Rabboni === ###### tags: `RVB` `rabboni` # 介紹 imu # 使用方式 Rabboni Python SDK 1.1.0 (Google Drive) https://drive.google.com/drive/folders/1UyxtonAzTh3_pq-sgSsgtcsDW-9jV0lE?usp=sharing manual: http://140.113.169.170/rabboni_file/rabboni_manual_device_v1.1.pdf 相關網址：https://drive.google.com/drive/folders/1ElCVAZngcWG5aF0fVIxYDxp0OeYrzqnm?fbclid=IwAR3UK5S2eWz2Gcj3j-srg7Y_ShB3FH-f7QCILO7j7_xBm82rMFuBpB7s0zo Rabboni Python SDK ======== Prerequisite ----- ### Linux (建議: Ubuntu 20.04LTS) * 下載並解壓縮 sdk ``` bash $ cd $ mkdir rab_sdk $ cd rab_sdk $ wget --no-check-certificate 'https://docs.google.com/uc?export=download&id=1-UHxy0vb4wP9VQHKZzQ-Rp0S84KxHQtB' -O rabboni-python-sdk-1.1.0.tar.gz $ tar zxvf rabboni-python-sdk-1.1.0.tar.gz $ cd rabboni-python-sdk-1.1.0 ``` * 安裝 libhidapi-hidraw0 (USB 模式) ``` bash $ sudo apt install libhidapi-hidraw0 $ sh generate-udev-rules.sh ``` * 安裝 python3 及相關 ``` bash $ sudo apt install python3 python3-pip python3-tk $ sudo python3 setup.py install ``` Example ----- * USB 模式 ``` python import traceback as tb from rabboni import Rabboni rab = Rabboni() rab.connect() rab.set_sensor_config(8, 500, 20, 100) def usb_custom_callback(status): """ 參數 status 為一個 dictionary eg. Acc: (X,Y,Z), Gyr: (X,Y,Z), Count: (CurrentCount, StoredCount) {'Acc': (0.614013671875, -0.583984375, 0.58349609375), 'Gyr': (-92.437744140625, -99.212646484375, 0.0152587890625), 'Count': (98, 0)} """ print(status) try: rab.start_fetching_status(custom_callback=usb_custom_callback) rab.polling_status() except AssertionError: # 結束程式 print('Bye~!!') except Exception: tb.print_exc() finally: rab.export_csv() rab.export_plot() rab.disconnect() ``` ``` $ sudo python3 usb_rabboni.py ``` # example ``` python from rabboni impot * rabbo = Rabboni(mode = "USB") rabbo.connect() print("Status:",rabbo.Status) rabbo.set_sensor_scale(acc_scale = 4, gyr_scale = 2000) ## 設定加速度跟陀螺儀的最大範圍 建 議先設定完離線在進行檔案錄製 try: rabbo.read_data() while True:#一直打印資料 直到結束程式 rabbo.print_data()#print 資料 print (rabbo.data_num) if rabbo.Cur_Cnt > 10: rabbo.rst_count() #重置 count 會 delay 一下 if rabbo.data_num>100: rabbo.stop()#停止運作 break except KeyboardInterrupt:#結束程式 print('Shut done!') # print (rabbo.Accx_list)#印出到結束程式時的所有 Accx 值 rabbo.stop()#停止運作 ```