Tag Archives: Python

In this lesson we show how to pass data from Arduino to Python using a Com Port. This is important for our 9-Axis IMU project as we want to take advantage of the processing power and 3D graphics capabilities of Python. Our goal is to get the date from Arduino to Python, and then create a dynamic 3D visualization of our system. The first step in this goal is to pass the data from arduino to Python.

In order to do this, a first step is to install the pyserial library. If you followed our python installation tutorial in lesson 11, then it is easy to install pyserial by just opening a windows command prompt, and then typing:

pip install pyserial

If this does not work, likely you did not install python according to the instruction in lesson 11.

In order to show a simple demonstration of passing data, we can use the following code on the arduino side, which just generates x, y, and z numbers and passes them to Python.

int x=0;
int y=0;
int z=0;
void setup() {
  // put your setup code here, to run once:
Serial.begin(115200);
}

void loop() {
  // put your main code here, to run repeatedly:
x=x+1;
y=y+2;
z=z+4;

Serial.print(x);
Serial.print(",");
Serial.print(y);
Serial.print(",");
Serial.println(z);
delay(100);


}

int x=0;

int y=0;

int z=0;

void setup() {

// put your setup code here, to run once:

Serial.begin(115200);

}

void loop() {

// put your main code here, to run repeatedly:

x=x+1;

y=y+2;

z=z+4;

Serial.print(x);

Serial.print(",");

Serial.print(y);

Serial.print(",");

Serial.println(z);

delay(100);

}

We can grab these numbers from the Com port on the Python side with the following code. Note that you should use the com port your arduino is on, which likely will not be the same as mine (which was ‘com5’).

import time
import serial
arduinoData=serial.Serial('com5',115200)
time.sleep(1)
while (True):
    while (arduinoData.inWaiting()==0):
        pass
    dataPacket = arduinoData.readline() #reply
    dataPacket=str(dataPacket,'utf-8')
    print(dataPacket)
    splitPacket=dataPacket.split(",")
    print (splitPacket)
    X=float(splitPacket[0])
    Y=float(splitPacket[1])
    Z=float(splitPacket[2])
    print ("X=",X," Y=",Y," Z=",Z)

import time

import serial

arduinoData=serial.Serial('com5',115200)

time.sleep(1)

while (True):

while (arduinoData.inWaiting()==0):

pass

dataPacket = arduinoData.readline() #reply

dataPacket=str(dataPacket,'utf-8')

print(dataPacket)

splitPacket=dataPacket.split(",")

print (splitPacket)

X=float(splitPacket[0])

Y=float(splitPacket[1])

Z=float(splitPacket[2])

print ("X=",X," Y=",Y," Z=",Z)

The above example is just a simple method for passing different channels from Arduino to Python.

For our IMU project, we want to use the code we left off with Lesson 10. However, note we can scale back on the number of data channels, because we just want the calibration data and then the final roll, pitch and yaw numbers. This is the arduino code that will pass those parameters.

#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BNO055.h>
#include <utility/imumaths.h>
#include <math.h>
float thetaM;
float phiM;
float thetaFold=0;
float thetaFnew;
float phiFold=0;
float phiFnew;

float thetaG=0;
float phiG=0;

float theta;
float phi;

float thetaRad;
float phiRad;

float Xm;
float Ym;
float psi;

float dt;
unsigned long millisOld;

#define BNO055_SAMPLERATE_DELAY_MS (100)

Adafruit_BNO055 myIMU = Adafruit_BNO055();

void setup() {
  // put your setup code here, to run once:
Serial.begin(115200);
myIMU.begin();
delay(1000);
int8_t temp=myIMU.getTemp();
myIMU.setExtCrystalUse(true);
millisOld=millis();
}

void loop() {
  // put your main code here, to run repeatedly:
uint8_t system, gyro, accel, mg = 0;
myIMU.getCalibration(&system, &gyro, &accel, &mg);
imu::Vector<3> acc =myIMU.getVector(Adafruit_BNO055::VECTOR_ACCELEROMETER);
imu::Vector<3> gyr =myIMU.getVector(Adafruit_BNO055::VECTOR_GYROSCOPE);
imu::Vector<3> mag =myIMU.getVector(Adafruit_BNO055::VECTOR_MAGNETOMETER);
thetaM=-atan2(acc.x()/9.8,acc.z()/9.8)/2/3.141592654*360;
phiM=-atan2(acc.y()/9.8,acc.z()/9.8)/2/3.141592654*360;
phiFnew=.95*phiFold+.05*phiM;
thetaFnew=.95*thetaFold+.05*thetaM;

dt=(millis()-millisOld)/1000.;
millisOld=millis();
theta=(theta+gyr.y()*dt)*.95+thetaM*.05;
phi=(phi-gyr.x()*dt)*.95+ phiM*.05;
thetaG=thetaG+gyr.y()*dt;
phiG=phiG-gyr.x()*dt;

phiRad=phi/360*(2*3.14);
thetaRad=theta/360*(2*3.14);

