| 0,0 → 1,87 |
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| #!/usr/bin/python |
| |
| # Python library for RPS01A MLAB module with AS5048B I2C Magnetic position sensor. |
| |
| #uncomment for debbug purposes |
| #import logging |
| #logging.basicConfig(level=logging.DEBUG) |
| |
| import time |
| import datetime |
| import sys |
| from pymlab import config |
| |
| #### Script Arguments ############################################### |
| |
| if len(sys.argv) != 2: |
| sys.stderr.write("Invalid number of arguments.\n") |
| sys.stderr.write("Usage: %s PORT ADDRESS\n" % (sys.argv[0], )) |
| sys.exit(1) |
| |
| port = eval(sys.argv[1]) |
| #### Sensor Configuration ########################################### |
| |
| '''' |
| cfg = config.Config( |
| i2c = { |
| "port": port, |
| }, |
| |
| bus = [ |
| { |
| "type": "i2chub", |
| "address": 0x72, |
| |
| "children": [ |
| {"name": "encoder", "type": "rps01", "channel": 1, } |
| ], |
| }, |
| ], |
| ) |
| |
| ''' |
| cfg = config.Config( |
| i2c = { |
| "port": port, |
| }, |
| bus = [ |
| { |
| "name": "encoder", |
| "type": "rps01", |
| }, |
| ], |
| ) |
| |
| |
| cfg.initialize() |
| |
| print "RPS01A magnetic position sensor RPS01 readout example \r\n" |
| sensor = cfg.get_device("encoder") |
| |
| print sensor.get_address() |
| print sensor.get_zero_position() |
| |
| #### Data Logging ################################################### |
| |
| try: |
| while True: |
| # for i in range(10): |
| angle1 = sensor.get_angle(verify = False) |
| time.sleep(0.1) |
| angle2 = sensor.get_angle(verify = False) |
| time.sleep(0.1) |
| angle3 = sensor.get_angle(verify = False) |
| |
| if (angle1 < angle2): |
| speed = (angle2 - angle1)/0.01 |
| else: |
| speed = (360 - angle1 + angle2)/0.01 |
| |
| |
| |
| sys.stdout.write("Speed: " + str(speed) +"\t"+ str(angle1) +"\t"+ str(angle2) + "\t\tMagnitude: " + str(sensor.get_magnitude()) |
| + "\tAGC Value: " + str(sensor.get_agc_value()) + "\tDiagnostics: " + str(sensor.get_diagnostics()) + "\r\n") |
| sys.stdout.flush() |
| time.sleep(0.01) |
| except KeyboardInterrupt: |
| sys.exit(0) |