nav_algo.SailSensors module

class nav_algo.SailSensors.ADCDevice(pinNumber)

Bases: object

This class contains the object of the ADC to be used by other classes for analog devices.

readADC(gain=1)

This function reads the ADC present on the I2C bus.

Parameters

gain (int) – The gain of the sensor input.

class nav_algo.SailSensors.I2CDevice(deviceAddress, i2cBusIndex)

Bases: object

This class is used to create a new instance of an I2C sensor module for communication. It also contains functions to communicate with the module.

getDeviceAddress()

getName()

geti2cBus()

geti2cBusIndex()

i2cRdwr(send, recieve)

Sends a hexadecimal-command list to the desired component. The function then waits for and retrieves a response from the device with a length based on the parameters.

Parameters

• send (list) – a list of bytes (sends this list of hexadecimal commands).

• recieve (int) – the amount of bytes in a list to retrieve from the device.

Returns

a list of bytes with length of int recieve.

Return type

list

i2cWr(msg)

Sends a hexadecimal list to the desired component.

Parameters

msg (list) – list of bytes (needs to be a list of hexadecimal commands specific to the device).

readBlockData(byteNumber, offset=0)

Reads a block of data from the i2c device register.

Parameters

• bytenumber (int) – the number of bytes you would like to read from the device’s register.

• offset (int) – integer value for the byte offset of data collection from the register.

writeBlockData(msg, offset=0)

Writes a block of data from the i2c device register.

Parameters

• msg (list) – list of bytes to send.

• offset (int) – integer value for the byte offset of data collection from the register.

class nav_algo.SailSensors.SailAnemometer(pinNumber)

Bases: nav_algo.SailSensors.ADCDevice

SailAnemometer implements a class used to connect the component to it’s proper communication protocol. This class also implements functions to return raw data and turn on/off the sensors.

readAnemometerVoltage(gain=1)

Returns the given voltage of the anemometer using the ADC.

Parameters

gain (int) – the multiplication value of the voltage

class nav_algo.SailSensors.SailEncoder

Bases: object

SailEncoder implements a class used to connect the component to it’s proper communication protocol. This class also implements functions to return raw data and turn on/off the sensors.

class nav_algo.SailSensors.SailGPS

Bases: object

SailGPS implements a class used to connect the component to it’s proper communication protocol. This class also implements functions to return raw data and turn on/off the sensors.

class nav_algo.SailSensors.SailIMU(deviceAddress=119, i2cBusIndex=1)

Bases: nav_algo.SailSensors.I2CDevice

SailIMU implements a class used to connect the component to it’s proper communication protocol. This class also implements functions to return raw data and turn on/off the sensors.

i2c_read_imu()

Reads the IMU and returns a list of 12 bytes representing euler angles.

imuCommands = {'readAccelerometerRaw': 66, 'readCompassRaw': 67, 'readOrientationEuler': 1}

class nav_algo.SailSensors.UARTDevice(baudrate, serialPort='/dev/ttyS0', t=1)

Bases: object

Superclass used to create a UARTDevice. Contians various functions for communication

recieveUartBytes(bytes=1)

sendUart(message)