def initScreen():
try:
bootmode = mindsensors_i2c(0xEA>>1)
bootmode.readbyte()
scrn = mindsensorsUI(deviceName, rotation)
scrn.termPrintAt(4, "PiStorms in fw upgrade mode")
return scrn
except:
return mindsensorsUI(deviceName, rotation)
def initScreen():
try:
bootmode = mindsensors_i2c(0xEA >> 1)
bootmode.readbyte()
scrn = mindsensorsUI(deviceName, rotation)
scrn.termPrintAt(4, "PiStorms in fw upgrade mode")
return scrn
except:
return mindsensorsUI(deviceName, rotation)
def __init__(self, name="PiStorms", rotation=3, device=Dev_PiStorms):
if device == Dev_SensorShield:
self.PS_ADDRESS = 0x16
self.PS_TSX = 0x56
self.PS_TSY = 0x58
self.i2c = mindsensors_i2c(self.PS_ADDRESS >> 1)
self.disp.begin()
self.clearScreen()
try:
self.touchIgnoreX = self.TS_X()
self.touchIgnoreY = self.TS_Y()
self.calibrateTouched()
except:
pass
if (rotation > 0 and rotation < 4):
self.currentRotation = rotation
self.refresh()
self.myname = name
self.drawDisplay(name, display=False)
def __init__(self,name = "PiStorms", rotation = 3,device = Dev_PiStorms ):
if device == Dev_SensorShield :
self.PS_ADDRESS = 0x16
self.PS_TSX = 0x56
self.PS_TSY = 0x58
self.i2c = mindsensors_i2c(self.PS_ADDRESS >> 1)
self.disp.begin()
self.clearScreen()
try:
self.touchIgnoreX = self.TS_X()
self.touchIgnoreY = self.TS_Y()
self.calibrateTouched()
except:
pass
if(rotation > 0 and rotation < 4):
self.currentRotation = rotation
self.refresh()
self.myname = name
self.drawDisplay(name,display = False)
from mindsensors_i2c import mindsensors_i2c
import sys,os,time
import ConfigParser
config = ConfigParser.RawConfigParser()
config.read("/usr/local/mindsensors/conf/msdev.cfg")
if "GRX" in config.get('msdev', 'device'):
KEY_COUNT = 0xC0
else:
KEY_COUNT = 0xDB
lckfile = "/tmp/.psm_shutdown.lck"
print "starting..."
driver = mindsensors_i2c(0x34 >> 1)
count = 0
while (True):
time.sleep(0.4)
try:
keypress = driver.readByte(KEY_COUNT)
#print keypress
if keypress == 253:
#print "sudo halt -p"
try:
os.remove(lckfile)
except OSError:
pass
f = open(lckfile, 'w')
f.write("go_pressed")
f.close()
rotation = 3
#print os.getcwd()
device_number = 1
if ( device_name == "PiStorms"):
device_number = 1
elif ( device_name == "SensorShield"):
device_number = 2
elif ( device_name == "SRVController"):
device_number = 3
else:
print "Unknown device in configuration file, exiting..."
sys.exit(1)
try:
bootmode = mindsensors_i2c(0xEA>>1)
bootmode.readbyte()
#psm = PiStorms("PiStorms",rotation)
scrn = mindsensorsUI(host_name, rotation, device=device_number)
scrn.termPrintAt(4,"PiStorms in fw upgrade mode")
except:
scrn = mindsensorsUI(host_name, rotation, device=device_number)
#sudo
def listPrograms(directory):
files = os.listdir(directory)
x = 0
returnFiles = list()
while(x<len(files)):
#
# History:
# Date Author Comments
# 04/21/17 Seth Tenembaum Initial development.
#
import os, time
from mindsensorsUI import mindsensorsUI
from mindsensors_i2c import mindsensors_i2c
from PiStormsCom import PiStormsCom
from PiStormsCom import PSSensor
s = mindsensorsUI() # screen
psc = PiStormsCom()
i2c = mindsensors_i2c(0x22 >> 1)
PSSensor(psc.bankA, 1).activateCustomSensorI2C()
s.drawDisplay("ABSIMU Calibration")
s.termGotoLine(0)
s.termPrintln("Beginning AbsoluteIMU compass")
s.termPrintln("calibration program.")
