gyro = SensorITG3200(1,0x68) gyro.default_init() zeroX,zeroY,zeroZ = gyro.calibrate(1000,0.002) print 'Compass Initialization ... [Ok]' compass = SensorHMC5338L(1,0x1e) # Accelerometer: # adxl(i2c_adapter,bus_nr,resolution) # resolution: [0,1,2,3] for [2g,4g,8g,16g] adx = Adxl(1,0x53,0) helpInfo() while not shutdown == 1: data = [] data.append(adx.getRoll()) data.append(adx.getPitch()) data.append(compass.getBearing()) time.sleep(0.1) send_array(conn, data) continue axes = adx.getAxes() gx,gy,gz = gyro.read_data_calib() mx,my,mz = compass.read_data() data.append(axes['x']) data.append(axes['y']) data.append(axes['z']) data.append(gx) data.append(gy) data.append(gz)
gyro = SensorITG3200(1, 0x68) gyro.default_init() zeroX, zeroY, zeroZ = gyro.calibrate(1000, 0.002) print 'Compass Initialization ... [Ok]' compass = SensorHMC5338L(1, 0x1e) # Accelerometer: # adxl(i2c_adapter,bus_nr,resolution) # resolution: [0,1,2,3] for [2g,4g,8g,16g] adx = Adxl(1, 0x53, 0) helpInfo() while not shutdown == 1: data = [] data.append(adx.getRoll()) data.append(adx.getPitch()) data.append(compass.getBearing()) time.sleep(0.1) send_array(conn, data) continue axes = adx.getAxes() gx, gy, gz = gyro.read_data_calib() mx, my, mz = compass.read_data() data.append(axes['x']) data.append(axes['y']) data.append(axes['z']) data.append(gx) data.append(gy) data.append(gz)
if input == 'q': exit() if input == 'a': axes = adx.getAxes() axesG = adx.toG(axes) print "\n\nAcc X: ", axes['x'] , "m/s^2" print "Acc X: ", axesG['x'], "G\t" print "\n\nAcc Y: ", axes['y'] , "m/s^2" print "Acc Y: ", axesG['y'], "G\t" print "\n\nAcc Z: ", axes['z'] , "m/s^2" print "Acc Z: ", axesG['z'], "G\t" if input == 'r': print "\n\nx rotation: " , adx.getRoll() if input == 'p': print "y rotation: " , adx.getPitch() if input == 'm': print "Bearing: ", compass.getBearing() if input == 'h': helpInfo() if input == 'b': tempPress = bmp085.read_temperature_and_pressure() print 'T\t%.2f\nP\t%.2f\nA\t%f' % (tempPress[0],tempPress[1],bmp085.readAltitude()) if input == 't': print "All data from the IMU: " tempPress = bmp085.read_temperature_and_pressure() gx,gy,gz = gyro.read_data_calib() print 'T\t%.2f\nP\t%.2f\nA\t%f' % (tempPress[0],tempPress[1],bmp085.readAltitude(1016101610161016101610161016101610161016)) print 'gx:\t%d\ngy:\t%d\ngz:\t%d' % (gx,gy,gz)