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Xsens_DOT_PC_Reader

use bleak to scan, connect, configure, identify(LED Blink), change device tag, read data, save to csv for DOT

Since this code is using bleak, it is possible to use cross-platforms like Windows/ubuntu/macOS, etc. But the author only tested on Windows 11 and RasperryPi 5B.

Library Dependency

pip install numpy bleak

Payload Options

currently 3 payloads type are created:

  • orientationEuler: timestamp + roll/pitch/yaw

  • orientationQuaternion: timestamp + quaternion(q0, q1, q2, q3)

  • customMode1: timestamp + euler angle(roll, pitch, yaw) + free acceleration(x,y,z) + angular velocity(x,y,z)

How to run this code:

open your CMD(Command Prompt) cd to your folder

python main.py

To Scan the Xsens DOT sensors:

devices = await blesensor.Scanner.scan_and_filter_xsens_dot(10)

To create BleSensor objects:

sensors = []
    for d in devices:
        sensors.append(blesensor.BleSensor(d.address))

To Connect sensors:

for s in sensors:
    await s.connect()

To identify the sensor:

for s in sensors:
    await s.identifySensor()

To get battery info:

for i in range(len(sensors)):
    batteryInfo = await sensors[i].getBatteryInfo()
    print(batteryInfo)

To change the device tag(name), also update the BleSensor object's name:

for i in range(len(sensors)):
    sensors[i].name = "dot" + str(i+1)
    await sensors[i].setDeviceTag(sensors[i].name)

To setup data output rate if you experience data loss(for example the recorded csv files are different, you will need to decrease the output rate.

print("set sensor output rate, only these values allowed: 1, 4, 10, 12, 15, 20, 30, 60, 120")
for s in sensors:
    await s.setOuputRate(30)

To disable the loggging:

for s in sensors:
    s.recordFlag = False

To Power off the sensors:

for s in sensors:
    await s.poweroffSensor()

Heading reset was done before start recording, during the very first few seconds, make sure the sensors are in the charger, so that they share the same physical heading.

Change the timeToRunInMinute to the time that you want to measure.