else:
dynAccel = round(acceleration[1] - gy, 5) * 9.8
velocityX = integrate.cumtrapz(
(prevDynAccel, dynAccel), dx=0.03) + velocityX
velocityX = velocityX[0]
distance = integrate.cumtrapz(
(prevVelocity, velocityX), dx=0.03) + distance
prevDynAccel = dynAccel
prevVelocity = velocityX
distance = distance[0]
print dynAccel, velocityX, distance, timestamp
try:
ch.setOnAttachHandler(AccelerometerAttached)
ch.setOnDetachHandler(AccelerometerDetached)
ch.setOnErrorHandler(ErrorEvent)
ch.setOnSpatialDataHandler(AccelerationChangeHandler)
print("Waiting for the Phidget Accelerometer Object to be attached...")
ch.openWaitForAttachment(5000)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Press Enter to Exit...\n")
readin = sys.stdin.read(1)
exit(1)
print("Gathering data for 10 seconds...")
ch.setDataInterval(30)
time.sleep(15)
try:
ch.close()
yawAngle += compassBearingFilter[l][2]
yawAngle /= Count
pitchAngle /= Count
rollAngle /= Count
compassBearing = yawAngle * (180.0 / math.pi)
# print("Bearing after: %.2f" % compassBearing)
except:
print()
try:
ch.setOnAttachHandler(SpatialAttached)
ch.setOnDetachHandler(SpatialDetached)
ch.setOnErrorHandler(ErrorEvent)
ch.setOnSpatialDataHandler(calculateCompassBearing)
print("Waiting for the Phidget Spatial Object to be attached...")
file = open("dir.txt", "a")
file.write("--------------------------------------------")
#file.write("\n")
ch.openWaitForAttachment(5000)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Press Enter to Exit...\n")
readin = sys.stdin.read(1)
exit(1)
ac1.append(acceleration[1])
ac2.append(acceleration[2])
gr0.append(angularRate[0])
gr1.append(angularRate[1])
gr2.append(angularRate[2])
mg0.append(fieldStrength[0])
mg1.append(fieldStrength[1])
mg2.append(fieldStrength[2])
# Programa Principal
#########################################################################
try:
Space.setOnAttachHandler(SpatialAttached)
Space.setOnDetachHandler(SpatialDetached)
Space.setOnErrorHandler(ErrorEvent)
Space.setOnSpatialDataHandler(SpatialDataHandler)
#########################################################################
print("Waiting for the Phidget Spatial Object to be attached...")
Space.openWaitForAttachment(5000)
print("Spatial attached")
#########################################################################
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Press Enter to Exit...\n")
readin = sys.stdin.read(1)
exit(1)
# Definir el tiempo de muestro del acelerometro (En ms)