s.termPrintln("")
s.termPrintln("Connect AbsoluteIMU-ACG")
s.termPrintln("to BAS1.")
s.termPrintln("")
s.termReplaceLastLine("Press GO to begin.")
startKeyPressCount = psc.getKeyPressCount()
from mindsensors_i2c import mindsensors_i2c
import sys, os, time
import configparser
config = configparser.RawConfigParser()
config.read("/usr/local/mindsensors/conf/msdev.cfg")
if "GRX" in config.get('msdev', 'device'):
KEY_COUNT = 0xC0
else:
KEY_COUNT = 0xDB
lckfile = "/tmp/.psm_shutdown.lck"
print("starting...")
driver = mindsensors_i2c(0x34 >> 1)
count = 0
while (True):
time.sleep(0.4)
try:
keypress = driver.readByte(KEY_COUNT)
#print keypress
if keypress == 253:
#print "sudo halt -p"
try:
os.remove(lckfile)
except OSError:
pass
f = open(lckfile, 'w')
f.write("go_pressed")
f.close()
class I2C:
A = mindsensors_i2c(0x34 >> 1)
B = mindsensors_i2c(0x36 >> 1)
class __metaclass__(type):
def __iter__(self):
return iter([self.A, self.B])
class PiStormsCom():
PS_A_ADDRESS = 0x34
PS_B_ADDRESS = 0x36
# Registers
PS_Command = 0x41
PS_SetPoint_M1 = 0x42
PS_Speed_M1 = 0x46
PS_Time_M1 = 0x47
PS_CMDB_M1 = 0x48
PS_CMDA_M1 = 0x49
PS_SetPoint_M2 = 0x4A
PS_Speed_M2 = 0x4E
PS_Time_M2 = 0x4F
PS_CMDB_M2 = 0x50
PS_CMDA_M2 = 0x51
PS_Position_M1 = 0x52
PS_Position_M2 = 0x56
PS_Status_M1 = 0x5A
PS_Status_M2 = 0x5B
PS_Tasks_M1 = 0x5C
PS_Tasks_M2 = 0x5D
PS_P_Kp = 0x5E
PS_P_Ki = 0x60
PS_P_Kd = 0x62
PS_S_Kp = 0x64
PS_S_Ki = 0x66
PS_S_Kd = 0x68
PS_PassCount = 0x6A
PS_PassTolerance = 0x6B
PS_ChkSum = 0x6C
PS_BattV = 0x6E
# Sensor 1
PS_S1_Mode = 0x6F
# EV3
PS_S1EV_Ready = 0x70
PS_S1EV_SensorID = 0x71
PS_S1EV_Mode = 0x81
PS_S1EV_Length = 0x82
PS_S1EV_Data = 0x83
# LEGO Analog
PS_S1AN_Read = 0x70
# LEGO Color
PS_S1C_Color = 0x70
PS_S1C_R_cal = 0x71
PS_S1C_G_cal = 0x72
PS_S1C_B_cal = 0x73
PS_S1C_N_cal = 0x74
PS_S1C_R_raw = 0x75
PS_S1C_G_raw = 0x76
PS_S1C_B_raw = 0x77
PS_S1C_N_raw = 0x78
# Sensor 2
PS_S2_Mode = 0xA3
# EV3
PS_S2EV_Ready = 0xA4
PS_S2EV_SensorID = 0xA5
PS_S2EV_Mode = 0xB5
PS_S2EV_Length = 0xB6
PS_S2EV_Data = 0xB7
# LEGO Analog
PS_S2AN_Read = 0xA4
# LEGO Color
PS_S2C_Color = 0xA4
PS_S2C_R_cal = 0xA5
PS_S2C_G_cal = 0xA6
PS_S2C_B_cal = 0xA7
PS_S2C_N_cal = 0xA8
PS_S2C_R_raw = 0xA9
PS_S2C_G_raw = 0xAA
PS_S2C_B_raw = 0xAB
PS_S2C_N_raw = 0xAC
# LED
PS_R = 0xD7
PS_G = 0xD8
PS_B = 0xD9
# Buttons
PS_KeyPress = 0xDA
PS_Key1Count = 0xDB
PS_Key2Count = 0xDC
PS_CONTROL_SPEED = 0x01
PS_CONTROL_RAMP = 0x02
PS_CONTROL_RELATIVE = 0x04
PS_CONTROL_TACHO = 0x08
PS_CONTROL_BRK = 0x10
PS_CONTROL_ON = 0x20
PS_CONTROL_TIME = 0x40
PS_CONTROL_GO = 0x80
#Supported I2C commands
R = 0x52
S = 0x53
a = 0x61
b = 0x62
c = 0x63
A = 0x41
B = 0x42
C = 0x43
bankA = mindsensors_i2c(PS_A_ADDRESS >> 1)
bankB = mindsensors_i2c(PS_B_ADDRESS >> 1)
BAM1 = PSMotor(bankA, 1)