Xm=mag.x()*cos(thetaRad)-mag.y()*sin(phiRad)*sin(thetaRad)+mag.z()*cos(phiRad)*sin(thetaRad);
Ym=mag.y()*cos(phiRad)+mag.z()*sin(phiRad);

psi=atan2(Ym,Xm)/(2*3.14)*360;

Serial.print(accel);
Serial.print(",");
Serial.print(gyro);
Serial.print(",");
Serial.print(mg);
Serial.print(",");
Serial.print(system);
Serial.print(",");
Serial.print(theta);
Serial.print(",");
Serial.print(phi);
Serial.print(",");
Serial.println(psi);

phiFold=phiFnew;
thetaFold=thetaFnew;

 
delay(BNO055_SAMPLERATE_DELAY_MS);
}

#include <Wire.h>

#include <Adafruit_Sensor.h>

#include <Adafruit_BNO055.h>

#include <utility/imumaths.h>

#include <math.h>

float thetaM;

float phiM;

float thetaFold=0;

float thetaFnew;

float phiFold=0;

float phiFnew;

float thetaG=0;

float phiG=0;

float theta;

float phi;

float thetaRad;

float phiRad;

float Xm;

float Ym;

float psi;

float dt;

unsigned long millisOld;

#define BNO055_SAMPLERATE_DELAY_MS (100)

Adafruit_BNO055 myIMU = Adafruit_BNO055();

void setup() {

// put your setup code here, to run once:

Serial.begin(115200);

myIMU.begin();

delay(1000);

int8_t temp=myIMU.getTemp();

myIMU.setExtCrystalUse(true);

millisOld=millis();

}

void loop() {

// put your main code here, to run repeatedly:

uint8_t system, gyro, accel, mg = 0;

myIMU.getCalibration(&system, &gyro, &accel, &mg);

imu::Vector<3> acc =myIMU.getVector(Adafruit_BNO055::VECTOR_ACCELEROMETER);

imu::Vector<3> gyr =myIMU.getVector(Adafruit_BNO055::VECTOR_GYROSCOPE);

imu::Vector<3> mag =myIMU.getVector(Adafruit_BNO055::VECTOR_MAGNETOMETER);

thetaM=-atan2(acc.x()/9.8,acc.z()/9.8)/2/3.141592654*360;

phiM=-atan2(acc.y()/9.8,acc.z()/9.8)/2/3.141592654*360;

phiFnew=.95*phiFold+.05*phiM;

thetaFnew=.95*thetaFold+.05*thetaM;

dt=(millis()-millisOld)/1000.;

millisOld=millis();

theta=(theta+gyr.y()*dt)*.95+thetaM*.05;

phi=(phi-gyr.x()*dt)*.95+ phiM*.05;

thetaG=thetaG+gyr.y()*dt;

phiG=phiG-gyr.x()*dt;

phiRad=phi/360*(2*3.14);

thetaRad=theta/360*(2*3.14);

Xm=mag.x()*cos(thetaRad)-mag.y()*sin(phiRad)*sin(thetaRad)+mag.z()*cos(phiRad)*sin(thetaRad);

Ym=mag.y()*cos(phiRad)+mag.z()*sin(phiRad);

psi=atan2(Ym,Xm)/(2*3.14)*360;

Serial.print(accel);

Serial.print(",");

Serial.print(gyro);

Serial.print(",");

Serial.print(mg);

Serial.print(",");

Serial.print(system);

Serial.print(",");

Serial.print(theta);

Serial.print(",");

Serial.print(phi);

Serial.print(",");

Serial.println(psi);

phiFold=phiFnew;

thetaFold=thetaFnew;

delay(BNO055_SAMPLERATE_DELAY_MS);

}

Then, on the Python side we can grab and parse the data with this code.

import serial
import time
arduinoData=serial.Serial('com5',115200)
time.sleep(1)
while (1==1):
    while (arduinoData.inWaiting()==0):
        pass
    dataPacket=arduinoData.readline()
    
    dataPacket=str(dataPacket,'utf-8')
    splitPacket=dataPacket.split(',')
    Acal=float(splitPacket[0])
    Gcal=float(splitPacket[1])
    Mcal=float(splitPacket[2])
    Scal=float(splitPacket[3])
    Pitch=float(splitPacket[4])
    Roll=float(splitPacket[5])
    Yaw=float(splitPacket[6])
    print("Acal=",Acal,"Gcal=",Gcal,"Mcal=",Mcal,"Scal",Scal, "Pitch=",Pitch,"Roll=",Roll,"Yaw=",Yaw)

import serial

import time

arduinoData=serial.Serial('com5',115200)

time.sleep(1)

while (1==1):

while (arduinoData.inWaiting()==0):

pass

dataPacket=arduinoData.readline()

dataPacket=str(dataPacket,'utf-8')

splitPacket=dataPacket.split(',')

Acal=float(splitPacket[0])

Gcal=float(splitPacket[1])

Mcal=float(splitPacket[2])

Scal=float(splitPacket[3])

Pitch=float(splitPacket[4])

Roll=float(splitPacket[5])

Yaw=float(splitPacket[6])

print("Acal=",Acal,"Gcal=",Gcal,"Mcal=",Mcal,"Scal",Scal, "Pitch=",Pitch,"Roll=",Roll,"Yaw=",Yaw)

In the next lesson we will install Vpython and begin building our code to create dynamic 3D visualizations of our system.

