upm/examples/python/bno055.py
Noel Eck 18b8ca2633 examples/python: Add/update shebang line
Added/updated the shebang line on all python examples with:

Also chmod +x a few of the python examples.

Signed-off-by: Noel Eck <noel.eck@intel.com>
2017-11-02 15:39:45 -07:00

114 lines
3.9 KiB
Python
Executable File

#!/usr/bin/env python
# Author: Jon Trulson <jtrulson@ics.com>
# Copyright (c) 2016-2017 Intel Corporation.
#
# The MIT License
#
# 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.
from __future__ import print_function
import time, sys, signal, atexit
from upm import pyupm_bno055 as sensorObj
def main():
# 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)
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()):
intData = sensor.getCalibrationStatus()
print("Magnetometer:", intData[0], end=' ')
print(" Accelerometer:", intData[1], end=' ')
print(" Gyroscope:", intData[2], end=' ')
print(" System:", intData[3])
time.sleep(1)
print()
print("Calibration complete.")
print()
# example - read calibration data, sleep and then write it
# print("Reading calibration data....")
# byteData = sensor.readCalibrationData()
# print("Read data successfully.")
# print("Writing calibration data...")
# time.sleep(1)
# sensor.writeCalibrationData(byteData)
# print("Success!")
# time.sleep(3)
# now output various fusion data every 250 milliseconds
while (True):
sensor.update()
floatData = sensor.getEulerAngles()
print("Euler: Heading:", floatData[0], end=' ')
print(" Roll:", floatData[1], end=' ')
print(" Pitch:", floatData[2], end=' ')
print(" degrees")
floatData = sensor.getQuaternions()
print("Quaternion: W:", floatData[0], end=' ')
print(" X:", floatData[1], end=' ')
print(" Y:", floatData[2], end=' ')
print(" Z:", floatData[3])
floatData = sensor.getLinearAcceleration()
print("Linear Acceleration: X:", floatData[0], end=' ')
print(" Y:", floatData[1], end=' ')
print(" Z:", floatData[2], end=' ')
print(" m/s^2")
floatData = sensor.getGravityVectors()
print("Gravity Vector: X:", floatData[0], end=' ')
print(" Y:", floatData[1], end=' ')
print(" Z:", floatData[2], end=' ')
print(" m/s^2")
print()
time.sleep(.25);
if __name__ == '__main__':
main()