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#!/usr/bin/python
# Author: Jon Trulson <jtrulson@ics.com>
# Copyright (c) 2016 Intel Corporation.
#
# Permission is hereby granted, free of charge, to any person obtaining
# a copy of this software and associated documentation files (the
# "Software"), to deal in the Software without restriction, including
# without limitation the rights to use, copy, modify, merge, publish,
# distribute, sublicense, and/or sell copies of the Software, and to
# permit persons to whom the Software is furnished to do so, subject to
# the following conditions:
#
# The above copyright notice and this permission notice shall be
# included in all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
import time, sys, signal, atexit
import pyupm_bno055 as sensorObj
# Instantiate an BNO055 using default parameters (bus 0, addr
# 0x28). The default running mode is NDOF absolute orientation
# mode.
sensor = sensorObj.BNO055()
## Exit handlers ##
# This function stops python from printing a stacktrace when you hit control-C
def SIGINTHandler(signum, frame):
raise SystemExit
# This function lets you run code on exit
def exitHandler():
print "Exiting..."
sys.exit(0)
# Register exit handlers
atexit.register(exitHandler)
signal.signal(signal.SIGINT, SIGINTHandler)
mag = sensorObj.new_intp()
acc = sensorObj.new_intp()
gyr = sensorObj.new_intp()
syst = sensorObj.new_intp()
w = sensorObj.new_floatp()
x = sensorObj.new_floatp()
y = sensorObj.new_floatp()
z = sensorObj.new_floatp()
print "First we need to calibrate. 4 numbers will be output every"
print "second for each sensor. 0 means uncalibrated, and 3 means"
print "fully calibrated."
print "See the UPM documentation on this sensor for instructions on"
print "what actions are required to calibrate."
print
while (not sensor.isFullyCalibrated()):
sensor.getCalibrationStatus(mag, acc, gyr, syst)
print "Magnetometer:", sensorObj.intp_value(mag),
print " Accelerometer:", sensorObj.intp_value(acc),
print " Gyroscope:", sensorObj.intp_value(gyr),
print " System:", sensorObj.intp_value(syst),
time.sleep(1)
print
print "Calibration complete."
print
# now output various fusion data every 250 milliseconds
while (True):
sensor.update()
sensor.getEulerAngles(x, y, z)
print "Euler: Heading:", sensorObj.floatp_value(x),
print " Roll:", sensorObj.floatp_value(y),
print " Pitch:", sensorObj.floatp_value(z),
print " degrees"
sensor.getQuaternions(w, x, y, z)
print "Quaternion: W:", sensorObj.floatp_value(w),
print " X:", sensorObj.floatp_value(x),
print " Y:", sensorObj.floatp_value(y),
print " Z:", sensorObj.floatp_value(z)
sensor.getLinearAcceleration(x, y, z)
print "Linear Acceleration: X:", sensorObj.floatp_value(x),
print " Y:", sensorObj.floatp_value(y),
print " Z:", sensorObj.floatp_value(z),
print " m/s^2"
sensor.getGravityVectors(x, y, z)
print "Gravity Vector: X:", sensorObj.floatp_value(x),
print " Y:", sensorObj.floatp_value(y),
print " Z:", sensorObj.floatp_value(z),
print " m/s^2"
print
time.sleep(.25);
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