def __init__(self,
bus,
gyro_address,
accel_address,
compass_address,
name,
gyro_scale=L3G4200D.FS_2000,
accel_scale=ADXL345.AFS_16g):
self.bus = bus
self.gyro_address = gyro_address
self.accel_address = accel_address
self.name = name
self.gyro_scale = gyro_scale
self.accel_scale = accel_scale
self.accelerometer = ADXL345(bus, accel_address,
name + "-accelerometer", accel_scale)
self.gyroscope = L3G4200D(bus, gyro_address, name + "-gyroscope",
gyro_scale)
self.compass = HMC5883L(bus, compass_address, name + "-compass")
self.last_time = time.time()
self.time_diff = 0
self.pitch = 0
self.roll = 0
# take a reading from the device to allow it to settle after config changes
self.read_all()
# now take another to act a starting value
self.read_all()
self.pitch = self.rotation_x
self.roll = self.rotation_y
def gyReading(self):
device_gy = L3G4200D()
i = self.numRecord
while (i > 0):
device_gy.read_data()
self.gx, self.gy, self.gz = device_gy.getGyro()
print("Rotation in X-Axis : %d" % self.gx)
print("Rotation in Y-Axis : %d" % self.gy)
print("Rotation in Z-Axis : %d" % self.gz)
print("\n")
time.sleep(self.timeInteration)
i -= 1
def __init__(self, bus=None):
if bus is None:
bus = smbus.SMBus(i2c_banana_pi_bus_number())
#Default ADXL345 range +/- 2g is ideal for telescope use
self.accel = ADXL345(bus, 0x53, name="accel")
self.gyro = L3G4200D(bus, 0x69, name="gyro")
self.compass = HMC5883L(bus, 0x1e, name="compass")
self.barometer = BMP085(bus, 0x77, name="barometer")
self._last_gyro_time = 0 #needed for interpreting gyro
self.read_gyro_delta() #Discard first reading
q_start = self.current_orientation_quaternion_mag_acc_only()
self._q_start = q_start
self._current_hybrid_orientation_q = q_start
self._current_gyro_only_q = q_start
def __init__(self, bus=None):
if bus is None:
bus = smbus.SMBus(1)
# ADXL345 accelerometer range, 2g is ideal for telescope use. Allowed values : 2g, 4g, 8g, 16g
self.accel = ADXL345(bus, 0x53, name="accel", scale="8g")
# L3G4200D gyroscope range, 250 is ideal for telescope use. Allowed values : 250, 500, 2000
self.gyro = L3G4200D(bus, 0x69, name="gyro", scale=250)
self.compass = HMC5883L(bus, 0x1e, name="compass")
self.barometer = BMP085(bus, 0x77, name="barometer")
self._last_gyro_time = 0 #needed for interpreting gyro
self.read_gyro_delta() #Discard first reading
q_start = self.current_orientation_quaternion_mag_acc_only()
self._q_start = q_start
self._current_hybrid_orientation_q = q_start
self._current_gyro_only_q = q_start
def __init__(self):
self.accelerometer = LIS331DLH()
self.gyroscope = L3G4200D()
self.magnetometer = LIS3MDL()
self.barometer = LPS331AP()