def calibrate_ROM(self): threshold = 50 x_ = self.neutral #hold min m = [] for ii in range (10): x = pwt.measure_pw_us(channel) # will usually throw away the first point if np.absolute(x - x_) > threshold: ii -= 1 else: m.append(pwt.measure_pw_us(channel)) x_ = x self.min = sum(m)/len(m) #hold max M = [] for ii in range (10): x = pwt.measure_pw_us(channel) # will usually throw away the first point if np.absolute(x - x_) > threshold: ii -= 1 else: M.append(pwt.measure_pw_us(channel)) x_ = x self.max = sum(M)/len(M) c = [] for ii in range (10): x = pwt.measure_pw_us(channel) # will usually throw away the first point if np.absolute(x - x_) > threshold: ii -= 1 else: c.append(pwt.measure_pw_us(channel)) x_ = x self.neutral = sum(c)/len(c)
#=========================
# OPEN WRITE STREAM
#=========================
# File needs to be removed before execution
ofile = open('signal.csv','wb')
w = csv.writer(ofile, delimiter=',',quoting=csv.QUOTE_NONE)
print('Write stream initialized')
w.writerow([aileron, elevator, motor, rudder])
#=========================
# EXECUTE PROCESSES
#=========================
try:
while(True):
pw = int(pwt.measure_pw_us(aileron_in))
# aileron.set_pw(pw)
aileron_filt = cheby2.rtfilter(pw, ic_input, ic_filter)
aileron.set_pw(aileron_filt['y'])
ic_input = aileron_filt['ic_input']
ic_filter = aileron_filt['ic_filter']
w.writerow([pw, aileron_filt['y']])
# w.writerow([pw])
stdout.write("\rPulse Width: %d" %pw)
stdout.flush()
except KeyboardInterrupt:
pass
