Merge branch 'py3-deployable'

Author: previ

.gitignore

@@ -35,6 +35,8 @@
 # Pictures taken
 photos/*.jpg
 photos/*.mp4
+photos/*.h264
+photos/*.json
 
 # Sounds recorded
 sounds/*.wav
@@ -46,6 +48,9 @@ logs/*.log.*
 # User programs
 data/*.data
 
+# CNN Models
+cnn_models/*
+
 # Tutorial
 static/blockly-tutorial
 
@@ -58,3 +63,14 @@ static/blockly-tutorial
 .Trashes
 ehthumbs.db
 Thumbs.db
+
+# Swap files
+*.swp
+
+
+# Python3 Virtual Environment folders
+
+bin/
+lib/
+share/
+pyvenv.cfg

.x.swp

@@ -0,0 +1,270 @@
+from __future__ import print_function
+"""This program handles the communication over I2C
+between a Raspberry Pi and a MPU-6050 Gyroscope / Accelerometer combo.
+Made by: MrTijn/Tijndagamer
+Released under the MIT License
+Copyright 2015
+"""
+
+import smbus2 as smbus
+import time
+
+class MPU6050:
+
+    # Global Variables
+    GRAVITIY_MS2 = 9.80665
+    address = None
+    bus = smbus.SMBus(1)
+
+    # Scale Modifiers
+    ACCEL_SCALE_MODIFIER_2G = 16384.0
+    ACCEL_SCALE_MODIFIER_4G = 8192.0
+    ACCEL_SCALE_MODIFIER_8G = 4096.0
+    ACCEL_SCALE_MODIFIER_16G = 2048.0
+
+    GYRO_SCALE_MODIFIER_250DEG = 131.0
+    GYRO_SCALE_MODIFIER_500DEG = 65.5
+    GYRO_SCALE_MODIFIER_1000DEG = 32.8
+    GYRO_SCALE_MODIFIER_2000DEG = 16.4
+
+    # Pre-defined ranges
+    ACCEL_RANGE_2G = 0x00
+    ACCEL_RANGE_4G = 0x08
+    ACCEL_RANGE_8G = 0x10
+    ACCEL_RANGE_16G = 0x18
+
+    GYRO_RANGE_250DEG = 0x00
+    GYRO_RANGE_500DEG = 0x08
+    GYRO_RANGE_1000DEG = 0x10
+    GYRO_RANGE_2000DEG = 0x18
+
+    # MPU-6050 Registers
+    PWR_MGMT_1 = 0x6B
+    PWR_MGMT_2 = 0x6C
+
+    SELF_TEST_X = 0x0D
+    SELF_TEST_Y = 0x0E
+    SELF_TEST_Z = 0x0F
+    SELF_TEST_A = 0x10
+
+    ACCEL_XOUT0 = 0x3B
+    ACCEL_XOUT1 = 0x3C
+    ACCEL_YOUT0 = 0x3D
+    ACCEL_YOUT1 = 0x3E
+    ACCEL_ZOUT0 = 0x3F
+    ACCEL_ZOUT1 = 0x40
+
+    TEMP_OUT0 = 0x41
+    TEMP_OUT1 = 0x42
+
+    GYRO_XOUT0 = 0x43
+    GYRO_XOUT1 = 0x44
+    GYRO_YOUT0 = 0x45
+    GYRO_YOUT1 = 0x46
+    GYRO_ZOUT0 = 0x47
+    GYRO_ZOUT1 = 0x48
+
+    ACCEL_CONFIG = 0x1C
+    GYRO_CONFIG = 0x1B
+
+    GYRO_THRESHOLD_Z = 1.5
+
+    def __init__(self, address):
+        self.address = address
+
+        # Wake up the MPU-6050 since it starts in sleep mode
+        self.bus.write_byte_data(self.address, self.PWR_MGMT_1, 0x00)
+
+    # I2C communication methods
+
+    def read_i2c_word(self, register):
+        """Read two i2c registers and combine them.
+        register -- the first register to read from.
+        Returns the combined read results.
+        """
+        # Read the data from the registers
+        high = self.bus.read_byte_data(self.address, register)
+        low = self.bus.read_byte_data(self.address, register + 1)
+
+        value = (high << 8) + low
+
+        if (value >= 0x8000):
+            return -((65535 - value) + 1)
+        else:
+            return value
+
+    # MPU-6050 Methods
+
+    def get_temp(self):
+        """Reads the temperature from the onboard temperature sensor of the MPU-6050.
+        Returns the temperature in degrees Celcius.
+        """
+        # Get the raw data
+        raw_temp = self.read_i2c_word(self.TEMP_OUT0)
+
+        # Get the actual temperature using the formule given in the