BAM2 = PSMotor(bankA, 2)
BBM1 = PSMotor(bankB, 1)
BBM2 = PSMotor(bankB, 2)
BAS1 = PSSensor(bankA, 1)
BAS2 = PSSensor(bankA, 2)
BBS1 = PSSensor(bankB, 1)
BBS2 = PSSensor(bankB, 2)
def __init__(self):
try:
self.bankA.readByte(self.PS_BattV)
except:
print "could not connect to pistorms"
else:
self.bankA.writeByte(self.PS_Command, self.R)
self.bankB.writeByte(self.PS_Command, self.R)
def command(self, cmd, bank):
if (bank == 1):
self.bankA.writeByte(self.PS_COMMAND, cmd)
elif (bank == 2):
self.bankB.writeByte(self.PS_COMMAND, cmd)
def battVoltage(self):
return self.bankA.readByte(self.PS_BattV) * .040
## Read the firmware version of the i2c device
def GetFirmwareVersion(self):
ver = self.bankA.readString(0x00, 8)
return ver
## Read the vendor name of the i2c device
def GetVendorName(self):
vendor = self.bankA.readString(0x08, 8)
return vendor
## Read the i2c device id
def GetDeviceId(self):
device = self.bankA.readString(0x10, 8)
return device
def led(self, lednum, red, green, blue):
try:
if (lednum == 1):
array = [red, green, blue]
self.bankA.writeArray(self.PS_R, array)
if (lednum == 2):
array = [red, green, blue]
self.bankB.writeArray(self.PS_R, array)
except AttributeError:
self.led(lednum, red, green, blue)
time.sleep(.001)
def isKeyPressed(self):
return int(0x01 & self.bankA.readByte(self.PS_KeyPress))
def getKeyPressCount(self):
return self.bankA.readByte(self.PS_Key1Count)
def resetKeyPressCount(self):
self.bankA.writeByte(self.PS_Key1Count, 0)
def ping(self):
self.bankA.readByte(0x00)
#!/usr/bin/env python
#
# Copyright (c) 2015 mindsensors.com
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License version 2 as
# published by the Free Software Foundation.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
# History:
# Date Author Comments
# Oct 2015 Nitin Initial Authoring
from mindsensors_i2c import mindsensors_i2c
import sys,os,time
driver = mindsensors_i2c( 0x34 >> 1)
count = 0
while (True):
time.sleep(0.4)
try :
keypress = driver.readByte(0xdB)
#Learn more product option visit us @ http://www.mindsensors.com/
#
# History:
# Date Author Comments
# 04/21/17 Seth Tenembaum Initial development.
#
import os, time
from mindsensorsUI import mindsensorsUI
from mindsensors_i2c import mindsensors_i2c
from PiStormsCom import PiStormsCom
from PiStormsCom import PSSensor
s = mindsensorsUI() # screen
psc = PiStormsCom()
i2c = mindsensors_i2c(0x22 >> 1)
PSSensor(psc.bankA, 1).activateCustomSensorI2C()
s.drawDisplay("ABSIMU Calibration")
s.termGotoLine(0)
s.termPrintln("Beginning AbsoluteIMU compass")
s.termPrintln("calibration program.")
s.termPrintln("")
s.termPrintln("Connect AbsoluteIMU-ACG")
s.termPrintln("to BAS1.")
s.termPrintln("")
s.termReplaceLastLine("Press GO to begin.")
