()] = data_add
#Sleep until sampling time has expired
t_diff = time.time() - t0
if delay - t_diff > 0:
time.sleep(delay - t_diff)
