def calc_bimu_orientation(sample): #uses bIMU.py module, appends heading, x, y, time to or_pos, subtracting initial orientation, and compensating for heading- standardizing along x and y vectors global init_position global or_pos bIMU_data = bIMU.get_orientation(sample) #data = round(bIMU_data[0]-init_position[0],dec_places),round(bIMU_data[1]-init_position[0],dec_places),round(bIMU_data[2]-init_position[0],dec_places),time() data = round(bIMU_data[0],dec_places),round(bIMU_data[1],dec_places),round(bIMU_data[2],dec_places),time() or_pos.append(data)
import MadgwickAHRS as ahrs import time sample_rate = 100 while True: global sample_rate t1 = time.time() data = ahrs.get_orientation(sample_rate) print "Orientation:", print data[0], print data[1], print data[2] t2 = time.time() sample_rate = 1.0 / (t2 - t1)