#!/usr/bin/python
from accel import Accel
import time
from PID import PID
accelorometer = Accel()
accelorometer.wakeFromSleep()
startTimeForCalibration = time.time()
numReadings = 0
sumReadings= 0
while time.time() < (startTimeForCalibration+10.0):
numReadings += 1
sumReadings += accelorometer.getReadingX()
meanReading = 0 - (sumReadings / numReadings)
start_time = time.time()
# Set up the PID control system
pid = PID(P=1, I=1, D=1, Derivator=0, Integrator=0, Integrator_max=50, Integrator_min=-50)
#!/usr/bin/python
from accel import Accel
from PID import PID
from motorPWM import MotorDriverHandler
import time
# train the accelorometer
startTimeForCalibration = time.time()
numReadings = 0
sumReadings= 0
trainingAccel = Accel(0)
trainingAccel.wakeFromSleep()
while time.time() < (startTimeForCalibration+4.0):
sumReadings += trainingAccel.getReadingX()
numReadings += 1
meanReading = 0 - (sumReadings / numReadings)
# Set up the accelorometer
accelorometer = Accel(meanReading)
accelorometer.wakeFromSleep()
# Set up the PID control system
pid = PID(P=3, I=0, D=0, Derivator=0, Integrator=0, Integrator_max=50, Integrator_min=-50)
