1#!/usr/bin/python 2# Author: Jon Trulson <jtrulson@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_mpu9150 as sensorObj 26 27# Instantiate an MPU60X0 on I2C bus 0 28sensor = sensorObj.MPU60X0() 29 30## Exit handlers ## 31# This function stops python from printing a stacktrace when you hit control-C 32def SIGINTHandler(signum, frame): 33 raise SystemExit 34 35# This function lets you run code on exit 36def exitHandler(): 37 print "Exiting" 38 sys.exit(0) 39 40# Register exit handlers 41atexit.register(exitHandler) 42signal.signal(signal.SIGINT, SIGINTHandler) 43 44sensor.init() 45 46x = sensorObj.new_floatp() 47y = sensorObj.new_floatp() 48z = sensorObj.new_floatp() 49 50while (1): 51 sensor.update() 52 sensor.getAccelerometer(x, y, z) 53 print "Accelerometer: AX: ", sensorObj.floatp_value(x), 54 print " AY: ", sensorObj.floatp_value(y), 55 print " AZ: ", sensorObj.floatp_value(z) 56 57 sensor.getGyroscope(x, y, z) 58 print "Gyroscope: GX: ", sensorObj.floatp_value(x), 59 print " GY: ", sensorObj.floatp_value(y), 60 print " GZ: ", sensorObj.floatp_value(z) 61 62 print "Temperature: ", sensor.getTemperature() 63 print 64 65 time.sleep(.5) 66