-
- #!/usr/bin/python
-
- import smbus
- import math
- import time
- import sys
- import curses
- import signal
- from PID import PID
-
- screen = curses.initscr()
-
- # Power management registers
- power_mgmt_1 = 0x6b
- power_mgmt_2 = 0x6c
-
- def signal_handler(signal, frame):
- curses.endwin()
- sys.exit()
-
- def read_byte(adr):
- return bus.read_byte_data(address, adr)
-
- def read_word(adr):
- high = bus.read_byte_data(address, adr)
- low = bus.read_byte_data(address, adr+1)
- val = (high << 8) + low
- return val
-
- def read_word_2c(adr):
- val = read_word(adr)
- if (val >= 0x8000):
- return -((65535 - val) + 1)
- else:
- return val
-
- def dist(a,b):
- return math.sqrt((a*a)+(b*b))
-
- def get_y_rotation(x,y,z):
- radians = math.atan2(x, dist(y,z))
- return -math.degrees(radians)
-
- def get_x_rotation(x,y,z):
- radians = math.atan2(y, dist(x,z))
- return math.degrees(radians)
-
- signal.signal(signal.SIGINT, signal_handler)
- bus = smbus.SMBus(1) # or bus = smbus.SMBus(1) for Revision 2 boards
- address = 0x68 # This is the address value read via the i2cdetect command
-
- # Now wake the 6050 up as it starts in sleep mode
- bus.write_byte_data(address, power_mgmt_1, 0)
-
- #Set up basic screen labels
- screen.addstr(0,0,"gyro data")
- screen.addstr(1,0,"---------")
- screen.addstr(2,0,"gyro_xout:")
- screen.addstr(2,20,"scaled:")
- screen.addstr(3,0,"gyro_yout:")
- screen.addstr(3,20,"scaled:")
- screen.addstr(4,0,"gyro_zout:")
- screen.addstr(4,20,"scaled:")
- screen.addstr(6,0,"accelerometer data")
- screen.addstr(7,0,"------------------")
- screen.addstr(8,0,"accel_xout:")
- screen.addstr(8,20,"scaled:")
- screen.addstr(9,0,"accel_yout:")
- screen.addstr(9,20,"scaled:")
- screen.addstr(10,0,"accel_zout:")
- screen.addstr(10,20,"scaled:")
- screen.addstr(12,0,"x rotation:")
- screen.addstr(13,0,"y rotation:")
-
- #list of accel values for averaging
- accelvalues = []
-
- while True:
- gyro_xout = read_word_2c(0x43)
- gyro_yout = read_word_2c(0x45)
- gyro_zout = read_word_2c(0x47)
-
- #clear existing values
- screen.addstr(2,12," ")
- screen.addstr(2,28," ")
- screen.addstr(3,12," ")
- screen.addstr(3,28," ")
- screen.addstr(4,12," ")
- screen.addstr(4,28," ")
- screen.addstr(8,12," ")
- screen.addstr(8,28," ")
- screen.addstr(9,12," ")
- screen.addstr(9,28," ")
- screen.addstr(10,12," ")
- screen.addstr(10,28," ")
- screen.addstr(12,12," ")
- screen.addstr(13,12," ")
-
- screen.addstr(2,12,str(gyro_xout))
- screen.addstr(2,28,str((gyro_xout / 131)))
- screen.addstr(3,12,str(gyro_yout))
- screen.addstr(3,28,str((gyro_yout / 131)))
- screen.addstr(4,12,str(gyro_zout))
- screen.addstr(4,28,str((gyro_zout / 131)))
-
- accel_xout = read_word_2c(0x3b)
- accel_yout = read_word_2c(0x3d)
- accel_zout = read_word_2c(0x3f)
-
- accel_xout_scaled = accel_xout / 16384.0
- accel_yout_scaled = accel_yout / 16384.0
- accel_zout_scaled = accel_zout / 16384.0
-
- screen.addstr(8,12,str(accel_xout))
- screen.addstr(8,28,str(accel_xout_scaled))
- screen.addstr(9,12,str(accel_yout))
- screen.addstr(9,28,str(accel_yout_scaled))
- screen.addstr(10,12,str(accel_zout))
- screen.addstr(10,28,str(accel_zout_scaled))
-
- screen.addstr(12,12,str(get_x_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled)))
- screen.addstr(13,12,str(get_y_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled)))
-
- #calculate average accel value
- accelvalues.append(get_y_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled))
- if len(accelvalues) > 10:
- del accelvalues[0]
- average = float(sum(accelvalues)) / len(accelvalues)
-
- screen.addstr(15,0,str(round(average,2)))
- screen.addstr(15,0,str(PID.GenOut(PID, 1)))
- screen.refresh()
-