def main():
global getAxes
global this
from machine import Pin, I2C
import adxl345
i2c = I2C(0, scl=Pin(22), sda=Pin(21))
a = adxl345.ADXL345(i2c, 83)
this = ACCELEROMETER(a, 'adxl345_calibration_2point')
getAxes = this.getAxes
def accelerometer():
accel = adxl345.ADXL345()
axes = accel.getAxes(True)
print '\n\nACCELERATION....\n\n'
x = axes['x']
y = axes['y']
z = axes['z']
print x
print y
print z
return x, y, z
def main():
global read # make function global
global this
from machine import Pin, I2C
import adxl345
import VL53L0X
import accelerometer
i2c = I2C(0, scl=Pin(22), sda=Pin(21))
adxl = adxl345.ADXL345(i2c, 83)
a = accelerometer.ACCELEROMETER(adxl, 'adxl345_calibration_2point')
tof = VL53L0X.VL53L0X(i2c, 41)
this = HeightTiltCompensator(a, tof)
this.offset = -50
read = this.read # make function callable (so we can call distance.read() )
def raw_to_value(detect):
accel = adxl345.ADXL345()
axes = accel.getAxes(True)
accel.setRange(adxl345.RANGE_16G)
while (not detect):
x = axes['x']
y = axes['y']
z = axes['z']
l1 = []
l1.append(x)
l1.append(y)
l1.append(z)
return l1
def log():
log_string = ""
date = str(datetime.now()).replace(" ", ",").split(".")[0]
gps_p = GPS.souradnice()
gps = gps_p[0] + gps_p[1] + "," + gps_p[2] + gps_p[3]
gps_nm = str(GPS.nad_morska_vyska())
gps_ps = str(GPS.pocet_satelitu())
gps_kvalita = str(GPS.kvalita_signalu_GPS())
cpu_t = str(CPUtemp.getCPUtemperature())
temp = teplotaDS.getDCtemp()
dc_t = str(temp[0]) + "," + temp[1]
rssi = str(log_RSSI.get_RSSI())
adxl = adxl345.ADXL345().getAxes()
acc = str(adxl["x"]) + "," + str(adxl["y"]) + "," + str(adxl["z"])
def __init__(self): # initiaize the Motor object
### left motor's pins
self.in1 = 18 # lf_pin1
self.in2 = 23 # lf_pin2
# enA = x (left motor 'PWM' for speed - not used)
### right motor's pins
self.in3 = 24 # rt_pin1
self.in4 = 25 # rt_pin2
# enB = y (right motor 'PWM' for speed - not used)
GPIO.setmode(GPIO.BCM)
GPIO.setup(self.in1, GPIO.OUT)
GPIO.setup(self.in2, GPIO.OUT)
GPIO.setup(self.in3, GPIO.OUT)
GPIO.setup(self.in4, GPIO.OUT)
self.lf_pin1 = 0
self.lf_pin2 = 0
self.rt_pin1 = 0
self.rt_pin2 = 0
GPIO.output(self.in1, self.lf_pin1)
GPIO.output(self.in2, self.lf_pin2)
GPIO.output(self.in3, self.rt_pin1)
GPIO.output(self.in4, self.rt_pin2)
self.p_status = 'Init/IN' # previous motor status
self.p_rgb = (255, 255, 0) # previous rgb status - yellow
self.m_status = 'Init/IN' # current motor status
self.rgb_status = (255, 255, 0) # current rgb status - yellow
self.mt7219 = mLED.LED_mat() # create max7219 object
self.mt7219.led_matrix(chr(79)) # 'o' sign for readiness
self.lcd = lcd1602.lcd() # create lcd1602 object
self.lcd.backlight(1) # turn on the lcd1602 backlight
self.lcd.lcd_clear() # clear the display
self.line = 'Robot Car ' # display 'Robot Car' in LCD
self.lcd.lcd_display_string(self.line, 1)
self.rgb_bulb = rgb.RGB_led() # create RGB object
self.rgb_bulb.led_RGB_setColor((255, 255, 0)) # yellow colour
time.sleep(0.1)
self.sonic = sc.Sonic_dev() # create the ultrasionic object
self.servo = sv.Servo() # create the servo object
self.adxl345 = adxl.ADXL345() # create the ADXL345 object
print(self.m_status)
def acquire_data(seconds=20):
# Constants and things
bmp_file = "bmpdata.txt"
lidar_file = "lidardata.txt"
# I2C Object
i2c = I2C(0, scl=Pin(22), sda=Pin(21))
# Configure BMP
BMP.set_oversampling(i2c)
cal = BMP.read_coefficients(i2c)
# Configure VL50LOX
adxl = ADX.ADXL345(i2c, 83)
a = ACCEL.accelerometer(adxl, 'adxl345_calibration_2point')
lidar = L0X.VL53L0X(i2c, 41)
this = height_lidar(a, lidar)
