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      1 #!/usr/bin/python
      2 
      3 # Author: Brendan Le Foll <brendan.le.foll (at] intel.com>
      4 # Contributions: Zion Orent <zorent (at] ics.com>
      5 # Copyright (c) 2014 Intel Corporation.
      6 #
      7 # Permission is hereby granted, free of charge, to any person obtaining
      8 # a copy of this software and associated documentation files (the
      9 # "Software"), to deal in the Software without restriction, including
     10 # without limitation the rights to use, copy, modify, merge, publish,
     11 # distribute, sublicense, and/or sell copies of the Software, and to
     12 # permit persons to whom the Software is furnished to do so, subject to
     13 # the following conditions:
     14 #
     15 # The above copyright notice and this permission notice shall be
     16 # included in all copies or substantial portions of the Software.
     17 #
     18 # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
     19 # EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
     20 # MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
     21 # NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
     22 # LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
     23 # OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
     24 # WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE
     25 
     26 import time, sys, signal, atexit
     27 import pyupm_lsm303 as lsm303
     28 
     29 # Instantiate LSM303 compass on I2C
     30 myAccelrCompass = lsm303.LSM303(0)
     31 
     32 
     33 ## Exit handlers ##
     34 # This stops python from printing a stacktrace when you hit control-C
     35 def SIGINTHandler(signum, frame):
     36 	raise SystemExit
     37 
     38 # This lets you run code on exit,
     39 # including functions from myAccelrCompass
     40 def exitHandler():
     41 	print "Exiting"
     42 	sys.exit(0)
     43 
     44 # Register exit handlers
     45 atexit.register(exitHandler)
     46 signal.signal(signal.SIGINT, SIGINTHandler)
     47 
     48 
     49 while(1):
     50 	# Load coordinates into LSM303 object
     51 	successFail = myAccelrCompass.getCoordinates()
     52 	# in XYZ order. The sensor returns XZY,
     53 	# but the driver compensates and makes it XYZ
     54 	coords = myAccelrCompass.getRawCoorData()
     55 
     56 	# Print out the X, Y, and Z coordinate data
     57 	# using two different methods
     58 	outputStr = "coor: rX {0} - rY {1} - rZ {2}".format(
     59 	coords.__getitem__(0), coords.__getitem__(1),
     60 	coords.__getitem__(2))
     61 	print outputStr
     62 
     63 	outputStr = "coor: gX {0} - gY {1} - gZ {2}".format(
     64 	myAccelrCompass.getCoorX(), myAccelrCompass.getCoorY(),
     65 	myAccelrCompass.getCoorZ())
     66 	print outputStr
     67 
     68 	# Get and print out the heading
     69 	print "heading:", myAccelrCompass.getHeading()
     70 
     71 	# Get the acceleration
     72 	myAccelrCompass.getAcceleration();
     73 	accel = myAccelrCompass.getRawAccelData();
     74 
     75 	# Print out the X, Y, and Z acceleration data
     76 	# using two different methods
     77 	outputStr = "acc: rX {0} - rY {1} - Z {2}".format(
     78 	accel.__getitem__(0), accel.__getitem__(1), accel.__getitem__(2))
     79 	print outputStr
     80 
     81 	outputStr = "acc: gX {0} - gY {1} - gZ {2}".format(
     82 	myAccelrCompass.getAccelX(), myAccelrCompass.getAccelY(),
     83 	myAccelrCompass.getAccelZ())
     84 	print outputStr
     85 
     86 	print " "
     87 	time.sleep(1)
     88