import time

from hw import lsm9ds1

class SimpleExample:

X_IND = 0

Y_IND = 1

Z_IND = 2

PITCH_IND = 0

ROLL_IND = 1

YAW_IND = 2

"""This example shows how to poll the sensor for new data.

It queries the sensor to discover when the accelerometer/gyro

has new data and then reads all the sensors."""

def __init__(self):

self.driver = lsm9ds1.make_i2c(1)

mc = lsm9ds1.MagCalibration(xmin=0.03234, xmax=0.25718,

ymin=0.036120000000000006, ymax=0.19138000000000002,

heading_offset=-130.29698965718163)

self.driver.configure(mc)

def main(self):

try:

count = 0

while True:

ag_data_ready = self.driver.read_ag_status().accelerometer_data_available

if ag_data_ready:

self.read_ag()

print("")

#self.read_magnetometer()

count += 1

time.sleep(0.05)

finally:

self.driver.close()

def read_ag(self):

temp, acc, gyro = self.driver.read_values()

#print("Temp: %.1f °f" % temp, end='')

#print("Gyro Roll: %.4f, Pitch: %.4f, Yaw: %.4f" % (gyro[SimpleExample.ROLL_IND],

# gyro[SimpleExample.PITCH_IND],

# gyro[SimpleExample.YAW_IND]), end='')

print("X: %.4f, Y: %.4f, Z: %.4f" % (acc[SimpleExample.X_IND],

acc[SimpleExample.Y_IND],

acc[SimpleExample.Z_IND]), end='')

def read_magnetometer(self):

hdg = self.driver.mag_heading()

print("headind: %f ", hdg, end='')

mag = self.driver.read_magnetometer()

print('Mag {}'.format(mag))

if __name__ == '__main__':

SimpleExample().main()