# main loop:
for i in range(seconds):
# BMP
BMPdata = BMP.get_altitude(i2c, cal)
write_data(
bmp_file,
str(BMPdata[0]) + "," + str(BMPdata[1]) + "," + str(BMPdata[2]) +
"," + str(BMPdata[3]))
print("BMP " + str(i) + '>\t' + str(BMPdata[0])) # optional
# LIDAR
LIDARdata = str(this.read)
write_data(lidar_file, LIDARdata)
print("LDR " + str(i) + '>\t' + LIDARdata)
sleep(1)
# Successful Completion Here
return 1
def setup():
#
# Declare global variables
#
global myRegId
global myUsername
global myPassword
global myToken
global contactid
global subject
global ws
global adxl
#
# setup Raspberry Pi ADXL345
# see http://shop.pimoroni.com/products/adafruit-triple-axis-accelerometer
#
if not simulation_mode:
adxl = adxl345.ADXL345()
#adxl.setRange(adxl345.RANGE_2G)
adxl.setRange(adxl345.RANGE_16G)
#
# Read configuration from file
#
config = ConfigParser.RawConfigParser()
config.read('salesforce_login.cfg')
#
# Establish Websockt connection for monitoring chat service
#
if chat_mode:
ws_url = config.get('Chat', 'ws_url')
ws = create_connection(ws_url)
#
# Lookup Salesforce demo org credentials and configuration
#
sf_lookup = Salesforce(username=config.get('Salesforce', 'username'),
password=config.get('Salesforce', 'password'),
security_token=config.get('Salesforce',
'security_token'))
result = sf_lookup.query(
"SELECT Id, Username__c, Password__c, Security_Token__c, Case_Contact_Id__c, Case_Subject__c FROM Raspberry_Pi_Demo__c WHERE Active__c = true AND Raspi_Hostname__c = "
+ config.get('Host', 'hostname'))
#
# Register new demo run
#
myRegId = result.get('records')[0].get('Id')
sf_lookup.Raspberry_Pi_Demo_Registration__c.create({
'Raspberry_Pi_Demo__c': myRegId,
'Status__c': 'connected'
})
myUsername = result.get('records')[0].get('Username__c')
myPassword = result.get('records')[0].get('Password__c')
myToken = result.get('records')[0].get('Security_Token__c')
contactid = result.get('records')[0].get('Case_Contact_Id__c')
subject = result.get('records')[0].get('Case_Subject__c')
if chat_mode:
chat("Sensor", "Connection established.")
import adxl345
import time
import os
from gps import *
import threading
accelerometer = adxl345.ADXL345(i2c_port=1, address=0x53)
accelerometer.load_calib_value()
accelerometer.set_data_rate(data_rate=adxl345.DataRate.R_100)
accelerometer.set_range(g_range=adxl345.Range.G_2, full_res=True)
accelerometer.measure_start()
#accelerometer.calibrate() # Calibrate only one time
gpsd = None #seting the global variable
os.system('clear') #clear the terminal (optional)
i = 0
class GpsPoller(threading.Thread):
def __init__(self):
threading.Thread.__init__(self)
global gpsd #bring it in scope
gpsd = gps(mode=WATCH_ENABLE) #starting the stream of info
self.current_value = None
self.running = True #setting the thread running to true
def run(self):
global gpsd
while gpsp.running:
def accel_logger():
global inLocSync
#create ADXL345 object
accel = adxl345.ADXL345()
max_x = max_y = max_z = -20
min_x = min_y = min_z = 20
sum_x = sum_y = sum_z = 0
c = 0
while not inLocSync:
time.sleep(5)
next = time.time() + 1
while not done:
try:
#get axes as g
#axes = accel.getAxes(True)
# to get axes as ms^2 use
axes = accel.getAxes(False)
#put the axes into variables
x = axes['x']
y = axes['y']
z = axes['z']
sum_x += x
sum_y += y
sum_z += z
if x > max_x:
max_x = x
if y > max_y:
max_y = y
if z > max_z:
max_z = z
if x < min_x:
min_x = x
if y < min_y:
min_y = y
if z < min_z:
min_z = z
c += 1
now = time.time()
if now > next and c != 0:
acceltime = time.strftime("%Y-%m-%dT%H:%M:%S.000Z")
x1 = sum_x / c