startKeyPressCount = psc.getKeyPressCount()
# Oct 2015 Michael Initial Authoring
# Jun 2017 Seth Simplification
import sys
from mindsensors_i2c import mindsensors_i2c
from PiStorms import PiStorms
psm = PiStorms("Explorer")
psm.BAS1.activateCustomSensorI2C()
psm.BAS2.activateCustomSensorI2C()
i2c_all = []
for addr in range(0x00, 0x34, 2) + range(0x38, 0xEF, 2):
i2c_all.append(mindsensors_i2c(addr >> 1))
def ping(i2c):
return i2c.readByte(0x00) != None
while not psm.isKeyPressed():
found = filter(ping, i2c_all)
psm.screen.terminalBuffer = [""] * 20
psm.screen.terminalBuffer[0] = "Found {} I2C device{}." \
.format(len(found), "s" if len(found) != 1 else "")
psm.screen.terminalBuffer[8] = "Press GO to quit"
if len(found) > 1:
# Oct 2015 Michael Initial Authoring
# Jun 2017 Seth Simplification
import sys
from mindsensors_i2c import mindsensors_i2c
from PiStorms import PiStorms
psm = PiStorms("Explorer")
psm.BAS1.activateCustomSensorI2C()
psm.BAS2.activateCustomSensorI2C()
i2c_all = []
for addr in range(0x00,0x34,2) + range(0x38,0xEF,2):
i2c_all.append(mindsensors_i2c(addr>>1))
def ping(i2c):
return i2c.readByte(0x00) != None
while not psm.isKeyPressed():
found = filter(ping, i2c_all)
psm.screen.terminalBuffer = [""]*20
psm.screen.terminalBuffer[0] = "Found {} I2C device{}." \
.format(len(found), "s" if len(found) != 1 else "")
psm.screen.terminalBuffer[8] = "Press GO to quit"
if len(found) > 1:
for i,dev in enumerate(found):
psm.screen.terminalBuffer[i+2] = "0x{:02X}: {}" \
# Date Author Comments
# July 2015 Henry Initial Authoring from PiStorms import PiStorms
# 10/18/15 Deepak UI improvements and messenger integration
from PiStorms import PiStorms
from mindsensors_i2c import mindsensors_i2c
import sys, os, time, json
PROGRAM_DIRECTORY = "/home/pi/PiStormsprograms"
json_file = '/var/tmp/ps_data.json'
rotation = 3
if (os.getenv("PSREVERSE", "0") == "1"):
rotation = 3
#print os.getcwd()
try:
bootmode = mindsensors_i2c(0xEA >> 1)
bootmode.readbyte()
psm = PiStorms("PiStorms", rotation)
psm.screen.termPrintAt(4, "PiStorms in fw upgrade mode")
except:
psm = PiStorms("PiStorms", rotation)
def listPrograms(directory):
files = os.listdir(directory)
#files = os.listdir("./" + directory)
x = 0
while (x < len(files)):
if (not files[x].endswith(".py")) or (not files[x][0].isdigit()):
class PiStormsCom(object):
PS_SENSOR_TYPE_NONE = 0
PS_SENSOR_TYPE_SWITCH = 1
PS_SENSOR_TYPE_ANALOG = 2
PS_SENSOR_TYPE_LIGHT_REFLECTED = 3
PS_SENSOR_TYPE_LIGHT_AMBIENT = 4
PS_SENSOR_TYPE_SOUND_DB = 5
PS_SENSOR_TYPE_SOUND_DBA = 6
PS_SENSOR_TYPE_LOWSPEED_9V = 7
PS_SENSOR_TYPE_LOWSPEED = 8