+        # MPU-6050 Register Map and Descriptions revision 4.2, page 30
+        actual_temp = (raw_temp / 340) + 36.53
+
+        # Return the temperature
+        return actual_temp
+
+    def set_accel_range(self, accel_range):
+        """Sets the range of the accelerometer to range.
+        accel_range -- the range to set the accelerometer to. Using a
+        pre-defined range is advised.
+        """
+        # First change it to 0x00 to make sure we write the correct value later
+        self.bus.write_byte_data(self.address, self.ACCEL_CONFIG, 0x00)
+
+        # Write the new range to the ACCEL_CONFIG register
+        self.bus.write_byte_data(self.address, self.ACCEL_CONFIG, accel_range)
+
+    def read_accel_range(self, raw = False):
+        """Reads the range the accelerometer is set to.
+        If raw is True, it will return the raw value from the ACCEL_CONFIG
+        register
+        If raw is False, it will return an integer: -1, 2, 4, 8 or 16. When it
+        returns -1 something went wrong.
+        """
+        # Get the raw value
+        raw_data = self.bus.read_byte_data(self.address, self.ACCEL_CONFIG)
+
+        if raw is True:
+            return raw_data
+        elif raw is False:
+            if raw_data == self.ACCEL_RANGE_2G:
+                return 2
+            elif raw_data == self.ACCEL_RANGE_4G:
+                return 4
+            elif raw_data == self.ACCEL_RANGE_8G:
+                return 8
+            elif raw_data == self.ACCEL_RANGE_16G:
+                return 16
+            else:
+                return -1
+
+    def get_accel_data(self, g = False):
+        """Gets and returns the X, Y and Z values from the accelerometer.
+        If g is True, it will return the data in g
+        If g is False, it will return the data in m/s^2
+        Returns a dictionary with the measurement results.
+        """
+        # Read the data from the MPU-6050
+        x = self.read_i2c_word(self.ACCEL_XOUT0)
+        y = self.read_i2c_word(self.ACCEL_YOUT0)
+        z = self.read_i2c_word(self.ACCEL_ZOUT0)
+
+        accel_scale_modifier = None
+        accel_range = self.read_accel_range(True)
+
+        if accel_range == self.ACCEL_RANGE_2G:
+            accel_scale_modifier = self.ACCEL_SCALE_MODIFIER_2G
+        elif accel_range == self.ACCEL_RANGE_4G:
+            accel_scale_modifier = self.ACCEL_SCALE_MODIFIER_4G
+        elif accel_range == self.ACCEL_RANGE_8G:
+            accel_scale_modifier = self.ACCEL_SCALE_MODIFIER_8G
+        elif accel_range == self.ACCEL_RANGE_16G:
+            accel_scale_modifier = self.ACCEL_SCALE_MODIFIER_16G
+        else:
+            print("Unkown range - accel_scale_modifier set to self.ACCEL_SCALE_MODIFIER_2G")
+            accel_scale_modifier = self.ACCEL_SCALE_MODIFIER_2G
+
+        x = x / accel_scale_modifier
+        y = y / accel_scale_modifier
+        z = z / accel_scale_modifier
+
+        if g is True:
+            return {'x': x, 'y': y, 'z': z}
+        elif g is False:
+            x = x * self.GRAVITIY_MS2
+            y = y * self.GRAVITIY_MS2
+            z = z * self.GRAVITIY_MS2
+            return {'x': x, 'y': y, 'z': z}
+
+    def set_gyro_range(self, gyro_range):
