def read(self):
if self.type == 'accelerometer':
data = {}
data['orientation'] = grove6axis.getOrientation()
data['acceleration'] = grove6axis.getAccel()
data['magnitude'] = grove6axis.getMag()
return data
else:
return None
import grovepi
import grove6axis
import time
while True:
#read from 6-Axis Accelerometer&Compass sensor on input I1
grove6axis.init6Axis() # start it up
i1 = grove6axis.getOrientation() # returns orientation as yaw,pitch,roll
i2 = grove6axis.getAccel() # get acceleration values
i3 = grove6axis.getMag() # get magnetometer values
print('Orientation', i1)
print('Accel', i2)
print('Mag', i3)
#read from Tilt sensor on input D4
#d4= grovepi.digitalRead(4)
#read from Ultrasonic sensor on input D3
d3 = grovepi.ultrasonicRead(3)
#output the data
print("Ultrasonic_Distance:", d3)
# Read roughly 10 times a second
# - n.b. analog read takes time to do also
# set the time for 1s to display data
time.sleep(2)
rowFormatString = ','.join(sensorVariables)
waitTime = 0.1
print(header)
while(True):
timestamp = time.time()
distance = grovepi.ultrasonicRead(inputPortDistance)
loudness = grovepi.analogRead(inputPortLoudness)
loudness2 = grovepi.analogRead(inputPortLoudness2)
touch = grovepi.digitalRead(inputPortTouch)
orientation = grove6axis.getOrientation()
orientationX = orientation[0]
orientationY = orientation[1]
orientationZ = orientation[2]
acceleration = grove6axis.getAccel()
accelerationX = acceleration[0]
accelerationY = acceleration[1]
accelerationZ = acceleration[2]
print(rowFormatString % (timestamp, distance, loudness, loudness2, touch, orientationX, orientationY, orientationZ, accelerationX, accelerationY, accelerationZ))
# print(rowFormatString % (timestamp, distance, loudness, orientationX, orientationY, orientationZ, accelerationX, accelerationY, accelerationZ))
# if distance < nearDistanceThreshold:
# print('%d: near!', distance)
# else:
# print('%d: far...', distance)
time.sleep(waitTime)
pressed = False
while grovepi.digitalRead(2) == 0 | pressed == False:
if grovepi.digitalRead(2) == 1:
pressed = True
logging = True
while logging:
time.sleep(2)
try:
swapLight(3, 4)
grove6axis.init6Axis() # start it up
print("x, y, z, time")
firstVals = list(grove6axis.getAccel())
startTime = time.time()
print("%f, %f, %f, %f" %
(firstVals[0], firstVals[1], firstVals[2], 0.0))
index = 1
while True:
# End logging
if grovepi.digitalRead(2) == 1:
# Turn red light on and green off
swapLight(4, 3)
logging = False
break
# Get the acceleration Values
nextVals = list(grove6axis.getAccel())
# Print values - with piping it'll go to csv
ultra_last = 0
constant = 0.1
# get a timestamp so we know when it happened
timestamp = time.clock()
historyBuffer=collections.deque(maxlen=21)
print ('time,yaw,motion,ultra,ultra_low,ultra_high,ultra_median')
while True:
grove6axis.init6Axis()
# returns orientation as yaw,pitch,roll
# ori_list = list(ori)
yaw = ori_list[3] * 180.0 / math.pi
# pitch = ori_list[2] * 180.0 / math.pi
# roll = ori_list[3] * 180.0 / math.pi
grove6axis.getAccel()
motion = grovepi.digitalRead(4)
# read from Ultrasonic sensor on input D3
ultra = grovepi.ultrasonicRead(3)
# Filter1 De-trending / high pass filter:
# it removes long term bias and drift & show short term variations
ultra_high = constant * (ultra_high + ultra - ultra_last)
ultra_last = ultra
# Filter2 Smoothing / low pass filter:
# it removes random noise & shows longer term variations
ultra_low = ultra_low * (1.0 - constant) + ultra * constant
# Filter3 Median / Non linear filter
historyBuffer.append(ultra)
orderedHistory = sorted(historyBuffer)
ultra_median = orderedHistory[int(len(orderedHistory) / 2)]
timestamp = time.clock()
historyBuffer = collections.deque(maxlen=21)
print('time,yaw,yaw_accel,motion,ultra,ultra_low,ultra_high,ultra_median')
while True:
grove6axis.init6Axis()
ori = grove6axis.getOrientation()
ori_list = list(ori)
yaw = ori_list[3] * 180.0 / math.pi
# returns orientation as yaw,pitch,roll
# ori_list = list(ori)
# pitch = ori_list[2] * 180.0 / math.pi
# roll = ori_list[3] * 180.0 / math.pi
accel = grove6axis.getAccel()
accel_list = list(accel)
rol
pitch_accel = accel_list[2]
yaw_accel = accel_list[2]
motion = grovepi.digitalRead(4)
# read from Ultrasonic sensor on input D3
ultra = grovepi.ultrasonicRead(3)
# Filter1 De-trending / high pass filter:
# it removes long term bias and drift & show short term variations
ultra_high = constant * (ultra_high + ultra - ultra_last)
ultra_last = ultra
# Filter2 Smoothing / low pass filter:
# it removes random noise & shows longer term variations
ultra_low = ultra_low * (1.0 - constant) + ultra * constant
def getXAccel(): # Read the X value from the Six Axis Accel/Magnetometer return grove6axis.getAccel()[1]