PS_SENSOR_TYPE_CUSTOM = 9
PS_SENSOR_TYPE_COLORFULL = 13
PS_SENSOR_TYPE_COLORRED = 14
PS_SENSOR_TYPE_COLORGREEN = 15
PS_SENSOR_TYPE_COLORBLUE = 16
PS_SENSOR_TYPE_COLORNONE = 17
PS_SENSOR_TYPE_EV3_SWITCH = 18
PS_SENSOR_TYPE_EV3 = 19
PS_SENSOR_MODE_EV3_COLOR_REFLECTED = 0
PS_SENSOR_MODE_EV3_COLOR_AMBIENT = 1
PS_SENSOR_MODE_EV3_COLOR_COLOR = 2
PS_SENSOR_MODE_EV3_GYRO_ANGLE = 0
PS_SENSOR_MODE_EV3_GYRO_RATE = 1
PS_SENSOR_MODE_EV3_ULTRASONIC_DIST_CM = 0
PS_SENSOR_MODE_EV3_ULTRASONIC_DIST_IN = 1
PS_SENSOR_MODE_EV3_ULTRASONIC_DETECT = 2
PS_SENSOR_MODE_EV3_IR_PROXIMITY = 0
PS_SENSOR_MODE_EV3_IR_CHANNEL = 1
PS_SENSOR_MODE_EV3_IR_REMOTE = 2
PS_SENSOR_MODE_NXT_LIGHT_REFLECTED = 0
PS_SENSOR_MODE_NXT_LIGHT_AMBIENT = 0
PS_SENSOR_MODE_NXT_COLOR_COLOR = 0
PS_A_ADDRESS = 0x34
PS_B_ADDRESS = 0x36
# Registers
PS_Command = 0x41
PS_SetPoint_M1 = 0x42
PS_Speed_M1 = 0x46
PS_Time_M1 = 0x47
PS_CMDB_M1 = 0x48
PS_CMDA_M1 = 0x49
PS_SetPoint_M2 = 0x4A
PS_Speed_M2 = 0x4E
PS_Time_M2 = 0x4F
PS_CMDB_M2 = 0x50
PS_CMDA_M2 = 0x51
PS_Position_M1 = 0x52
PS_Position_M2 = 0x56
PS_Status_M1 = 0x5A
PS_Status_M2 = 0x5B
PS_Tasks_M1 = 0x5C
PS_Tasks_M2 = 0x5D
PS_P_Kp = 0x5E
PS_P_Ki = 0x60
PS_P_Kd = 0x62
PS_S_Kp = 0x64
PS_S_Ki = 0x66
PS_S_Kd = 0x68
PS_PassCount = 0x6A
PS_PassTolerance = 0x6B
PS_ChkSum = 0x6C
PS_BattV = 0x6E
# Sensor 1
PS_S1_Mode = 0x6F
# EV3
PS_S1EV_Ready = 0x70
PS_S1EV_SensorID = 0x71
PS_S1EV_Mode = 0x81
PS_S1EV_Length = 0x82
PS_S1EV_Data = 0x83
# LEGO Analog
PS_S1AN_Read = 0x70
# LEGO Color
PS_S1C_Color = 0x70
PS_S1C_R_cal = 0x71
PS_S1C_G_cal = 0x72
PS_S1C_B_cal = 0x73
PS_S1C_N_cal = 0x74
PS_S1C_R_raw = 0x75
PS_S1C_G_raw = 0x76
PS_S1C_B_raw = 0x77
PS_S1C_N_raw = 0x78
# Sensor 2
PS_S2_Mode = 0xA3
# EV3
PS_S2EV_Ready = 0xA4
PS_S2EV_SensorID = 0xA5
PS_S2EV_Mode = 0xB5
PS_S2EV_Length = 0xB6
PS_S2EV_Data = 0xB7
# LEGO Analog
PS_S2AN_Read = 0xA4
# LEGO Color
PS_S2C_Color = 0xA4
PS_S2C_R_cal = 0xA5
PS_S2C_G_cal = 0xA6
PS_S2C_B_cal = 0xA7
PS_S2C_N_cal = 0xA8
PS_S2C_R_raw = 0xA9
PS_S2C_G_raw = 0xAA
PS_S2C_B_raw = 0xAB
PS_S2C_N_raw = 0xAC
## Touchscreen x- and y-axis registers
PS_TSX = 0xE3
PS_TSY = 0xE5
# Touchscreen Calibration
PS_TS_CALIBRATION_DATA_READY = 0x70
PS_TS_CALIBRATION_DATA = 0x71
# LED
PS_R = 0xD7
PS_G = 0xD8
PS_B = 0xD9
# Buttons
PS_KeyPress = 0xDA
PS_Key1Count = 0xDB
PS_Key2Count = 0xDC
PS_CONTROL_SPEED = 0x01
PS_CONTROL_RAMP = 0x02
PS_CONTROL_RELATIVE = 0x04
PS_CONTROL_TACHO = 0x08
PS_CONTROL_BRK = 0x10
PS_CONTROL_ON = 0x20
PS_CONTROL_TIME = 0x40
PS_CONTROL_GO = 0x80
# Supported I2C commands
R = 0x52
S = 0x53
a = 0x61
b = 0x62
c = 0x63
A = 0x41
B = 0x42
C = 0x43
H = 0x48
E = 0x45
t = 0x74
