AHRS getEstimation

 1'''
 2AHRS - AHRS_getEstimation.py with synchronous mode.
 3
 4This example demonstrates the process of getting AHRS data by mode from WifiDAQE3AH.
 5
 6To begin with, it demonstrates the steps to open the AHRS and configure the AHRS parameters.
 7Next, it outlines the procedure for the AHRS data.
 8Finally, it concludes by explaining how to close the AHRS.
 9
10-------------------------------------------------------------------------------------
11Please change correct serial number or IP and port number BEFORE you run example code.
12
13For other examples please check:
14    https://github.com/WPC-Systems-Ltd/WPC_Python_driver_release/tree/main/examples
15See README.md file to get detailed usage of this example.
16
17Copyright (c) 2022-2024 WPC Systems Ltd. All rights reserved.
18'''
19
20## Python
21import time
22
23## WPC
24
25from wpcsys import pywpc
26
27
28def main():
29    ## Get Python driver version
30    print(f'{pywpc.PKG_FULL_NAME} - Version {pywpc.__version__}')
31
32    ## Create device handle
33    dev = pywpc.WifiDAQE3AH()
34
35    ## Connect to device
36    try:
37        dev.connect("192.168.5.38") ## Depend on your device
38    except Exception as err:
39        pywpc.printGenericError(err)
40        ## Release device handle
41        dev.close()
42        return
43
44    try:
45        ## Parameters setting
46        port = 0 ## Depend on your device
47        mode = 6 ## 3-axis of orientation and angular velocity and acceleration
48        timeout = 3 ## second
49
50        ## Get firmware model & version
51        driver_info = dev.Sys_getDriverInfo(timeout)
52        print("Model name: " + driver_info[0])
53        print("Firmware version: " + driver_info[-1])
54
55        ## Open AHRS and update rate is 333 HZ
56        err = dev.AHRS_open(port, timeout)
57        print(f"AHRS_open in port {port}, status: {err}")
58
59        ## Start AHRS
60        err = dev.AHRS_start(port, timeout)
61        print(f"AHRS_start in port {port}, status: {err}")
62
63        ## Get three axis data by mode
64        while True:
65            ahrs_list = dev.AHRS_getEstimate(port, mode, timeout)
66            print(ahrs_list)
67    except KeyboardInterrupt:
68        print("Press keyboard")
69
70    except Exception as err:
71        pywpc.printGenericError(err)
72
73    finally:
74        ## Stop AHRS
75        err = dev.AHRS_stop(port, timeout)
76        print(f"AHRS_stop in port {port}, status: {err}")
77
78        ## Close AHRS
79        err = dev.AHRS_close(port, timeout)
80        print(f"AHRS_close in port {port}, status: {err}")
81
82        ## Disconnect device
83        dev.disconnect()
84
85        ## Release device handle
86        dev.close()
87
88    return
89if __name__ == '__main__':
90    main()