2021-1-capstone-design2 / 2014104077

Go to a project
Toggle navigation Toggle navigation pinning
Wonseok Kwak
4d0089ec 1 parent 99a4012d

Update : IMU Serial logging 및 monitoring을 위한 소스

Inline Side-by-side
Showing 1 changed file with 9 additions and 11 deletions
...@@ -4,13 +4,9 @@ import math ...@@ -4,13 +4,9 @@ import math
4 ac_x = 0 4 ac_x = 0
5 ac_y = 0 5 ac_y = 0
6 ac_z = 0 6 ac_z = 0
7 -normal_x = 0
8 -normal_y = 0
9 -normal_z = 0
10 deltha_x = [0,0,0] 7 deltha_x = [0,0,0]
11 deltha_y = [0,0,0] 8 deltha_y = [0,0,0]
12 deltha_z = [0,0,0] 9 deltha_z = [0,0,0]
13 -deltha = 0
14 10
15 def map(x,input_min,input_max,output_min,output_max): 11 def map(x,input_min,input_max,output_min,output_max):
16 return (x-input_min)*(output_max-output_min)/(input_max-input_min)+output_min 12 return (x-input_min)*(output_max-output_min)/(input_max-input_min)+output_min
...@@ -31,8 +27,6 @@ def main(): ...@@ -31,8 +27,6 @@ def main():
31 deltha_x[i] = 0 27 deltha_x[i] = 0
32 deltha_y[i] = 0 28 deltha_y[i] = 0
33 deltha_z[i] = 0 29 deltha_z[i] = 0
34 - angle = 0
35 - angle_value = 0
36 30
37 31
38 32
...@@ -45,9 +39,11 @@ def main(): ...@@ -45,9 +39,11 @@ def main():
45 ac_y = acceleration.Y 39 ac_y = acceleration.Y
46 ac_z = acceleration.Z 40 ac_z = acceleration.Z
47 41
48 - normal_x = map(ac_x, -32768,32767,-5000,5000) 42 + normal_x = map(ac_x, -32768,32767,-10000,10000)
49 - normal_y = map(ac_y, -32768,32767,-5000,5000) 43 + normal_y = map(ac_y, -32768,32767,-10000,10000)
50 normal_z = map(ac_z, -32768,32767,-5000,5000) 44 normal_z = map(ac_z, -32768,32767,-5000,5000)
45 +
46 +
51 deltha_x[1] = deltha_x[1]+(normal_x) 47 deltha_x[1] = deltha_x[1]+(normal_x)
52 deltha_y[1] = deltha_y[1]+(normal_y) 48 deltha_y[1] = deltha_y[1]+(normal_y)
53 deltha_z[1] = deltha_z[1]+(normal_z) 49 deltha_z[1] = deltha_z[1]+(normal_z)
...@@ -67,9 +63,11 @@ def main(): ...@@ -67,9 +63,11 @@ def main():
67 ac_y = acceleration.Y 63 ac_y = acceleration.Y
68 ac_z = acceleration.Z 64 ac_z = acceleration.Z
69 65
70 - normal_x = map(ac_x, -32768,32767,-5000,5000) 66 + normal_x = map(ac_x, -32768,32767,-10000,10000)
71 - normal_y = map(ac_y, -32768,32767,-5000,5000) 67 + normal_y = map(ac_y, -32768,32767,-10000,10000)
72 normal_z = map(ac_z, -32768,32767,-5000,5000) 68 normal_z = map(ac_z, -32768,32767,-5000,5000)
69 +
70 +
73 deltha_x[2] = deltha_x[2]+(normal_x) 71 deltha_x[2] = deltha_x[2]+(normal_x)
74 deltha_y[2] = deltha_y[2]+(normal_y) 72 deltha_y[2] = deltha_y[2]+(normal_y)
75 deltha_z[2] = deltha_z[2]+(normal_z) 73 deltha_z[2] = deltha_z[2]+(normal_z)
...@@ -82,7 +80,7 @@ def main(): ...@@ -82,7 +80,7 @@ def main():
82 deltha_y[0] = abs(deltha_y[1]-deltha_y[2]) 80 deltha_y[0] = abs(deltha_y[1]-deltha_y[2])
83 deltha_z[0] = abs(deltha_z[1]-deltha_z[2]) 81 deltha_z[0] = abs(deltha_z[1]-deltha_z[2])
84 deltha = deltha_x[0] + deltha_y[0] + deltha_z[0] 82 deltha = deltha_x[0] + deltha_y[0] + deltha_z[0]
85 - print("AcX : ", deltha_x[0], "AcY : ", deltha_y[0], "AcZ : ", deltha_z[0] - 230, "Total : ", deltha) 83 + print("AcX : ", deltha_x[0], "AcY : ", deltha_y[0], "AcZ : ", deltha_z[0], "Total : ", deltha)
86 84
87 85
88 if __name__ == '__main__': 86 if __name__ == '__main__':
......