def sensor_data_acc():
i2c = busio.I2C(board.SCL, board.SDA)
accl_sensor = LSM6DSOX(i2c)
while True:
x = accl_sensor.acceleration[0]
y = accl_sensor.acceleration[1]
z = accl_sensor.acceleration[2]
acc = math.sqrt(x*x + y*y + z*z)
sio.emit('my_message',{'acc':acc})
if acc > 20:
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(18,GPIO.OUT)
GPIO.output(18,GPIO.HIGH)
time.sleep(2)
GPIO.output(18,GPIO.LOW)
sio.sleep(1)
def __init__(self, i2c=None):
super().__init__('rtf_lsm6sox')
# Base.__init__(self, 70)
self.timer_imu = self.create_timer(1 / 100, self.callback)
if i2c is None:
self.i2c = busio.I2C(board.SCL, board.SDA, frequency=400000)
else:
self.i2c = i2c
# 'RANGE_1000_DPS', 'RANGE_125_DPS', 'RANGE_2000_DPS', 'RANGE_250_DPS', 'RANGE_4000_DPS', 'RANGE_500_DPS'
self.imu = LSM6DSOX(self.i2c)
self.imu.accelerometer_range = AccelRange.RANGE_4G # pylint: disable=no-member
self.imu.accelerometer_data_rate = Rate.RATE_104_HZ
self.imu.gyro_range = GyroRange.RANGE_2000_DPS
self.imu.gyro_data_rate = Rate.RATE_104_HZ
frame_id = self.declare_parameter('frame_id', "base_imu_link").value
self.accels_bias = self.declare_parameter('accels_bias', [0., 0., 0.])
self.gyros_bias = self.declare_parameter('gyros_bias', [0., 0., 0.])
self.pub_imu = self.create_publisher(Imu, 'imu', 10)
self.imu_msg = Imu()
self.imu_msg.header.frame_id = frame_id
ac, oc, vc = (0.01, 0.001, 0.01)
self.imu_msg.linear_acceleration_covariance = [
ac, 0.0, 0.0, 0.0, ac, 0.0, 0.0, 0.0, ac
]
self.imu_msg.orientation_covariance = [
oc, 0.0, 0.0, 0.0, oc, 0.0, 0.0, 0.0, oc
]
self.imu_msg.angular_velocity_covariance = [
vc, 0.0, 0.0, 0.0, vc, 0.0, 0.0, 0.0, vc
]
self.calibrate = False
def main():
rospy.init_node('accelerometer', anonymous=False)
pub = rospy.Publisher("imu", Imu, queue_size=10)
print(board.SCL, board.SDA)
i2c = busio.I2C(board.SCL, board.SDA)
sensor = LSM6DSOX(i2c)
rospy.loginfo('ISM330DHCX 6DOF Accelerometer Publishing to IMU')
imu_msg = Imu()
imu_msg.linear_acceleration_covariance = [
0, 0, 0,
0, 0, 0,
0, 0, 0
]
imu_msg.angular_velocity_covariance = [
0, 0, 0,
0, 0, 0,
0, 0, 0
]
while not rospy.is_shutdown():
x, y, z = sensor.acceleration
u,v,w = sensor.gyro
imu_msg.angular_velocity.x = u
imu_msg.angular_velocity.y = v
imu_msg.angular_velocity.z = w
imu_msg.linear_acceleration.x = x
imu_msg.linear_acceleration.y = y
imu_msg.linear_acceleration.z = z
pub.publish(imu_msg)
rospy.sleep(1)
rospy.loginfo('ISM330DHCX Accelerometer Offline')
# SPDX-FileCopyrightText: Copyright (c) 2020 Bryan Siepert for Adafruit Industries
#
# SPDX-License-Identifier: MIT
import time
import board
from adafruit_lsm6ds.lsm6dsox import LSM6DSOX
i2c = board.I2C() # uses board.SCL and board.SDA
sensor = LSM6DSOX(i2c)
while True:
print("Acceleration: X:%.2f, Y: %.2f, Z: %.2f m/s^2" % (sensor.acceleration))
print("Gyro X:%.2f, Y: %.2f, Z: %.2f radians/s" % (sensor.gyro))
print("")
time.sleep(0.5)
#----------------------------------------------------------------------------------------------------- #Program will simply display RTC Temperature and initialize RTC time to zero. #----------------------------------------------------------------------------------------------------- #Acceleration/Gyro Sensor : adafruit LSM6DSOX #RTC Module : adafruit DS3231 #----------------------------------------------------------------------------------------------------- #Coded by : Nicholas P. Shay, Mechanical Engineering 2022, [email protected] #Date : 12/5/2020 #----------------------------------------------------------------------------------------------------- import time #Library for debugging and buffering import csv #Library to write data into csv file import board #Library for CircuitPi to get board info import busio #Library for CircuitPi bus communication from adafruit_lsm6ds.lsm6dsox import LSM6DSOX #Library for CircuitPi accel/gyrosensor import adafruit_ds3231 #Library for CircuitPi RTC i2c = busio.I2C(board.SCL, board.SDA) #Define i2c connection with circuitPi busio sox = LSM6DSOX(i2c) #Define acceleration sensor for data ds3231 = adafruit_ds3231.DS3231(i2c) #Define RTC module for timing for i in range(1, 10): t_RTC = ds3231.temperature print(t_RTC) time.sleep(1) t = time.struct_time( (2020, 12, 12, 00, 00, 00, 0, -1, -1)) #Set RTC Clock to 0 hr/min/s before starting data collection ds3231.datetime = t print("Success, time is:", t) #Used for debugging RTC clockset print() #Used for debugging RTC clockset
offset = 20
led = neopixel.NeoPixel(board.D9,numled,auto_write = False, pixel_order = neopixel.GRBW)
#Led colors
maxbright = 30
red = (maxbright,0,0,0)
orange = (maxbright, maxbright/2.8,0,0)
green = (0,maxbright,0,0)
blue = (0,0,maxbright,0)
white = (0,0,0,maxbright)
off = (0,0,0,0)
#initate IMU
i2c = busio.I2C(board.SCL, board.SDA)
imu = LSM6DSOX(i2c)
#LSM6DSOX._set_gyro_range(imu, )
imu.gyro_range = 2
imu.accelerometer_range = 2
imu.accelerometer_data_rate = 8
imu.gyro_data_rate = 8
#set adresses
temp = 0
for a in range(0,numled):
ledarray[temp] = a
temp = temp+3
#set theta around the y axis
temp = 1
for b in range(0,12):
w = rings[b]
import time
import board
import busio
from adafruit_lsm6ds.lsm6dsox import LSM6DSOX
i2c = busio.I2C(board.SCL, board.SDA)
sox = LSM6DSOX(i2c)
while True:
print("Acceleration: X:%.2f, Y:%.2f, Z:%.2f m/s^2" % (sox.acceleration))
#print("Gryo: x:%.2f, y:%.2f, z:%.2f degrees/s" % (sox.gyro))
print("")
time.sleep(0.5)
