From d28351f6d8067ab2953ea5cfc57c8cf098477667 Mon Sep 17 00:00:00 2001
From: Julian Gaal <juliangaal@protonmail.com>
Date: Mon, 15 Apr 2019 23:37:37 +0200
Subject: [PATCH] delete python test -> moved to branch python-test

---
 test/imu.py | 73 -----------------------------------------------------
 1 file changed, 73 deletions(-)
 delete mode 100644 test/imu.py

diff --git a/test/imu.py b/test/imu.py
deleted file mode 100644
index cc2513c..0000000
--- a/test/imu.py
+++ /dev/null
@@ -1,73 +0,0 @@
-# taken from https://github.com/pms67/Attitude-Estimation/blob/master/imu.py
-import smbus
-import math
-from time import sleep
-
-class IMU:
-        
-    def __init__(self):
-        
-        self.power_mgmt_1 = 0x6b
-        self.power_mgmt_2 = 0x6c
-        self.addr = 0x68
-        
-        self.bus = smbus.SMBus(1)
-        self.bus.write_byte_data(self.addr, self.power_mgmt_1, 0)
-        
-        print("[IMU] Initialised.")
-    
-    # rad/s
-    def get_gyro_bias(self, N=100):
-        bx = 0.0
-        by = 0.0
-        bz = 0.0
-        
-        for i in range(N):
-            [gx, gy, gz] = self.get_gyro()
-            bx += gx
-            by += gy
-            bz += gz
-            sleep(0.01)
-            
-        return [bx / float(N), by / float(N), bz / float(N)]            
-        
-    # rad/s
-    def get_gyro(self):
-        gx = self.read_word_2c(0x43) * math.pi / (180.0 * 131.0)
-        gy = self.read_word_2c(0x45) * math.pi / (180.0 * 131.0)
-        gz = self.read_word_2c(0x47) * math.pi / (180.0 * 131.0)
-        return [gx, gy, gz]        
-        
-    # m/s^2
-    def get_acc(self):
-        ax = self.read_word_2c(0x3b) / 16384.0
-        ay = self.read_word_2c(0x3d) / 16384.0
-        az = self.read_word_2c(0x3f) / 16384.0
-        return [ax, ay, az]
-    
-    # rad
-    def get_acc_angles(self):
-        [ax, ay, az] = self.get_acc()
-        phi = math.atan2(ay, math.sqrt(ax ** 2.0 + az ** 2.0))
-        theta = math.atan2(-ax, math.sqrt(ay ** 2.0 + az ** 2.0))
-        return [phi, theta]
-      
-    def read_byte(self, reg_adr):
-        return self.bus.read_byte_data(self.addr, reg_adr)
-    
-    def read_word(self, reg_adr):
-        high = self.bus.read_byte_data(self.addr, reg_adr)
-        low = self.bus.read_byte_data(self.addr, reg_adr + 1)
-        val = (high << 8) + low
-        return val
-    
-    def read_word_2c(self, reg_adr):
-        val = self.read_word(reg_adr)
-        if (val >= 0x8000):
-            return -((65535 - val) + 1)
-        else:
-            return val
-
-imu = IMU()
-while True:
-    print(imu.get_acc_angles())