from bstem.platform import AdCord
from bstem.platform import Bstem
from datetime import datetime
ad=AdCord()
b=Bstem()
ad.gyroscope.enabled=False
ad.accelerometer.enabled=False
ad.barometer.enabled=False
ad.magnetometer.enabled=False
print(ad.gyroscope.enabled,ad.accelerometer.enabled,ad.barometer.enabled,ad.magnetometer.enabled)
ad.gyroscope.enabled=True
ad.accelerometer.enabled=True
ad.barometer.enabled=True
ad.magnetometer.enabled=True
print(ad.gyroscope.enabled,ad.accelerometer.enabled,ad.barometer.enabled,ad.magnetometer.enabled)
'''ad.motor[0].speed=0.5
ad.motor[2].speed=-0.5'''
t=datetime.time(datetime.now())
print("Time:",t)
print("Second:",t.second)
m=t.minute
mi=t.minute
print("Minute",m)
while(m!=mi+20):
import tty, sys, termios
from bstem.platform import AdCord
ad1 = AdCord()
class ReadChar():
def __enter__(self):
self.fd = sys.stdin.fileno()
self.old_settings = termios.tcgetattr(self.fd)
tty.setraw(sys.stdin.fileno())
return sys.stdin.read(1)
def __exit__(self, type, value, traceback):
termios.tcsetattr(self.fd, termios.TCSADRAIN, self.old_settings)
f = open('encoders.txt', 'w')
def erun():
stscalar = 0.3
scalar = 0.5
newscalar = 0.1
while True:
with ReadChar() as rc:
char = rc
#print(ord(char))
print("Leftwheel:", -ad1.encoder[2].position * 3.38) #left motor
print("Rightwheel:", ad1.encoder[0].position * 3.38) #right motor
from bstem.sensor import Magnetometer from bstem import compass_calibration from bstem.platform import AdCord import time a= AdCord() while(True): x=a.magnetometer.x y=a.magnetometer.y z=a.magnetometer.z print(x ,"\t" ,y ,"\t", z, "\n") time.sleep(0.01)
from bstem.platform import AdCord
from gyro_calib import *
from encoders import *
import threading
adz = AdCord()
g = threading.Thread(target=gyro) #gyro thread
g.daemon = True
g.start()
e = threading.Thread(target=erun) #erun thread
e.daemon = True
e.start()
r1 = open("agereadings.txt", "w")
while True:
gz = q.get()
r1.write(
str(gz) + "," + str(adz.accelerometer.value) +
(-adz.encoder[3].position * 3.38) + (adz.encoder[1].position * 3.38) +
"\n")
r1.close()
from bstem.platform import AdCord
from math import *
import time
import sys
import Queue
#import sys.exitfunc
qg = Queue.Queue()
#qo=Queue.Queue()
adr = AdCord()
offsetX = 0
offsetY = 0
offsetZ = 0
f = open("gyro_readrings_raw", 'w', 0)
for i in range(1, 250): #junk values
gyro = adr.gyroscope
f.write(str(gyro.x) + "," + str(gyro.y) + "," + str(gyro.z) + "\n")
f.write("-------------------" + "\n")
for i in range(1, 500): #500 values mean offset
#print(adr.gyroscope.z)
gyro = adr.gyroscope
#f.write(str(gyro.x)+","+str(gyro.y)+","+str(gyro.z)+"\n")
offsetX += gyro.x * 57.2957795
offsetY += gyro.y * 57.2957795
offsetZ += gyro.z * 57.2957795
offsetX = offsetX / 500
offsetY = offsetY / 500
offsetZ = offsetZ / 500
print("Initializing Jarvis...\n")
print("Offset:", offsetX, offsetY, offsetZ)
