1#!/usr/bin/python 2# Author: Zion Orent <zorent@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 24import time, sys, signal, atexit 25import pyupm_enc03r as upmEnc03r 26 27# Instantiate an ENC03R on analog pin A0 28myAnalogGyro = upmEnc03r.ENC03R(0) 29 30 31## Exit handlers ## 32# This function stops python from printing a stacktrace when you hit control-C 33def SIGINTHandler(signum, frame): 34 raise SystemExit 35 36# This function lets you run code on exit, 37# including functions from myAnalogGyro 38def exitHandler(): 39 print "Exiting" 40 sys.exit(0) 41 42# Register exit handlers 43atexit.register(exitHandler) 44signal.signal(signal.SIGINT, SIGINTHandler) 45 46 47CALIBRATION_SAMPLES = 1000 48 49print ("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 53myAnalogGyro.calibrate(CALIBRATION_SAMPLES) 54print "Calibration complete. " 55print "Reference value: ", myAnalogGyro.calibrationValue() 56 57while(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