Implemented acceleration measurement for SAVED.

draiscontrol/control.py

@@ -123,16 +123,23 @@ class Control(object):
         sys.stdout.write(255)
         sys.stdout.flush()
 
+    def accelerationToByte(self, a):
+        a /= self.accG            # convert back to g-force
+        a *= 16384.0              # convert back to raw 16-bit word
+        a += (2**15)               # shift value to nonnegative range
+        a = int(a / (2**8))        # truncate to byte
+        a = min(max(a, 0), 2**8-1) # enforce range
+        return a
+
     def savedloop(self, human=False):
         t = time.time()
         while True:
             self.refreshSensors()
-            # a = self.accY.read(tsensed - self.period - sys.float_info.epsilon)
             a = self.accY.read(t)
             d = 0.75 # TODO
             b = max(0, min(254, int(254 * d)))
             if human:
-                print 'accY = {v}m/s^2'.format(v=a)
+                print 'accY = {v}'.format(v=self.accelerationToByte(a))
                 print 'duty = {d}'.format(d=b)
             else:
                 dutycmd = array.array('B', [b])