+        """Sets the range of the gyroscope to range.
+        gyro_range -- the range to set the gyroscope to. Using a pre-defined
+        range is advised.
+        """
+        # First change it to 0x00 to make sure we write the correct value later
+        self.bus.write_byte_data(self.address, self.GYRO_CONFIG, 0x00)
+
+        # Write the new range to the ACCEL_CONFIG register
+        self.bus.write_byte_data(self.address, self.GYRO_CONFIG, gyro_range)
+
+    def read_gyro_range(self, raw = False):
+        """Reads the range the gyroscope is set to.
+        If raw is True, it will return the raw value from the GYRO_CONFIG
+        register.
+        If raw is False, it will return 250, 500, 1000, 2000 or -1. If the
+        returned value is equal to -1 something went wrong.
+        """
+        # Get the raw value
+        raw_data = self.bus.read_byte_data(self.address, self.GYRO_CONFIG)
+
+        if raw is True:
+            return raw_data
+        elif raw is False:
+            if raw_data == self.GYRO_RANGE_250DEG:
+                return 250
+            elif raw_data == self.GYRO_RANGE_500DEG:
+                return 500
+            elif raw_data == self.GYRO_RANGE_1000DEG:
+                return 1000
+            elif raw_data == self.GYRO_RANGE_2000DEG:
+                return 2000
+            else:
+                return -1
+
+    def get_gyro_data(self):
+        """Gets and returns the X, Y and Z values from the gyroscope.
+        Returns the read values in a dictionary.
+        """
+        # Read the raw data from the MPU-6050
+        x = self.read_i2c_word(self.GYRO_XOUT0)
+        y = self.read_i2c_word(self.GYRO_YOUT0)
+        z = self.read_i2c_word(self.GYRO_ZOUT0)
+
+        gyro_scale_modifier = None
+        gyro_range = self.read_gyro_range(True)
+
+        if gyro_range == self.GYRO_RANGE_250DEG:
+            gyro_scale_modifier = self.GYRO_SCALE_MODIFIER_250DEG
+        elif gyro_range == self.GYRO_RANGE_500DEG:
+            gyro_scale_modifier = self.GYRO_SCALE_MODIFIER_500DEG
+        elif gyro_range == self.GYRO_RANGE_1000DEG:
+            gyro_scale_modifier = self.GYRO_SCALE_MODIFIER_1000DEG
+        elif gyro_range == self.GYRO_RANGE_2000DEG:
+            gyro_scale_modifier = self.GYRO_SCALE_MODIFIER_2000DEG
+        else:
+            print("Unkown range - gyro_scale_modifier set to self.GYRO_SCALE_MODIFIER_250DEG")
+            gyro_scale_modifier = self.GYRO_SCALE_MODIFIER_250DEG
+
+        x = x / gyro_scale_modifier
+        y = y / gyro_scale_modifier
+        z = z / gyro_scale_modifier
+
+        return {'x': x, 'y': y, 'z': z}
+
+    def get_all_data(self):
+        """Reads and returns all the available data."""
+        temp = get_temp()
+        accel = get_accel_data()
+        gyro = get_gyro_data()
+
+        return [accel, gyro, temp]
+
+if __name__ == "__main__":
+    z = 0.0
+    t = time.time()
+    mpu = MPU6050(0x68)
+    mpu.set_gyro_range(mpu.GYRO_RANGE_250DEG)
+    while True:
+        gyro_data = mpu.get_gyro_data()
+        dt = time.time() - t
+        t = time.time()
+        if abs(gyro_data['z']) > mpu.GYRO_THRESHOLD_Z:
+            dz = gyro_data['z'] * dt
+            z = z + dz
+            print( "z: ", z, end="\r")