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      1 #!/usr/bin/python
      2 # Author: Zion Orent <zorent (at] ics.com>
      3 # Copyright (c) 2015 Intel Corporation.
      4 #
      5 # Permission is hereby granted, free of charge, to any person obtaining
      6 # a copy of this software and associated documentation files (the
      7 # "Software"), to deal in the Software without restriction, including
      8 # without limitation the rights to use, copy, modify, merge, publish,
      9 # distribute, sublicense, and/or sell copies of the Software, and to
     10 # permit persons to whom the Software is furnished to do so, subject to
     11 # the following conditions:
     12 #
     13 # The above copyright notice and this permission notice shall be
     14 # included in all copies or substantial portions of the Software.
     15 #
     16 # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
     17 # EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
     18 # MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
     19 # NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
     20 # LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
     21 # OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
     22 # WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
     23 
     24 import time, sys, signal, atexit
     25 import pyupm_enc03r as upmEnc03r
     26 
     27 # Instantiate an ENC03R on analog pin A0
     28 myAnalogGyro = upmEnc03r.ENC03R(0)
     29 
     30 
     31 ## Exit handlers ##
     32 # This function stops python from printing a stacktrace when you hit control-C
     33 def SIGINTHandler(signum, frame):
     34 	raise SystemExit
     35 
     36 # This function lets you run code on exit,
     37 # including functions from myAnalogGyro
     38 def exitHandler():
     39 	print "Exiting"
     40 	sys.exit(0)
     41 
     42 # Register exit handlers
     43 atexit.register(exitHandler)
     44 signal.signal(signal.SIGINT, SIGINTHandler)
     45 
     46 
     47 CALIBRATION_SAMPLES = 1000
     48 
     49 print ("Please place the sensor in a stable location,\n"
     50 "and do not move it while calibration takes place.\n"
     51 "This may take a couple of minutes.")
     52 
     53 myAnalogGyro.calibrate(CALIBRATION_SAMPLES)
     54 print "Calibration complete. "
     55 print "Reference value: ", myAnalogGyro.calibrationValue()
     56 
     57 while(1):
     58 	gyroVal = myAnalogGyro.value();
     59 	outputStr = ("Raw value: {0}, "
     60 	"angular velocity: {1}"
     61 	" deg/s".format(gyroVal, myAnalogGyro.angularVelocity(gyroVal)))
     62 	print outputStr
     63 
     64 	time.sleep(.1)
     65