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jacho |
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#!/usr/bin/python |
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# Python library for RPS01A MLAB module with AS5048B I2C Magnetic position sensor. |
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#uncomment for debbug purposes |
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#import logging |
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#logging.basicConfig(level=logging.DEBUG) |
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import time |
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import datetime |
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import sys |
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from pymlab import config |
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#### Script Arguments ############################################### |
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if len(sys.argv) != 2: |
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sys.stderr.write("Invalid number of arguments.\n") |
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sys.stderr.write("Usage: %s PORT ADDRESS\n" % (sys.argv[0], )) |
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sys.exit(1) |
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port = eval(sys.argv[1]) |
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#### Sensor Configuration ########################################### |
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'''' |
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cfg = config.Config( |
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i2c = { |
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"port": port, |
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}, |
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bus = [ |
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{ |
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"type": "i2chub", |
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"address": 0x72, |
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"children": [ |
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{"name": "encoder", "type": "rps01", "channel": 1, } |
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], |
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}, |
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], |
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) |
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''' |
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cfg = config.Config( |
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i2c = { |
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"port": port, |
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}, |
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bus = [ |
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{ |
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"name": "encoder", |
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"type": "rps01", |
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}, |
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], |
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) |
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cfg.initialize() |
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print "RPS01A magnetic position sensor RPS01 readout example \r\n" |
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sensor = cfg.get_device("encoder") |
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print sensor.get_address() |
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print sensor.get_zero_position() |
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#### Data Logging ################################################### |
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try: |
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while True: |
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# for i in range(10): |
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angle1 = sensor.get_angle(verify = False) |
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time.sleep(0.1) |
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angle2 = sensor.get_angle(verify = False) |
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time.sleep(0.1) |
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angle3 = sensor.get_angle(verify = False) |
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if (angle1 < angle2): |
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speed = (angle2 - angle1)/0.01 |
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else: |
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speed = (360 - angle1 + angle2)/0.01 |
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sys.stdout.write("Speed: " + str(speed) +"\t"+ str(angle1) +"\t"+ str(angle2) + "\t\tMagnitude: " + str(sensor.get_magnitude()) |
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+ "\tAGC Value: " + str(sensor.get_agc_value()) + "\tDiagnostics: " + str(sensor.get_diagnostics()) + "\r\n") |
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sys.stdout.flush() |
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time.sleep(0.01) |
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except KeyboardInterrupt: |
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sys.exit(0) |