def initialize():
"""Creates and initializes the IMU object
Returns an IMU object
"""
# Create IMU object
imu = IMU() # To select a specific I2C port, use IMU(n). Default is 1.
imu.initialize()
# Enable accelerometer, magnetometer, gyroscope
imu.enable_accel()
imu.enable_mag()
imu.enable_gyro()
# Change IMU buffer mode to Bypass
# TODO: Try other modes as well
imu.accel_mode(0b001)
imu.gyro_mode(0b001)
# Specify ranges for accelerometer, magnetometer and gyroscope
# Accelerometer Options: "2G", "4G", "6G", "8G", "16G"
# Magnetometer Options: "2GAUSS", "4GAUSS", "8GAUSS", "12GAUSS"
# Gyroscope Options: "245DPS", "500DPS", "2000DPS"
imu.accel_range("16G")
imu.mag_range("2GAUSS")
imu.gyro_range("2000DPS")
return imu
def initialize():
"""Creates and initializes the IMU object
Returns an IMU object
"""
# Create IMU object
imu = IMU() # To select a specific I2C port, use IMU(n). Default is 1.
imu.initialize()
# Enable accelerometer, magnetometer, gyroscope
imu.enable_accel()
imu.enable_mag()
imu.enable_gyro()
# Change IMU buffer mode to Bypass
# TODO: Try other modes as well
imu.accel_mode(0b001)
imu.gyro_mode(0b001)
# Specify ranges for accelerometer, magnetometer and gyroscope
# Accelerometer Options: "2G", "4G", "6G", "8G", "16G"
# Magnetometer Options: "2GAUSS", "4GAUSS", "8GAUSS", "12GAUSS"
# Gyroscope Options: "245DPS", "500DPS", "2000DPS"
imu.accel_range("16G")
imu.mag_range("2GAUSS")
imu.gyro_range("2000DPS")
return imu
def imu(self):
imu = IMU() # To select a specific I2C port, use IMU(n). Default is 1.
imu.initialize()
# Enable accelerometer, magnetometer, gyroscope
imu.enable_accel()
imu.enable_mag()
imu.enable_gyro()
print imu.read_accel()
print imu.ax, imu.ay, imu.az
return imu
def sensor_reader ():
jaylen_data = IMU()
jaylen_data.initialize()
#enable sensors here
jaylen_data.enable_accel()
jaylen_data.enable_gyro()
#declaring the range of the accelerometer
jaylen_data.accel_range("8G")
jaylen_data.read_accel()
jaylen_data.read_gyro()
ax = jaylen_data.ax
ay = jaylen_data.ay
az = jaylen_data.az
gx = jaylen_data.gx
gy = jaylen_data.gy
gz = jaylen_data.gz
return ax, ay, az
from SF_9DOF import IMU
import time
import numpy as np
# Create IMU object
imu = IMU() # To select a specific I2C port, use IMU(n). Default is 1.
# Initialize IMU
imu.initialize()
# Enable accel, mag, gyro, and temperature
imu.enable_accel()
imu.enable_mag()
imu.enable_gyro()
imu.enable_temp()
# Set range on accel, mag, and gyro
# Specify Options: "2G", "4G", "6G", "8G", "16G"
imu.accel_range("2G") # leave blank for default of "2G"
# Specify Options: "2GAUSS", "4GAUSS", "8GAUSS", "12GAUSS"
imu.mag_range("2GAUSS") # leave blank for default of "2GAUSS"
# Specify Options: "245DPS", "500DPS", "2000DPS"
imu.gyro_range("245DPS") # leave blank for default of "245DPS"
# Loop and read accel, mag, and gyro
class Offset_Gyro:
def __init__(self):
# Create Directory for file if does not exist
if not os.path.exists(DIRECTORY):
os.makedirs(DIRECTORY)
# Print Program Header
print("\
=======================================\n\
STARTING GESTURE RECORDING TOOL\n\
=======================================")
# Create IMU object
imu = IMU() # To select a specific I2C port, use IMU(n). Default is 1.
# Initialize IMU
imu.initialize()
# Enable accel, mag, gyro, and temperature
imu.enable_accel()
imu.enable_mag()
imu.enable_gyro()
imu.enable_temp()
# Set range on accel, mag, and gyro
# Specify Options: "2G", "4G", "6G", "8G", "16G"
imu.accel_range("2G") # leave blank for default of "2G"
# Specify Options: "2GAUSS", "4GAUSS", "8GAUSS", "12GAUSS"
imu.mag_range("2GAUSS") # leave blank for default of "2GAUSS"
def initialize():
imu = IMU()
imu.initialize()
imu.enable_gyro()
imu.gyro_range("2000DPS")
return imu
