diff --git a/accel_X.txt b/accel_X.txt index b875cce..0679adf 100644 --- a/accel_X.txt +++ b/accel_X.txt @@ -1,8773 +1,4715 @@ -0.000 -0.004 --0.019 --0.022 -0.007 --0.029 --0.007 --0.004 --0.021 --0.018 --0.046 --0.040 --0.010 --0.038 --0.013 --0.009 --0.033 --0.033 --0.011 --0.021 --0.029 --0.026 --0.030 --0.049 --0.021 --0.047 --0.032 --0.014 --0.039 --0.025 --0.032 --0.020 --0.029 --0.043 --0.037 --0.033 --0.040 --0.038 --0.044 --0.047 --0.050 --0.032 --0.018 --0.028 --0.056 --0.036 --0.047 --0.029 --0.042 --0.035 --0.041 --0.032 --0.028 --0.062 --0.039 --0.043 --0.040 --0.054 --0.040 --0.046 --0.009 --0.045 --0.028 --0.026 --0.024 --0.036 --0.043 --0.044 --0.037 --0.017 --0.051 --0.030 +-0.000 -0.031 --0.045 +0.089 +0.158 +0.136 +0.097 +-0.036 -0.037 --0.019 --0.030 --0.023 --0.003 --0.040 --0.015 -0.039 --0.044 --0.032 --0.008 --0.021 --0.036 --0.034 --0.027 --0.041 --0.028 --0.036 --0.022 +0.053 +0.132 +0.039 +0.111 +0.149 +0.018 +0.001 +-0.146 +-0.236 +-0.205 +-0.141 +-0.093 +-0.088 -0.020 -0.034 --0.016 --0.008 --0.003 --0.039 --0.016 --0.027 --0.032 --0.024 --0.024 --0.029 +0.216 +0.153 +0.059 +-0.415 +-0.616 +-0.718 +-0.611 +-0.545 +-0.552 +-0.366 +-0.284 +-0.082 +-0.100 +-0.186 +-0.283 +-0.228 +-0.322 +-0.549 +-0.787 +-0.673 +-0.190 +0.282 +0.472 +0.355 -0.019 --0.042 --0.033 --0.017 --0.024 --0.020 --0.015 --0.007 --0.010 --0.024 --0.031 --0.032 --0.028 --0.014 --0.029 --0.028 --0.027 --0.030 --0.023 -0.004 --0.037 --0.022 --0.018 --0.034 --0.012 --0.032 +-0.397 +-0.643 +-0.586 +-0.357 +0.052 +0.117 -0.023 --0.014 --0.013 --0.017 --0.010 --0.008 --0.039 --0.026 --0.041 --0.021 --0.026 --0.065 -0.005 -0.022 +-0.118 +-0.339 +-0.537 +-0.559 +-0.493 +-0.510 +-0.492 +-0.487 +-0.409 +-0.198 +-0.095 +-0.167 +-0.329 +-0.615 +-0.804 +-0.915 +-0.589 +-0.369 +-0.260 +-0.285 +-0.277 +-0.349 +-0.266 +-0.216 +-0.094 +-0.105 +-0.222 +-0.341 +-0.552 +-0.483 +-0.403 +-0.329 +-0.209 +-0.057 +0.253 +0.376 +0.293 +0.159 +-0.030 +-0.081 -0.045 -0.024 --0.013 --0.019 --0.049 -0.056 --0.034 --0.050 --0.004 --0.003 --0.018 --0.008 --0.015 --0.037 -0.012 -0.009 --0.007 -0.024 --0.015 --0.020 -0.007 --0.029 --0.014 --0.002 --0.003 --0.001 -0.002 --0.012 --0.014 --0.019 --0.017 --0.035 -0.010 --0.014 --0.023 -0.020 --0.005 -0.003 --0.004 --0.010 --0.000 --0.010 -0.002 --0.009 -0.007 -0.073 --0.131 --0.128 --0.320 --0.926 --0.533 --0.003 -1.901 -0.785 -0.396 -0.196 -0.541 -0.129 --0.770 --0.673 -0.392 -1.210 -1.250 --0.301 --1.388 --0.064 --0.225 --0.546 --0.298 -0.066 -0.309 -0.469 --0.136 --0.592 --0.473 --0.452 --0.087 +0.034 +0.103 +0.100 +0.095 +-0.118 +-0.242 +-0.263 +-0.222 +0.070 +0.267 +0.233 +0.102 +0.014 +-0.183 +-0.355 +-0.359 +-0.170 +0.098 0.085 -0.281 -0.274 --0.015 -0.582 -0.230 -1.245 --0.287 -0.096 -0.257 -0.256 --0.657 +0.090 +0.346 +0.535 +0.435 +0.326 +0.289 +0.073 +0.032 +-0.179 +-0.323 +-0.410 +-0.403 +-0.139 +0.087 +0.047 +-0.192 +-0.251 +-0.230 +-0.214 +-0.376 +-0.440 +-0.338 +-0.359 +-0.340 +-0.417 +-0.431 +-0.505 +-0.494 +-0.400 +-0.263 +-0.185 +-0.198 +-0.335 +-0.475 +-0.512 +-0.477 +-0.383 +-0.175 +-0.031 +-0.056 +-0.046 +-0.026 +-0.067 +-0.042 +-0.106 +-0.085 -0.002 --0.399 --0.120 --0.190 --0.022 --0.050 -0.045 --0.322 --0.280 --0.114 -0.207 -0.229 -0.054 -0.072 --0.016 --0.078 --0.331 --0.385 --0.524 --0.382 --0.329 --0.280 --0.385 --0.426 --0.280 +0.114 +0.036 +-0.046 +-0.028 +0.122 +0.251 +0.267 +0.169 +0.052 +-0.036 +-0.106 +-0.066 +0.053 +0.142 +0.138 +0.049 +-0.004 +-0.076 +-0.076 +0.055 +0.035 +-0.039 +-0.121 +-0.164 +-0.111 +-0.063 +-0.060 +-0.018 +-0.001 0.002 -0.137 -0.334 -0.340 -0.245 -0.204 -0.102 --0.132 --0.299 --0.262 --0.177 --0.064 --0.179 --0.210 --0.238 --0.079 -0.084 -0.136 -0.380 -0.427 -0.421 -0.511 -0.471 -0.470 -0.381 -0.301 -0.380 -0.308 -0.314 -0.239 -0.216 -0.111 --0.037 -0.083 -0.001 -0.050 -0.033 -0.029 -0.014 -0.048 -0.018 -0.031 -0.021 -0.021 -0.003 -0.037 -0.026 -0.014 -0.025 -0.022 +0.065 +0.053 0.021 -0.018 -0.029 -0.025 -0.023 -0.031 -0.029 -0.018 -0.013 -0.015 -0.011 -0.025 -0.015 +-0.052 +-0.024 +0.024 +0.163 +0.229 +0.169 +0.110 +0.108 +0.120 +0.198 +0.192 +0.193 +0.202 +0.145 +0.103 +0.071 +0.061 0.035 -0.016 -0.016 -0.018 -0.008 -0.010 -0.013 -0.019 -0.012 -0.018 +0.062 +0.089 +0.111 +0.117 +0.084 +0.042 +-0.020 +0.029 +0.080 +0.038 +-0.022 -0.005 -0.034 -0.011 +-0.060 +-0.009 -0.004 --0.014 -0.012 -0.008 +-0.030 +-0.027 +-0.049 -0.006 -0.017 -0.029 -0.010 -0.020 -0.018 -0.014 -0.009 --0.026 --0.061 -0.021 -0.068 -0.012 --0.002 -0.017 -0.008 -0.000 -0.008 --0.002 --0.004 -0.017 --0.003 -0.011 -0.026 -0.020 -0.002 --0.006 -0.017 -0.001 -0.009 -0.007 -0.022 -0.007 -0.020 -0.011 -0.020 -0.019 -0.014 -0.011 -0.007 -0.011 --0.000 -0.013 --0.003 -0.015 --0.005 -0.014 -0.016 -0.017 --0.007 --0.000 --0.021 -0.007 --0.002 --0.007 -0.006 -0.007 -0.031 --0.029 --0.037 -0.009 --0.008 -0.021 --0.015 -0.006 --0.053 --0.021 --0.184 -0.019 -0.059 -0.110 -0.068 -0.013 --0.001 -0.004 -0.038 0.003 -0.019 --0.014 --0.120 --0.378 +-0.089 +-0.165 +-0.228 +-0.262 +-0.294 +-0.261 +-0.246 +-0.214 -0.276 --0.069 -0.089 +-0.285 +-0.255 +-0.320 +-0.309 +-0.250 +-0.160 +-0.119 +-0.106 +-0.108 +-0.113 +-0.154 +-0.162 +-0.195 +-0.253 +-0.195 +-0.265 +-0.290 +-0.262 +-0.174 +-0.123 +-0.113 +-0.237 +-0.319 +-0.395 +-0.462 +-0.554 +-0.629 +-0.611 +-0.650 +-0.666 +-0.692 +-0.728 +-0.789 +-0.854 +-0.888 +-0.875 +-0.860 +-0.873 +-0.958 +-1.045 +-1.082 +-1.001 +-0.885 +-0.731 +-0.669 +-0.692 +-0.783 +-0.812 +-0.989 +-1.030 +-0.965 +-0.946 +-0.860 +-0.832 +-0.914 +-0.991 +-0.925 +-0.839 +-0.918 +-0.924 +-0.828 +-0.763 +-0.695 +-0.565 +-0.450 +-0.439 +-0.443 +-0.456 +-0.549 +-0.470 +-0.245 +0.019 +0.270 +0.374 +0.383 +0.487 +0.654 +0.973 +1.210 +1.222 +1.066 +0.990 +0.997 +1.023 +0.961 +0.848 +0.724 +0.665 +0.609 +0.615 +0.836 +1.071 +1.232 +1.216 +1.075 +0.946 +0.799 +0.617 +0.480 +0.456 +0.325 +0.269 +0.205 +0.136 +0.161 +0.173 +-0.009 +-0.054 +-0.057 +-0.138 +-0.270 +-0.315 +-0.292 +-0.248 +-0.155 +-0.200 +-0.324 +-0.407 +-0.430 +-0.373 +-0.371 +-0.491 +-0.502 +-0.473 +-0.194 +-0.031 0.112 -0.084 -0.142 --0.015 --0.040 -0.017 -0.054 -0.175 -0.198 -0.184 -0.037 --0.006 -0.002 -0.007 --0.002 --0.004 --0.005 --0.025 --0.006 -0.016 +0.348 +0.583 +0.880 +1.090 +1.196 +1.192 +1.054 +0.965 +0.945 +1.156 +1.202 +1.227 +1.193 +1.068 +1.005 +1.010 +0.931 +0.745 +0.592 +0.477 +0.238 +0.102 0.007 --0.021 -0.012 --0.008 --0.001 --0.008 --0.018 --0.020 --0.013 -0.008 --0.021 -0.029 --0.005 -0.009 -0.001 -0.006 +-0.088 +-0.119 +-0.126 +-0.053 +0.065 +-0.026 +-0.273 +-0.339 +-0.228 +-0.246 +-0.283 +-0.232 +-0.195 +-0.063 +0.119 +0.138 +0.022 +-0.132 +-0.178 +-0.203 +-0.170 0.013 -0.006 -0.003 -0.007 --0.004 --0.004 -0.012 -0.005 -0.000 -0.014 -0.019 -0.001 --0.019 -0.001 +0.116 +0.171 +0.225 +0.140 +0.029 +-0.018 +0.257 +0.781 +1.267 +1.399 +1.291 +1.160 +1.123 +1.103 +1.132 +1.252 +1.515 +1.791 +1.838 +1.626 +1.228 +0.806 +0.370 +0.099 +0.009 +-0.063 +0.015 +-0.092 +0.028 +-0.042 +-0.191 +-0.273 +-0.321 +-0.268 +-0.165 +-0.149 +-0.125 +-0.164 +-0.159 +-0.145 +-0.184 +-0.281 +-0.355 +-0.464 +-0.473 +-0.457 +-0.290 +-0.050 +0.075 +0.182 +0.441 +0.691 +0.935 +1.310 +1.646 +1.933 +2.027 +1.857 +1.452 +1.103 +0.890 +0.718 +0.923 +1.001 +1.133 +1.112 +0.969 +0.920 +1.000 +0.952 +0.923 +0.854 +0.745 +0.517 +0.365 +0.246 +0.291 +0.398 +0.354 +0.251 +0.249 +0.260 +0.134 0.016 -0.003 -0.000 --0.014 --0.012 --0.000 --0.001 --0.000 --0.024 --0.013 -0.012 -0.005 --0.025 --0.005 --0.009 -0.032 -0.104 -0.142 -0.154 --0.010 --0.047 --0.006 -0.017 +0.013 +-0.190 +-0.378 +-0.481 +-0.415 +-0.359 +-0.197 +-0.195 +-0.194 +-0.222 -0.151 --0.148 --0.148 --0.161 -0.022 -0.071 -0.230 -0.184 -0.134 +-0.101 +-0.049 +0.041 +0.044 +0.067 +0.124 +-0.018 0.054 -0.018 -0.064 -0.193 -0.130 --0.029 --0.052 --0.038 -0.051 -0.077 -0.025 --0.145 --0.178 --0.128 --0.178 --0.167 --0.167 --0.178 --0.021 --0.026 -0.185 -0.168 -0.113 --0.041 --0.069 --0.008 --0.145 --0.046 -0.081 -0.244 -0.476 -0.385 -0.322 -0.539 -0.260 --0.329 --0.323 --0.161 -0.057 -0.263 -0.376 -0.733 -0.346 -0.201 --0.173 +0.412 +0.814 +1.330 +1.380 +1.395 +1.399 +1.281 +1.177 +1.049 +0.889 +0.923 +0.847 +0.860 +0.660 +0.345 +0.065 +-0.137 +-0.301 +-0.465 +-0.585 +-0.631 +-0.601 +-0.491 +-0.628 +-0.601 +-0.388 -0.248 --0.409 --0.417 +-0.193 +-0.310 +-0.516 +-0.469 +-0.470 +-0.356 +-0.468 +-0.699 +-0.751 +-0.556 +-0.502 +-0.421 +-0.378 +-0.210 +0.019 +0.162 +0.177 +0.530 +0.517 +0.231 +0.149 +0.446 +0.885 +1.201 +1.247 +0.976 +0.555 +0.361 +0.083 +-0.128 +-0.189 +-0.322 +-0.460 +-0.508 +-0.432 +-0.302 +-0.212 +-0.110 +-0.058 +-0.106 +-0.198 +-0.187 +-0.218 +-0.335 +-0.296 +-0.249 +-0.330 +-0.459 +-0.698 +-0.719 +-0.661 +-0.322 +-0.100 0.015 -0.147 -0.128 -0.348 -0.407 -0.056 --0.020 --0.183 -0.045 --0.225 --0.207 --0.065 -0.027 --0.121 -0.131 -0.081 -0.026 -0.056 -0.286 -0.142 -0.039 -0.107 --0.014 -0.113 --0.115 --0.062 --0.012 -0.032 -0.109 -0.092 -0.130 -0.186 -0.091 -0.178 -0.086 -0.022 --0.128 --0.108 --0.020 -0.096 -0.096 -0.052 -0.112 -0.110 -0.355 -0.276 -0.503 -0.439 -0.399 -0.356 -0.395 -0.421 -0.282 --0.040 -0.081 -0.106 -0.014 +-0.119 +-0.135 +-0.043 +-0.000 +0.136 +0.122 +-0.126 +-0.322 +-0.340 +-0.198 0.102 -0.050 -0.094 -0.040 -0.059 -0.045 -0.055 -0.052 -0.057 -0.047 -0.051 -0.049 -0.036 -0.046 -0.038 -0.056 -0.018 -0.052 -0.028 -0.034 -0.045 -0.031 -0.055 -0.038 -0.035 -0.025 -0.050 -0.016 -0.043 -0.026 -0.026 -0.048 -0.040 -0.023 -0.023 -0.023 -0.017 -0.028 -0.037 -0.015 -0.031 -0.015 -0.014 -0.030 -0.025 -0.001 -0.015 -0.007 -0.019 -0.018 -0.008 -0.015 -0.022 -0.019 -0.009 -0.032 -0.031 -0.024 -0.018 -0.003 --0.004 +0.386 +0.816 +1.131 +0.967 +0.462 +0.159 +-0.092 +-0.161 +-0.007 +0.276 +0.362 +0.398 +0.396 +0.508 +0.687 +0.638 +0.387 +0.060 +-0.282 +-0.480 +-0.612 +-0.773 +-0.873 +-0.839 +-0.655 +-0.306 0.005 -0.012 -0.012 -0.020 -0.010 -0.006 -0.007 --0.002 --0.002 -0.019 --0.008 -0.011 --0.001 -0.000 -0.019 -0.033 -0.023 --0.008 +0.073 0.017 -0.002 -0.016 -0.018 -0.027 --0.004 -0.024 -0.012 --0.024 --0.058 --0.032 --0.036 -0.003 -0.045 -0.081 -0.040 --0.028 --0.030 --0.074 --0.068 -0.005 -0.040 -0.136 -0.063 -0.009 -0.024 --0.010 --0.004 --0.002 -0.013 -0.003 --0.004 --0.028 --0.027 -0.072 --0.031 -0.020 --0.019 -0.005 +-0.029 +-0.105 +-0.207 +-0.292 +-0.352 +-0.329 +-0.225 +-0.138 +-0.203 +-0.420 +-0.448 +-0.267 +-0.124 +0.178 +0.443 +0.538 +0.652 +0.636 +0.771 +0.709 +0.454 +0.038 +-0.201 +-0.589 +-0.865 +-1.023 +-0.878 +-0.885 +-0.746 +-0.501 +-0.203 +0.043 +0.111 +0.130 +0.269 +0.389 +0.363 +0.202 +0.176 +-0.005 +-0.157 +-0.256 +-0.189 +-0.063 +-0.065 +-0.232 +-0.379 +-0.329 +-0.251 +-0.134 +-0.066 -0.013 +0.006 0.008 -0.003 -0.008 -0.003 --0.041 --0.027 --0.008 --0.001 --0.031 -0.003 --0.019 --0.004 -0.012 --0.002 +-0.087 +-0.090 +-0.271 +-0.467 +-0.552 +-0.348 -0.016 -0.008 --0.022 --0.027 --0.011 --0.023 --0.028 -0.013 --0.006 --0.019 -0.038 --0.099 -0.060 --0.036 -0.024 -0.029 --0.031 -0.035 +-0.050 +-0.071 -0.033 --0.013 -0.000 -0.080 --0.069 -0.038 -0.028 -0.142 --0.030 --0.222 -0.212 -0.444 -0.746 -0.896 -0.104 --0.053 --0.240 --0.312 --0.035 -0.057 -0.146 -0.046 -0.215 -0.019 -0.148 --0.067 -0.092 -0.068 -0.097 -0.010 -0.048 --0.045 --0.042 --0.139 --0.010 -0.017 -0.119 -0.144 -0.030 -0.123 +0.157 +0.307 +0.161 +-0.048 +-0.107 +-0.073 +0.193 +0.470 +0.683 +0.700 +0.692 +0.649 +0.622 +0.575 +0.387 +0.244 0.029 --0.117 --0.415 --0.350 --0.424 --0.474 --0.556 +-0.140 +-0.217 +-0.172 +-0.120 +-0.158 +-0.150 +-0.210 +-0.254 +-0.293 +-0.404 -0.460 --0.378 --0.406 +-0.410 +-0.294 +-0.363 +-0.350 +-0.273 +-0.131 +0.017 +0.005 +-0.035 +0.018 +0.132 +0.320 +0.180 +0.110 +0.189 +0.155 +0.422 +0.799 +0.943 +0.853 +0.667 +0.253 +-0.135 +-0.268 +-0.413 +-0.392 -0.313 --0.326 --0.269 --0.111 -0.016 --0.011 -0.020 --0.072 --0.185 --0.285 --0.374 --0.325 --0.308 --0.335 --0.471 --0.493 --0.500 --0.582 --0.548 --0.565 --0.463 --0.171 --0.062 --0.040 --0.061 --0.058 --0.050 --0.036 --0.052 --0.073 --0.034 --0.050 --0.064 --0.064 --0.050 --0.025 --0.047 --0.047 --0.031 --0.045 --0.043 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+-0.503 +-0.534 +-0.468 +-0.422 +-0.453 +-0.489 +-0.499 +-0.547 +-0.565 +-0.602 +-0.650 +-0.674 +-0.672 +-0.757 +-0.764 +-0.820 +-0.819 +-0.761 +-0.713 +-0.647 +-0.599 +-0.601 +-0.621 +-0.570 +-0.520 +-0.454 +-0.431 +-0.410 +-0.336 +-0.315 +-0.327 +-0.357 +-0.337 +-0.286 +-0.259 +-0.248 +-0.280 +-0.289 +-0.283 +-0.275 +-0.210 +-0.170 +-0.237 +-0.316 +-0.379 +-0.393 +-0.340 +-0.275 +-0.217 +-0.136 +-0.055 +-0.066 +-0.055 +-0.101 +-0.171 +-0.258 +-0.289 +-0.342 +-0.355 +-0.367 +-0.376 +-0.315 +-0.321 +-0.306 +-0.291 +-0.282 +-0.262 +-0.239 +-0.190 +-0.134 +-0.114 +-0.094 +-0.092 +-0.096 +-0.128 +-0.121 +-0.153 +-0.130 +-0.136 +-0.081 +-0.133 +-0.159 +-0.135 +-0.115 +-0.061 +-0.129 +-0.138 +-0.143 +-0.137 diff --git a/accel_Y.txt b/accel_Y.txt index 654cc4c..fd97c9e 100644 --- a/accel_Y.txt +++ b/accel_Y.txt @@ -1,8773 +1,4715 @@ 0.000 -0.013 -0.012 --0.026 --0.015 --0.049 --0.028 --0.031 --0.027 --0.034 --0.045 --0.015 --0.034 --0.043 --0.039 +0.176 +0.390 +0.335 +0.162 -0.025 --0.044 --0.058 --0.036 --0.047 --0.042 --0.075 --0.063 --0.056 --0.058 --0.051 --0.056 --0.046 --0.083 --0.052 --0.062 --0.046 --0.049 --0.046 --0.063 --0.072 --0.066 --0.051 --0.061 --0.049 --0.046 --0.065 --0.073 --0.056 --0.054 --0.054 --0.053 --0.064 --0.077 --0.071 --0.054 --0.036 --0.060 --0.046 --0.045 --0.051 --0.061 --0.052 --0.055 --0.045 --0.047 --0.046 --0.053 --0.035 --0.033 --0.054 --0.047 --0.064 --0.051 --0.051 --0.045 --0.063 --0.080 --0.046 --0.039 --0.054 --0.065 --0.057 --0.044 --0.049 --0.041 +-0.112 -0.055 --0.033 --0.025 --0.051 --0.039 --0.058 --0.052 --0.045 --0.041 --0.036 --0.024 --0.024 --0.045 --0.023 --0.025 --0.036 --0.025 --0.053 --0.053 --0.044 --0.054 --0.031 --0.037 --0.048 --0.041 --0.025 --0.038 --0.043 --0.022 --0.035 --0.027 --0.015 --0.038 --0.035 --0.038 --0.029 --0.016 --0.034 --0.036 --0.026 --0.034 --0.018 --0.023 --0.033 --0.023 --0.019 --0.022 --0.031 --0.036 -0.003 --0.027 --0.038 --0.052 --0.030 --0.020 --0.036 --0.017 --0.002 --0.033 --0.056 --0.053 -0.017 -0.021 -0.003 --0.023 --0.014 --0.009 -0.019 --0.044 --0.026 --0.035 --0.042 --0.005 --0.003 --0.011 --0.017 --0.023 --0.026 --0.005 --0.025 --0.012 --0.003 --0.032 -0.032 --0.014 -0.004 -0.002 -0.000 --0.011 --0.003 --0.007 --0.003 --0.016 --0.017 --0.012 --0.019 --0.005 --0.006 --0.002 +-0.040 +0.005 -0.013 --0.014 --0.015 --0.025 --0.001 --0.024 -0.008 -0.014 --0.011 --0.017 -0.012 --0.042 --0.026 +0.064 +0.141 +0.107 0.087 -0.078 -0.092 --0.178 --0.272 -0.187 -0.611 -0.941 -0.575 -0.232 --0.411 +0.103 +0.261 +0.572 +0.597 +0.486 +0.209 +-0.133 +-0.283 +-0.292 +-0.245 +0.030 +0.162 +0.484 +0.686 +0.826 +0.586 +0.130 +-0.059 +-0.218 +-0.287 +-0.501 +-0.756 +-0.850 +-0.642 +-0.092 +0.200 +0.223 +-0.150 +-0.881 +-1.678 +-2.171 +-2.022 +-1.323 +-0.479 +-0.151 +-0.382 +-1.008 +-1.520 +-1.747 +-1.474 +-0.936 -0.397 -0.527 -1.020 -0.430 --1.131 --1.499 --0.405 --0.345 --0.427 --0.437 --0.216 -0.039 -0.322 -0.448 -0.629 -0.459 -0.033 --0.039 -0.042 -0.183 -0.467 --0.407 --0.368 --0.646 --0.490 --0.866 --0.093 -0.150 -0.203 --0.192 -0.212 --0.142 -0.036 --0.044 -0.026 --0.067 -0.015 --0.057 --0.057 +-0.318 +-0.655 +-1.070 +-1.349 +-1.214 +-1.116 +-1.319 +-1.229 +-0.935 +-0.700 +-0.462 +-0.460 +-0.549 +-0.725 +-0.814 +-0.883 +-1.020 +-0.968 +-0.571 +-0.324 +-0.423 +-0.721 +-1.013 +-1.055 +-0.822 +-0.494 +-0.084 +-0.197 +-0.511 +-0.851 +-0.929 +-0.738 +-0.310 +0.055 +0.140 +0.191 +0.028 +-0.027 -0.113 -0.044 -0.066 -0.086 -0.062 -0.085 -0.195 -0.314 -0.428 -0.189 -0.173 -0.258 -0.213 -0.267 -0.225 -0.138 -0.050 --0.061 --0.066 --0.008 -0.005 --0.030 -0.049 -0.072 -0.076 -0.279 -0.312 -0.514 -1.066 -1.028 -0.974 -0.496 -0.244 --0.236 --0.513 --0.709 --0.850 --0.987 --1.221 --1.359 --1.166 --1.276 --1.007 --1.058 --0.999 --1.030 --1.096 -0.041 -0.112 +-0.033 0.133 +0.419 +0.391 +0.244 -0.053 -0.042 --0.026 -0.023 --0.013 -0.035 --0.004 -0.025 -0.020 -0.008 -0.028 -0.006 -0.014 -0.016 -0.007 -0.012 -0.014 -0.014 -0.019 --0.007 -0.006 -0.026 -0.007 --0.005 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--0.277 --0.088 --0.220 --0.169 --0.062 +-0.136 +-0.203 +-0.226 +-0.226 +-0.223 +-0.151 +-0.231 +-0.264 +-0.333 +-0.383 +-0.380 +-0.405 +-0.370 +-0.353 +-0.292 +-0.388 +-0.353 +-0.229 +-0.193 +-0.232 +-0.245 +-0.282 +-0.237 +-0.269 +-0.304 +-0.282 +-0.250 +-0.115 -0.045 -0.218 -0.049 --0.112 --0.227 --0.145 --0.088 --0.253 --0.057 --0.312 --0.286 --0.307 --0.268 --0.093 --0.148 0.057 --0.005 -0.069 --0.230 --0.269 --0.065 -0.217 -0.384 -0.838 -1.147 -0.274 --0.064 --0.330 --0.269 --0.056 --0.372 -0.159 -0.046 -0.435 -0.113 -0.177 -0.126 --0.067 -0.018 --0.037 -0.091 --0.005 --0.114 --0.380 --0.077 --0.050 -0.241 -0.168 -0.259 +0.112 +0.062 +-0.054 +-0.156 +-0.070 +0.031 +0.068 +-0.013 +-0.079 +-0.112 +-0.035 +0.055 +0.220 +0.234 +0.243 +0.275 +0.345 +0.317 +0.324 +0.366 +0.432 +0.369 +0.270 +0.157 +0.121 +0.139 +0.192 +0.179 0.153 -0.084 --0.158 --0.012 --0.464 --0.195 --0.201 +0.077 +0.054 +0.148 +0.161 +0.167 +0.107 +0.042 +-0.040 -0.035 0.010 +0.182 +0.270 +0.282 +0.203 +-0.017 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+-0.501 +-0.382 +-0.341 +-0.463 +-0.578 +-0.593 +-0.619 +-0.592 +-0.496 +-0.367 +-0.142 +0.120 +0.242 +0.140 +0.015 +0.009 +-0.034 +-0.072 +-0.170 +-0.285 +-0.258 +-0.104 +0.136 +0.318 +0.230 +0.104 0.028 -0.037 -0.011 -0.032 -0.034 -0.013 -0.012 -0.024 +-0.002 0.018 -0.028 -0.015 -0.027 +0.269 +0.486 +0.677 +0.765 +0.674 +0.391 +0.176 +0.076 +0.149 +0.119 0.045 -0.016 -0.030 +-0.084 +-0.231 +-0.380 +-0.426 +-0.563 +-0.641 +-0.613 +-0.648 +-0.633 +-0.631 +-0.524 +-0.419 +-0.163 +-0.005 +-0.277 +-0.565 +-0.798 +-1.013 +-1.152 +-1.080 +-0.990 +-0.825 +-0.616 +-0.519 +-0.439 +-0.408 +-0.385 +-0.316 +-0.284 +-0.304 +-0.351 +-0.302 +-0.194 +-0.134 +-0.149 +-0.208 +-0.276 +-0.313 +-0.117 +-0.011 +-0.074 +-0.189 +-0.138 +-0.234 +-0.325 +-0.379 +-0.247 0.041 -0.022 -0.012 -0.016 -0.016 -0.004 -0.011 -0.016 -0.002 -0.025 -0.013 -0.001 -0.033 -0.023 -0.002 -0.023 --0.004 -0.022 -0.003 -0.008 +0.343 +0.582 +0.680 +0.452 +-0.076 +-0.608 +-0.748 +-0.493 +-0.135 0.010 0.021 -0.017 -0.000 -0.028 -0.014 -0.011 -0.002 -0.015 -0.011 -0.024 -0.029 -0.001 -0.024 +0.185 +0.429 +0.608 +0.524 +0.413 +0.265 +0.130 +0.040 +0.087 +0.124 +0.365 +0.602 +0.775 +0.812 +0.773 +0.606 +0.356 +0.134 +-0.069 +-0.500 +-0.756 +-0.833 +-0.480 +-0.129 0.007 -0.012 -0.023 -0.031 -0.039 -0.055 -0.047 -0.012 --0.005 --0.040 --0.022 -0.028 -0.013 -0.081 -0.066 --0.019 --0.031 --0.059 --0.019 --0.011 -0.006 -0.016 -0.025 -0.011 --0.004 -0.007 -0.013 -0.031 -0.005 --0.057 -0.011 --0.020 -0.018 --0.000 -0.001 --0.009 -0.021 -0.009 --0.015 -0.012 -0.012 -0.005 -0.022 -0.004 --0.020 -0.003 -0.012 -0.013 -0.015 -0.019 --0.002 -0.011 --0.001 -0.014 -0.008 -0.022 --0.005 -0.001 -0.012 -0.042 --0.016 --0.017 -0.032 --0.011 +0.136 +0.116 +0.142 +0.244 +0.250 +0.257 +0.272 +0.218 +0.329 +0.574 +0.698 +0.792 +0.836 +0.812 +0.576 +0.367 +0.284 +0.232 +0.440 +0.858 +1.111 +0.764 +0.253 +-0.183 +-0.258 0.015 -0.004 --0.012 --0.001 -0.012 --0.016 --0.012 -0.040 -0.006 --0.006 -0.013 -0.354 -0.417 -0.195 --0.004 --0.230 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a/ergasthrio.py b/ergasthrio.py index ef7c509..6249bd3 100755 --- a/ergasthrio.py +++ b/ergasthrio.py @@ -4,7 +4,7 @@ import time import positions -from raspi import netmode +import netmode from my_compass import draw_compass, draw_arrow import sys diff --git a/heading.txt b/heading.txt index cc258fc..b437d0c 100644 --- a/heading.txt +++ b/heading.txt @@ -1,8773 +1,4715 @@ -2.312 -2.312 -2.312 -2.314 -2.316 -2.317 -2.319 -2.320 -2.321 -2.322 -2.323 -2.323 -2.323 -2.324 -2.325 -2.327 -2.329 -2.330 -2.331 -2.332 -2.333 -2.335 -2.337 -2.338 -2.339 -2.340 -2.341 -2.342 -2.343 -2.344 -2.344 -2.345 -2.346 -2.347 -2.348 -2.349 -2.351 -2.353 -2.355 -2.357 -2.359 -2.361 -2.362 -2.363 -2.365 -2.366 -2.367 -2.369 -2.371 -2.372 -2.373 -2.373 -2.372 -2.372 -2.371 -2.370 -2.370 -2.369 -2.369 -2.369 -2.370 -2.370 -2.370 -2.370 -2.371 -2.371 -2.371 -2.372 -2.373 -2.373 -2.373 -2.373 -2.373 -2.373 -2.373 -2.373 -2.373 -2.373 -2.372 -2.372 -2.371 -2.371 -2.371 -2.371 -2.372 -2.372 -2.373 -2.374 -2.374 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+1.439 +1.438 +1.437 +1.436 +1.435 +1.434 diff --git a/my_compass.py b/my_compass.py new file mode 100644 index 0000000..fa91cee --- /dev/null +++ b/my_compass.py @@ -0,0 +1,42 @@ +import matplotlib.pyplot as plt +from math import sin, cos, radians +from time import sleep + +#plt.ion() +#fig, ax = plt.subplots() +#ax.patch.set_facecolor('black') +#img = plt.imread("OuterRing.png") +#ax.imshow(img, extent=[-309/2,309/2,-309/2,309/2]) +#img2 = plt.imread("CompassNeedle.png") +#ax.imshow(img2, extent=[-30/2,30/2,-273/2,273/2]) + +def draw_compass(ax): + img = plt.imread("compass.png") + width = img.shape[0] + height = img.shape[1] + offset = 20.5 + ax.imshow(img, extent=[-width/2-offset,width/2-offset,-height/2,height/2]) + +def draw_arrow(ax, degrees): + radius = 500 + x = radius * cos(radians(degrees)) + y = radius * sin(radians(degrees)) + arr = ax.arrow(0, 0, x, y, linewidth=10, head_width=100, head_length=100, fc='k', ec='k') + return arr + +if __name__ == '__main__': + plt.ion() + fig, ax = plt.subplots() + draw_compass(ax) + fig.canvas.draw() + + degrees = 0 + while degrees < 360: + arrow = draw_arrow(ax, degrees) + fig.canvas.draw() + arrow.remove() + degrees += 1 + #sleep(0.1) + + plt.ioff() + plt.show() diff --git a/netmode.py b/netmode.py new file mode 100644 index 0000000..a5297c9 --- /dev/null +++ b/netmode.py @@ -0,0 +1,23 @@ +import matplotlib.pyplot as plt + +def plot_ergasthrio(ax): + ax.hlines(y=0, xmin=0, xmax=4.5, linewidth=2, color='r') + ax.hlines(y=16.5, xmin=0, xmax=4.5, linewidth=2, color='r') + + ax.hlines(y=14, xmin=-7.35, xmax=0, linewidth=2, color='r') + ax.hlines(y=16.5, xmin=-7.35, xmax=1.65, linewidth=2, color='r') + + ax.hlines(y=11, xmin=2.3, xmax=4.5, linewidth=2, color='g') + ax.hlines(y=12.4, xmin=1.65, xmax=4.5, linewidth=2, color='b') + ax.hlines(y=14, xmin=1.65, xmax=4.5, linewidth=2, color='b') + ax.vlines(x=1.65, ymin=12.4, ymax=14, linewidth=2, color='b') + + ax.vlines(x=0, ymin=0, ymax=14, linewidth=2, color='r') + ax.vlines(x=2.3, ymin=0, ymax=16.5, linewidth=2, color='r') + ax.vlines(x=4.5, ymin=0, ymax=16.5, linewidth=2, color='r') + + ax.vlines(x=-7.35, ymin=14, ymax=16.5, linewidth=2, color='r') + + ax.hlines(y=2.85, xmin=0, xmax=1.3, linewidth=2, color='g') + ax.hlines(y=2.85+1.85, xmin=1.3, xmax=4.5, linewidth=2, color='r') + ax.vlines(x=1.3, ymin=2.85, ymax=2.85+1.85, linewidth=2, color='r') diff --git a/plot.py b/plot.py index f13368c..2f64cc3 100755 --- a/plot.py +++ b/plot.py @@ -64,15 +64,15 @@ def read_file(file): #plt.plot(x, y2, label='Accel_Y') heading = read_file("heading.txt") - plt.plot(x, [0.5*math.pi]*size) - plt.plot(x, [math.pi]*size) - plt.plot(x, [1.5*math.pi]*size) - plt.plot(x, [2*math.pi]*size) + plt.plot(x, [0.5*math.pi]*size, label='90 degrees') + plt.plot(x, [math.pi]*size, label='180 degrees') + plt.plot(x, [1.5*math.pi]*size, label='270 degrees') + plt.plot(x, [2*math.pi]*size, label='360 degrees') linestyles = ['-', '--', '-.', ':'] - plt.plot(x, [0.25*math.pi]*size, linestyle = linestyles[3]) - plt.plot(x, [0.75*math.pi]*size, linestyle = linestyles[3]) - plt.plot(x, [1.25*math.pi]*size, linestyle = linestyles[3]) - plt.plot(x, [1.75*math.pi]*size, linestyle = linestyles[3]) + plt.plot(x, [0.25*math.pi]*size, linestyle = linestyles[3], label='45 degrees') + plt.plot(x, [0.75*math.pi]*size, linestyle = linestyles[3], label='135 degrees') + plt.plot(x, [1.25*math.pi]*size, linestyle = linestyles[3], label='225 degrees') + plt.plot(x, [1.75*math.pi]*size, linestyle = linestyles[3], label='315 degrees') plt.plot(x, heading, label='heading') dt = interval # = 1/fs where fs is your sampling frequency diff --git a/position_PDR.py b/position_PDR.py index a5a7888..28cf4c0 100644 --- a/position_PDR.py +++ b/position_PDR.py @@ -70,7 +70,10 @@ file_z = open("accel_Z.txt","w") file_pos = open("positions.txt","w") file_heading = open("heading.txt","w") +file_positions_heading = open("positions_heading.txt","w") file_pos.write('{:.3f},{:.3f}\n'.format(position[0],position[1])) +heading = 90 +file_positions_heading.write('{:.3f}\n'.format(heading)) start = time.time() reps = 0 @@ -91,7 +94,7 @@ pitch, roll, yaw = map(math.degrees,fusionPose) if yaw < 0: yaw = yaw + 360.0 #heading = 280.0 - heading - heading = 180 - yaw #165.0 - yaw + heading = 165 - yaw #165.0 - yaw if heading < 0: heading += 360 heading_keep_rad = math.radians(heading) heading_quantized = round(heading/90) * 90 #-90 @@ -142,6 +145,7 @@ position[1] += step_len * math.sin(heading_rad) print(position) file_pos.write('{:.3f},{:.3f}\n'.format(position[0],position[1])) + file_positions_heading.write('{:.3f}\n'.format(heading)) steps += 1 if visualise: MESSAGE = '{:.3f} {:.3f}\n'.format(position[0],position[1]) @@ -180,6 +184,7 @@ file_z.close() file_pos.close() file_heading.close() + file_positions_heading.close() print("Mean time {}ms".format((time.time()-start)/reps)) print("Total steps: %d " % steps) diff --git a/positions_heading.txt b/positions_heading.txt new file mode 100644 index 0000000..443d83e --- /dev/null +++ b/positions_heading.txt @@ -0,0 +1,91 @@ +90 +90.218 +91.149 +99.147 +112.237 +147.022 +156.131 +164.620 +153.314 +155.952 +155.187 +176.840 +180.629 +183.031 +167.729 +168.974 +164.108 +175.476 +123.289 +358.483 +342.268 +344.178 +336.575 +347.682 +355.541 +3.004 +351.061 +344.247 +331.969 +335.012 +317.391 +290.672 +269.100 +275.742 +275.380 +284.280 +282.503 +278.734 +250.028 +232.606 +216.084 +220.034 +220.772 +230.942 +229.621 +239.702 +241.618 +253.212 +251.918 +257.216 +252.472 +250.665 +258.665 +290.195 +313.114 +338.808 +344.760 +353.738 +350.170 +354.537 +346.750 +350.532 +0.478 +121.666 +167.195 +173.603 +168.991 +177.488 +174.160 +177.051 +157.401 +143.546 +115.114 +106.964 +90.659 +76.008 +71.390 +76.664 +73.826 +75.231 +68.348 +69.261 +61.454 +62.274 +54.288 +49.231 +40.019 +45.489 +51.178 +65.708 +72.448