y1 = sum_y / c
z1 = sum_z / c
lock.acquire()
print(
"%s A %d % 02.3f % 02.3f % 02.3f % 02.3f % 02.3f % 02.3f % 02.3f % 02.3f % 02.3f *"
% (acceltime, c, min_x, x1, max_x, min_y, y1, max_y, min_z,
z1, max_z))
lock.release()
max_x = max_y = max_z = -20
min_x = min_y = min_z = 20
sum_x = sum_y = sum_z = 0
c = 0
next = now + 1
except IOError:
pass
new_hv = 0
global settings_flag
settings_flag = 0
spi = spidev.SpiDev()
spi.open(0, 0)
spi.max_speed_hz = 100000
spi.mode = 0b00
hv = MCP4725.MCP4725(address=0x60)
sv = MCP4725.MCP4725(address=0x61)
bme = BME280(t_mode=BME280_OSAMPLE_8,
p_mode=BME280_OSAMPLE_8,
h_mode=BME280_OSAMPLE_8)
pm = pmsensor.Honeywell()
adxl = adxl345.ADXL345()
ads = ads1115.ADS1115()
node1 = serial.Serial(port='/dev/rfcomm0', baudrate=9600, timeout=8)
node2 = serial.Serial(port='/dev/rfcomm1', baudrate=9600, timeout=8)
db = InfluxDBClient(database='log')
def set_sv(volt):
global sv
global sval
val = int((float(volt) / gain) * 4096 / 3.3)
if val > sval:
i = sval
while i < val:
def accel_logger():
global inSync, gpstime
#create ADXL345 object
accel = adxl345.ADXL345()
x0 = x1 = x2 = 0
y0 = y1 = y2 = 0
z0 = z1 = z2 = 0
c = 0
lasttime = ""
while True:
try:
if inSync == 0:
time.sleep(5)
continue
#get axes as g
#axes = accel.getAxes(True)
# to get axes as ms^2 use
axes = accel.getAxes(False)
#put the axes into variables
x = axes['x']
y = axes['y']
z = axes['z']
x1 += x
y1 += y
z1 += z
if x > x2:
x2 = x
if y > y2:
y2 = y
if z > z2:
z2 = z
if x < x0:
x0 = x
if y < y0:
y0 = y
if z < z0:
z0 = z
c += 1
d = datetime.datetime.utcnow()
now = d.strftime("%Y-%m-%dT%H:%M:%S.000Z")
if now != lasttime:
lasttime = now
x1 = x1 / c
y1 = y1 / c
z1 = z1 / c
lock.acquire()
print(
"%f %s A %d % 02.3f % 02.3f % 02.3f % 02.3f % 02.3f % 02.3f % 02.3f % 02.3f % 02.3f *"
% (time.time(), gpstime, c, x0, x1, x2, y0, y1, y2, z0, z1,
z2))
lock.release()
x2 = -10
x0 = 10
y2 = -10
y0 = 10
z2 = -10
z0 = 10
c = 1
except InteruptedException:
quit()
import time
import os
import math
import Adafruit_ADS1x15
import adxl345
import RPi.GPIO as gpio
milli_time = lambda: int(round(time.time() * 1000))
adcf = Adafruit_ADS1x15.ADS1015(address=0x49, busnum=1)
adcl = Adafruit_ADS1x15.ADS1015(address=0x4a, busnum=1)
adcr = Adafruit_ADS1x15.ADS1015(address=0x48, busnum=1)
adcb = Adafruit_ADS1x15.ADS1015(address=0x4b, busnum=1)
accel = adxl345.ADXL345()
GAIN = 1
def distfr():
return adcf.read_adc(0, gain=GAIN)
def distfm():
return adcf.read_adc(2, gain=GAIN)
def distfl():
return adcf.read_adc(1, gain=GAIN)
def acc():
return adxl345.ADXL345().getAxes()
import sdcard import uos #import max31865 import bmp280 import adxl345 import network from machine import ADC, Pin, I2C, SPI led = Pin(5, Pin.OUT) led.value(0) i2c = I2C(scl=Pin(22), sda=Pin(21), freq=400000) bmp280 = bmp280.BMP280(i2c) adxl345 = adxl345.ADXL345(i2c) ap = network.WLAN(network.AP_IF) ap.active(True) ap.config(essid="uPy Payload") xpin = 34 ypin = 32 zpin = 34 xadc = ADC(Pin(xpin)) yadc = ADC(Pin(ypin)) zadc = ADC(Pin(zpin)) xadc.atten(ADC.ATTN_11DB) yadc.atten(ADC.ATTN_11DB)
from math import sqrt
import bluetooth
#import Adafruit_BBIO.GPIO as GPIO
def sumSquares(x, y, z):
return sqrt(x * x + y * y + z * z)
bd_addr = "F4:B7:E2:13:36:36"
port = 1
falls = 0
sock = bluetooth.BluetoothSocket(bluetooth.RFCOMM)
sock.connect((bd_addr, port))
adxl345 = adxl345.ADXL345()
#GPIO.setup("P9_12", GPIO.IN)
#GPIO.add_event_detect("P9_12", GPIO.FALLING)
print "ADXL345 on address 0x%x:" % (adxl345.address)
try:
while 1:
if GPIO.event_detected("P9_12"):
print "event detected!"