T = 0x54
w = 0x77
l = 0x6C
bankA = mindsensors_i2c(PS_A_ADDRESS >> 1)
bankB = mindsensors_i2c(PS_B_ADDRESS >> 1)
BAM1 = PSMotor(bankA, 1)
BAM2 = PSMotor(bankA, 2)
BBM1 = PSMotor(bankB, 1)
BBM2 = PSMotor(bankB, 2)
BAS1 = PSSensor(bankA, 1)
BAS2 = PSSensor(bankA, 2)
BBS1 = PSSensor(bankB, 1)
BBS2 = PSSensor(bankB, 2)
def __init__(self):
try:
self.bankA.readByte(self.PS_BattV)
except:
print("Could not connect to PiStorms.")
else:
self.bankA.writeByte(self.PS_Command, self.R)
self.bankB.writeByte(self.PS_Command, self.R)
config = configparser.RawConfigParser()
config.read("/usr/local/mindsensors/conf/msdev.cfg")
if "GRX" in config.get('msdev', 'device'):
self.PS_BattV = 0xC1
self.PS_R = 0xB6
self.PS_G = 0xB7
self.PS_B = 0xB8
self.PS_KeyPress = 0xBF
self.PS_Key1Count = 0xC0
def Shutdown(self):
self.bankA.writeByte(self.PS_Command, self.H)
def command(self, cmd, bank):
if (bank == 1):
self.bankA.writeByte(self.PS_Command, cmd)
elif (bank == 2):
self.bankB.writeByte(self.PS_Command, cmd)
def battVoltage(self):
try:
return self.bankA.readByte(self.PS_BattV) * 0.04
except:
return 0
def GetFirmwareVersion(self):
try:
return self.bankA.readString(0x00, 8)
except:
return "ReadErr"
def GetVendorName(self):
try:
return self.bankA.readString(0x08, 8)
except:
return "ReadErr"
def GetDeviceId(self):
try:
return self.bankA.readString(0x10, 8)
except:
return "ReadErr"
def GetDeviceFeatures(self):
try:
return self.bankA.readString(0x18, 8)
except:
return "ReadErr"
def led(self, lednum, red, green, blue):
array = [red, green, blue]
if (lednum == 1):
self.bankA.writeArray(self.PS_R, array)
if (lednum == 2):
self.bankB.writeArray(self.PS_R, array)
time.sleep(0.001)
def isKeyPressed(self):
try:
x = self.bankA.readByte(self.PS_KeyPress)
return int(0x01 & x)
except:
return 0
def getKeyPressValue(self):
try:
x, y = self.getTouchscreenCoordinates()
if x > 300 and y > 0:
return [8, 16, 24, 40][int((y - 1) / (240 / 4))]
else:
return 0
except:
return 0
def getKeyPressCount(self):
try:
return (self.bankA.readByte(self.PS_Key1Count))
except:
return 0
def resetKeyPressCount(self):
try:
self.bankA.writeByte(self.PS_Key1Count, 0)
except:
pass
def ping(self):
self.bankA.readByte(0x00)
def getTouchscreenCoordinates(self):
sampleSize = 3
tolerance = 3
x = [0] * sampleSize
y = [0] * sampleSize
try:
for i in range(sampleSize):
x[i] = self.bankA.readInteger(self.PS_TSX)
y[i] = self.bankA.readInteger(self.PS_TSY)
except:
print("Failed to read touchscreen")
return (0, 0)
if (numpy.std(x) < tolerance and numpy.std(y) < tolerance):
return (int(numpy.mean(x)), int(numpy.mean(y)))
else:
return (0, 0)
