more calibration

6 years ago · 2c63020f75
8 changed files with 20210 additions and 2252 deletions
--- a/calib/calib.nb
+++ b/calib/calib.nb
--- a/calib/calib.py
+++ b/calib/calib.py
@ -2,17 +2,25 @@
 import serial
 import re
 import datetime
 import sys
 def capture_data():
    num_re = r"([\-0-9\.]+)"
    line_re = re.compile(r".*inputs: acc=\({0}, {0}, {0}\) gyro=\({0}, {0}, {0}\) mag=\({0}, {0}, {0}\)".format(num_re))
-    ser = serial.serial_for_url("hwgrep://", baudrate=115200, parity=serial.PARITY_NONE,
+    if len(sys.argv) >= 2:
        ser_url = sys.argv[1]
    else:
        ser_url = "hwgrep://"
    if len(sys.argv) >= 3:
        fname = sys.argv[2]
    else:
        timestr = datetime.datetime.now().strftime("%Y-%m-%d %H-%M-%S")
        fname = "UGVDATA_{}.csv".format(timestr)
    ser = serial.serial_for_url(ser_url, baudrate=115200, parity=serial.PARITY_NONE,
                                stopbits=serial.STOPBITS_ONE, bytesize=serial.EIGHTBITS,
                                timeout=2.0)
    with ser:
        timestr = datetime.datetime.now().strftime("%Y-%m-%d %H-%M-%S")
        fname = "UGVDATA_{}.csv".format(timestr)
        with open(fname, "w") as f:
            try:
                f.write("AX,AY,AZ,GX,GY,GZ,MX,MY,MZ\n")
--- a/calib/calib2.nb
+++ b/calib/calib2.nb
--- a/calib/calibaccel.nb
+++ b/calib/calibaccel.nb
--- a/calib/calibgyro.nb
+++ b/calib/calibgyro.nb
--- a/calib/calibmag.nb
+++ b/calib/calibmag.nb
--- a/ugv2_moving.csv
+++ b/ugv2_moving.csv
@ -0,0 +1,857 @@
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--- a/ugv2_rest.csv
+++ b/ugv2_rest.csv
@ -0,0 +1,731 @@
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