add calibration script

calib/calib.py

@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+import serial
+import re
+import datetime
+
+if __name__ == "__main__":
+    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,
+                                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:
+            f.write("AX,AY,AZ,GX,GY,GZ,MX,MY,MZ\n")
+            while True:
+                line = ser.read_until()
+                matches = line_re.match(line)
+                if not matches:
+                    continue
+                nums = [str(numstr) for numstr in matches.groups()]
+                if len(nums) != 9:
+                    continue
+                f.write(",".join(nums))
+                f.write("\n")