• 科技與醫護的結合：智慧病床

Rabboni六軸感測器

• 講義
• 影片

• Rabboni

   

   

  

  加速度

  Rabboni加速度可分為三軸，分別是X軸(圖1)，Y軸(圖1)以及Z軸(圖2)；當任意一軸的方向為垂直向上時，該軸數值趨近於1；水平時，該軸數值趨近於0；垂直向下時，該軸數值趨近於-1

  在終端機中執行以下指令：

  sudo apt-get install python-pip libglib2.0-dev
  sudo pip3 install bluepy

  在Python中輸入以下程式碼：

  第59行:  Per = Peripheral("你的Rabboni編號", "random")

  import struct
  from bluepy.btle import *
  import binascii
  import struct
  import time, RPi.GPIO as GPIO
  pwmport=12
  GPIO.setmode(GPIO.BOARD)
  GPIO.setup(11, GPIO.OUT)
  GPIO.setup(12, GPIO.OUT)
  
  # callback class
  def com(temp):
      dec = int(temp,16)
      if dec > 32768:
          dec = ((dec ^ 0xFFFF) + 1 )* -1
      dec = dec * 2 / 32768
      return dec
  
  class MyDelegate(DefaultDelegate):
      def __init__(self):
          DefaultDelegate.__init__(self)
  
      def handleNotification(self, cHandle, data):
          
          t1 = binascii.hexlify(data)[0:4]
          t2 = binascii.hexlify(data)[4:8]
          t3 = binascii.hexlify(data)[8:12]
          t4 = binascii.hexlify(data)[12:16]
          t5 = binascii.hexlify(data)[16:20]
          t6 = binascii.hexlify(data)[20:24]
  
          print("Acc X = ",com(t1))
          print("Acc Y = ",com(t2))
          #print("Acc Z = ",com(t3))
          #print("Gyro X = ",com(t4)*500)
          #print("Gyro Y = ",com(t5)*500)
          #print("Gyro Z = ",com(t6)*500)
          
          
  
  ##############################################################
  #Scan boardcast
  scanner = Scanner()
  devices = scanner.scan(10.0)
  
  for dev in devices:
      print ("Device %s (%s), RSSI=%d dB" % (dev.addr, dev.addrType, dev.rssi))
      for (adtype, desc, value) in dev.getScanData():
          print ("  %s = %s" % (desc, value))
  
  
  #print("input your device address")
  #address = input()
  ###############################################################
  
  
  # connect to device
  #per = Peripheral("D4:DE:30:7D:F5:BC", "random")   #change address to your own rabboni's address
  per = Peripheral("C1:EE:EB:A6:4E:43", "random")   #change address to your own rabboni's address
  #per = Peripheral(address, "random")   #change address to your own rabboni's address
  
  
  try:
      services_dic = per.getServices()    #get all service
      for service in services_dic:
          print("service uuid: ",service.uuid)        #get service's uuid
          charac_dic = service.getCharacteristics()   #get all characteristic
          for charac in charac_dic:
              print("characteristics uuid: ",charac.uuid)     #get characteristic's uuid
              print("handle: ",charac.getHandle())        #get characteristic's handle
  
      # set callback for notifications
      per.setDelegate(MyDelegate())
  
      # enable notification
      setup_data = b"\x01\x00"            #data for enable notification
      led_data = b"\x37\x01\x01"          #data for led 
  
      per.writeCharacteristic(45, led_data, withResponse=True)        #write led characteristic
      per.writeCharacteristic(23, setup_data, withResponse=True)      #write sensor characteristic
      
      # wait for answer
      while True:
          if per.waitForNotifications(5.0):                           
              continue
  finally:
      per.disconnect()
  

  在終端機中執行以下指令：

  sudo python3 pump.py