axes = adxl345.getAxes(True)
x = axes['x']
y = axes['y']
z = axes['z']
sumsqr = sumSquares(x, y, z)
if sumsqr > 1.35:
falls = falls + 1
differenceList.append(difference)
if len(differenceList) > smoothness:
average = sum(differenceList)/len(differenceList)
differenceList.pop(0)
return average
else:
return 0
def bars(inputt, scale=0.01):
#Takes a float/int input named inputt and a float input named scale (default 0.01)
#returns a visual representation of data with ascii bars. With default scale of 0.01, each # = 100.
return "#" * int(scale * inputt)
if __name__ == "__main__":
accel = adxl345.ADXL345() #I don't know what this is for but I'm too scared to take it out.
while True:
orestes = ADXL345() #Orestes is my pet name for the accelerometer. The raspi is affectionatley named the Temeraire. (Only Freespace 2: Blue Planet people would get this)
readingX = readAccelerometerX(orestes)
readingY = readAccelerometerY(orestes)
readingZ = readAccelerometerZ(orestes)
timestamp = time.time()
print ("{},{},{},{}".format(timestamp, readingX, readingY, readingZ))
stdout.flush()
def accel_logger():
global inSync, gpstime
#create ADXL345 object
accel = adxl345.ADXL345()
xv = []
yv = []
zv = []
x0 = x1 = x2 = 0
y0 = y1 = y2 = 0
z0 = z1 = z2 = 0
c = 0
lasttime = ""
while True:
try:
if inSync == 0:
time.sleep(5)
continue
#get axes as g
#axes = accel.getAxes(True)
# to get axes as ms^2 use
axes = accel.getAxes(False)
#put the axes into variables
x = axes['x']
xv.append(x)
y = axes['y']
yv.append(y)
z = axes['z']
zv.append(z)
x1 += x
y1 += y
z1 += z
if x > x2:
x2 = x
if y > y2:
y2 = y
if z > z2:
z2 = z
if x < x0:
x0 = x
if y < y0:
y0 = y
if z < z0:
z0 = z
c += 1
d = datetime.datetime.utcnow()
now = d.strftime("%Y-%m-%dT%H:%M:%S.000Z")
if now != lasttime:
lasttime = now
if c > 1:
N = c
T = 1.0 / N
ls = np.linspace(0.0, 1.0, N)
(ax1, ay1) = fft(ls, xv, N, T)
(ax2, ay2) = fft(ls, yv, N, T)
(ax3, ay3) = fft(ls, zv, N, T)
lock.acquire()
print "%f %s R %d %f %f %f %f %f %f *" % (
time.time(), gpstime, c, ax1, ay1, ax2, ay2, ax3, ay3)
lock.release()
x1 = x1 / c
y1 = y1 / c
z1 = z1 / c
lock.acquire()
#print ("%f %s A %d % 02.3f % 02.3f % 02.3f % 02.3f % 02.3f % 02.3f % 02.3f % 02.3f % 02.3f *" % (time.time(),gpstime,c,x0,x1,x2,y0,y1,y2,z0,z1,z2))
lock.release()
x2 = -10
x0 = 10
y2 = -10
y0 = 10
z2 = -10
z0 = 10
c = 0
xv = []
except KeyboardInterrupt:
quit()
import adxl345, spidev, time
spi = spidev.SpiDev()
spi.open(1, 1) # /dev/spidev1.1
acc = adxl345.ADXL345(1, 0x1D)
columns = [0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08]
buffer = [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]
def clearMatrix():
for i in range(0, 8):
buffer[i] = 0x00
spi.xfer([columns[i], buffer[i]])
def setPixel(x, y):
if (x in range(0, 8)) and (y in range(0, 8)):
x += 8
x %= 8
buffer[y] = buffer[y] | (1 << x)
for i in range(0, 8):
spi.xfer([columns[i], buffer[i]])
def setSquare(x, y):
setPixel(x - 1, y - 1)
setPixel(x, y - 1)
setPixel(x - 1, y)
setPixel(x, y)
