kopia lustrzana https://github.com/peterhinch/micropython-samples
39 wiersze
1.2 KiB
Python
39 wiersze
1.2 KiB
Python
# test_imu.py Demo of cube being rotated by IMU data.
|
|
|
|
# Released under the MIT License (MIT). See LICENSE.
|
|
# Copyright (c) 2020 Peter Hinch
|
|
|
|
from math import pi
|
|
from time import sleep
|
|
import gc
|
|
from quat import Rotator, euler
|
|
import graph3d as g3d
|
|
from setup3d import * # Hardware setup and colors
|
|
|
|
|
|
def imu_demo():
|
|
# Dict of display objects, each comprises a Shape
|
|
dobj = g3d.DisplayDict(setup(), pi/6, 5) # Camera angle and z distance
|
|
dobj['axes'] = g3d.Axes(WHITE) # Draw axes
|
|
# Create a reference cube. Don't display.
|
|
cube = g3d.Cube(RED, BLUE, GREEN) * (0.8, 0.8, 0.8) - (0.4, 0.4, 0.4)
|
|
imuquat = Rotator()
|
|
x = 0
|
|
while True:
|
|
dobj.show()
|
|
sleep(0.1)
|
|
imuquat[:] = imu.quaternion() # Assign IMU data to Quaternion instance
|
|
# imuquat.normalise() No need: BNo055 data is a rotation quaternion
|
|
dobj['cube'] = cube @ imuquat
|
|
x += 1
|
|
if x == 10:
|
|
x = 0
|
|
print('Quat heading {0:5.2f} roll {2:5.2f} pitch {1:5.2f}'.format(*euler(imuquat)))
|
|
print('IMU heading {:5.2f} roll {:5.2f} pitch {:5.2f}'.format(*[x * pi/180 for x in imu.euler()]))
|
|
gc.collect()
|
|
print(gc.mem_free(), gc.mem_alloc())
|
|
del dobj['cube']
|
|
|
|
imu_demo()
|
|
|