def loop(self):
"""Gets new IMU sensor data"""
sensor_data = SensorData()
calibration_status = SingleRegister()
if self.remote_id is not None or self.pozyx.checkForFlag(POZYX_INT_MASK_IMU, 0.01) == POZYX_SUCCESS:
status = self.pozyx.getAllSensorData(sensor_data, self.remote_id)
status &= self.pozyx.getCalibrationStatus(calibration_status, self.remote_id)
if status == POZYX_SUCCESS:
self.publishSensorData(sensor_data, calibration_status)
def GetOrientation(self, tag_id):
# Get Orientation data from Pozyx sensor
orientation = SensorData().euler_angles
self.pozyx.getEulerAngles_deg(orientation, tag_id)
# Extract ornetation data (pitch, roll, yaw)
orientationData = str(orientation).split(',')
yaw = float(orientationData[0].lstrip("Heading: "))
roll = float(orientationData[1].lstrip("Roll: "))
pitch = float(orientationData[2].lstrip("Pitch: "))
return (pitch, roll, yaw)
def printOrientation(self):
# Get Orientation data from Pozyx sensor
orientation = SensorData().euler_angles
self.pozyx.getEulerAngles_deg(orientation, self.remote_id)
# Extract key data (pitch, roll, yaw)
orientationData = str(orientation).split(',')
yaw = orientationData[0].lstrip("Heading: ")
roll = orientationData[1].lstrip("Roll: ")
pitch = orientationData[2].lstrip("Pitch: ")
#print("%s, %s, %s" %(pitch, roll, yaw))
return "%s, %s, %s" % (pitch, roll, yaw)
def loop(self):
"""Performs positioning and displays/exports the results."""
position = Coordinates()
sensor_data = SensorData()
self.publishData(position, sensor_data) #nur ohne anchors
status = self.pozyx.doPositioning(position,
self.dimension,
self.height,
self.algorithm,
remote_id=self.remote_id)
if status == POZYX_SUCCESS:
self.publishData(position, sensor_data)
calibration_status = SingleRegister()
if self.remote_id is not None or self.pozyx.checkForFlag(
POZYX_INT_MASK_IMU, 0.01) == POZYX_SUCCESS:
status = self.pozyx.getAllSensorData(sensor_data, self.remote_id)
status &= self.pozyx.getCalibrationStatus(calibration_status,
self.remote_id)