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python:compas

compas2OSC.py

la boussole HMC6352 est sur un bus i2c. Donne l'angle au nord en degré dans le sens horaire (heading)

#!/usr/bin/python
# -*- coding: utf-8 -*-

import sys,time,liblo
from smbus import SMBus

BUS_NUMBER = 2
IP='127.0.0.1'
PORT=9001
ADRS=33 # 0x21 - compass
osc_path='/pos/compas'

b = SMBus(BUS_NUMBER) # 0 indicates /dev/i2c-0
data = {}

try:
        target = liblo.Address('127.0.0.1',9001)
except liblo.AddressError, err:
        print str(err)
        sys.exit()

while True:
        try:
                b.write_byte(0x21,0x41) # send 'A' to HMC6352 compass
                time.sleep(0.02)
                data_block = b.read_i2c_block_data(0x21,2)
                heading = (data_block[0] * 2**8 + data_block[1]) / 10
                time.sleep(0.02)
#               print('Compas',heading)
                liblo.send(target, osc_path, heading)
        except KeyError:
                pass
        except KeyboardInterrupt:
                quit()
        except StopIteration:
                session = None
                print "end"
        except:
#               print('echec')
                continue
python/compas.txt · Dernière modification: 2017/04/11 15:13 (modification externe)