Telemetry outputs from SCUTTLE to nodeRed

telemetry.py

# data output functions to txt files for NodeRed and MQTT

# Import external programs
import numpy as np # for array manipulation
import time # for keeping time

# Import internal programs
import L1_encoder as enc
import L2_log as log
import L2_heading as head
import L1_bmp as bmp
import L2_kinematics as kin
import L1_gamepad as gp
import L1_adc as adc

while 1:
    axes = head.getXY()
    myAxes =  np.take(axes, [0,1]) # take only the first two elements
    myAxes = head.scale(myAxes)    # scale based on calibration. Returns each axis' ratio to it's max
    myAxes = np.round(myAxes, 3)   # round the result
    log.NodeRed2(myAxes)           # log the values to NodeRed via files a.txt and b.txt
    arcTan = np.round((np.arctan2(myAxes[0], myAxes[1])) * (180 / 3.14),2)  # arctan2 returns 4 quadrants of info
    log.uniqueFile(arcTan, "c.txt")  # arguments: 1 value and name of file, "c.txt"
    #print("my Axes", myAxes, "arctan:", arcTan)
    time.sleep(0.2)
    
# SECTION FOR LOGGING ENCODERS
    encoders = enc.read()
    encoders = np.round((encoders *(359 / 2**14)), 2) # scale values to get degrees
    log.uniqueFile(encoders[0], "encL.txt")
    log.uniqueFile(encoders[1], "encR.txt")
    #print("encoders", encoders)
    
# SECTION FOR READING AIR PRESSURE
    p = bmp.pressure()
    t = bmp.temp()
    log.uniqueFile(p, "p.txt")
    log.uniqueFile(t, "t.txt")
# SECTION FOR READING kinematics
    
    B = kin.getPdCurrent() # Grab XD, TD 
    # print("XD, TD:", C)
    # Log Phi Dots
    log.uniqueFile(B[0], "pdl.txt")
    log.uniqueFile(B[1], "pdr.txt")
    
    
    C = kin.getMotion() # Grab PDs
    # Log XD, TD
    log.uniqueFile(C[0], "xdot.txt")
    log.uniqueFile(C[1], "tdot.txt")
    
# SECTION FOR READING GAMEPAD
    myGP = gp.getGP()
    fwd1 = myGP[2]
    log.uniqueFile(fwd1, "gpup.txt")
    
# SECTION FOR MQTT OUTPUTS
    battV = adc.getDcJack()
    log.uniqueFile(battV, "batt_v.txt")
    low = 9.0
    high = 12.6
    battP = round((battV - low) / ( high - low ),3)*100 # calculate battery percentage
    log.uniqueFile(battP, "batt_p.txt")