| 20,15 → 20,15 |
|---|
| gpsd = gps(mode=WATCH_ENABLE) |
| self.current_value = None |
| self.running = True |
| |
| |
| def run(self): |
| global gpsd |
| while gpsp.running: |
| gpsd.next() |
| |
| |
| |
| |
| |
| cfg = config.Config( |
| i2c = { |
| "port": 1, |
| 49,53 → 49,23 |
|---|
| |
| |
| try: |
| angles = np.zeros(5) |
| angles[4] = sensor.get_angle(verify = False) |
| time.sleep(0.01) |
| angles[3] = sensor.get_angle(verify = False) |
| time.sleep(0.01) |
| angles[2] = sensor.get_angle(verify = False) |
| time.sleep(0.01) |
| angles[1] = sensor.get_angle(verify = False) |
| n = 0 |
| speed = 0 |
| AVERAGING = 50 |
| |
| filen = 'log%0.0f.txt'%time.time() |
| f = open(filen,'w') |
| os.remove("last.txt") |
| os.symlink(filen, "last.txt") |
| |
| |
| gpsp = GpsPoller() |
| gpsp.start() |
| |
| while True: |
| for i in range(AVERAGING): |
| time.sleep(0.01) |
| angles[0] = sensor.get_angle(verify = False) |
| |
| if (angles[0] + n*360 - angles[1]) > 300: |
| n -= 1 |
| angles[0] = angles[0] + n*360 |
| w_spd = abs(sensor.get_speed()) |
| g_spd = abs(gpsd.fix.speed()) |
| |
| elif (angles[0] + n*360 - angles[1]) < -300: |
| n += 1 |
| angles[0] = angles[0] + n*360 |
| print "W_Spd: %.3f \t G_Spd %.3f \t multiplayer: %.3f \t multiplayer: %.3f" % (w_spd, g_spd, w_spd/g_spd, g_spd/w_spd) |
| f.write("%.3f %.3f %.3f\r\n" %(time.time(), w_spd, g_spd)) |
| f.flush() |
| |
| else: |
| angles[0] = angles[0] + n*360 |
| |
| speed += (-angles[4] + 8*angles[3] - 8*angles[1] + angles[0])/12 |
| angles = np.roll(angles, 1) |
| |
| speed = speed/AVERAGING |
| |
| g_spd = gpsd.fix.speed |
| print "W_Spd: %0.2f \t Angle: %0.2f \t G_Spd %0.2f" % (speed, angles[0], g_spd) |
| f.write("%0.2f %0.2f %0.2f %0.2f\r\n" %(time.time(), abs(speed), angles[0], g_spd)) |
| f.flush() |
| |
| |
| except KeyboardInterrupt: |
| gpsp.running = False |
| gpsp.join() |