Arduino, Arduino 9-Axis IMU Totorials

9-Axis IMU LESSON 11: Install Python

October 24, 2019 admin

This is a quick lesson where we show you how to install Python on a Windows 10 machine. We have gone about as far as we can go on our 9-axis IMU project using only the arduino. What we want to do now is to pass the data we are taking from arduino to Python, and then use python to do animations and 3D renderings. So, to move forward, we will need to install Python, which is explained in the video.

Beaglevone Black Rev. C, Tutorial

Beaglebone Black GPS Tracker LESSON 3: Parsing the NMEA Sentences in Python

June 15, 2015 admin

Beaglebone GPS — Beaglebone Black connected to the Adafruit Ultimate GPS

In the first two lessons in this series, you learned how to hook the Beaglebone Black to the Adafruit Ultimate GPS breakout board. We then learned to read NMEA sentences from the GPS, and how to control the data the GPS spits out. In this lesson we will learn to parse the NMEA sentences into useful data. You need to make sure you go back and review the first two lessons, as this one draws heavily on those. Also, you need to start with the code we had developed in LESSON 2. (If you need the gear we are using, you can get the Beaglebone Black HERE, and you can get the Adafruit GPS HERE.)

In this code we move most of the work up into our GPS class. That makes the main part of the program simple and intuitive to use.

import serial
import Adafruit_BBIO.UART as UART
from time import sleep
UART.setup("UART1")
ser=serial.Serial('/dev/ttyO1',9600)
class GPS:
        def __init__(self):
                #This sets up variables for useful commands.
                #This set is used to set the rate the GPS reports
                UPDATE_10_sec=  "$PMTK220,10000*2F\r\n" #Update Every 10 Seconds
                UPDATE_5_sec=  "$PMTK220,5000*1B\r\n"   #Update Every 5 Seconds  
                UPDATE_1_sec=  "$PMTK220,1000*1F\r\n"   #Update Every One Second
                UPDATE_200_msec=  "$PMTK220,200*2C\r\n" #Update Every 200 Milliseconds
                #This set is used to set the rate the GPS takes measurements
                MEAS_10_sec = "$PMTK300,10000,0,0,0,0*2C\r\n" #Measure every 10 seconds
                MEAS_5_sec = "$PMTK300,5000,0,0,0,0*18\r\n"   #Measure every 5 seconds
                MEAS_1_sec = "$PMTK300,1000,0,0,0,0*1C\r\n"   #Measure once a second
                MEAS_200_msec= "$PMTK300,200,0,0,0,0*2F\r\n"  #Meaure 5 times a second
                #Set the Baud Rate of GPS
                BAUD_57600 = "$PMTK251,57600*2C\r\n"          #Set Baud Rate at 57600
                BAUD_9600 ="$PMTK251,9600*17\r\n"             #Set 9600 Baud Rate
                #Commands for which NMEA Sentences are sent
                ser.write(BAUD_57600)
                sleep(1)
                ser.baudrate=57600
                GPRMC_ONLY= "$PMTK314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29\r\n" #Send only the GPRMC Sentence
                GPRMC_GPGGA="$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n"#Send GPRMC AND GPGGA Sentences
                SEND_ALL ="$PMTK314,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n" #Send All Sentences
                SEND_NOTHING="$PMTK314,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n" #Send Nothing
                ser.write(UPDATE_200_msec)
                sleep(1)
                ser.write(MEAS_200_msec)
                sleep(1)
                ser.write(GPRMC_GPGGA)
                sleep(1)
                ser.flushInput()
                ser.flushInput()
                print "GPS Initialized"
        def read(self):
                ser.flushInput()
                ser.flushInput()
                while ser.inWaiting()==0:
                        pass
                self.NMEA1=ser.readline()
                while ser.inWaiting()==0:
                        pass
                self.NMEA2=ser.readline()
                NMEA1_array=self.NMEA1.split(',')
                NMEA2_array=self.NMEA2.split(',')
                if NMEA1_array[0]=='$GPRMC':
                        self.timeUTC=NMEA1_array[1][:-8]+':'+NMEA1_array[1][-8:-6]+':'+NMEA1_array[1][-6:-4]
                        self.latDeg=NMEA1_array[3][:-7]
                        self.latMin=NMEA1_array[3][-7:]
                        self.latHem=NMEA1_array[4]
                        self.lonDeg=NMEA1_array[5][:-7]
                        self.lonMin=NMEA1_array[5][-7:]
                        self.lonHem=NMEA1_array[6]
                        self.knots=NMEA1_array[7]
                if NMEA1_array[0]=='$GPGGA':
                        self.fix=NMEA1_array[6]
                        self.altitude=NMEA1_array[9]
                        self.sats=NMEA1_array[7]
                if NMEA2_array[0]=='$GPRMC':
                        self.timeUTC=NMEA2_array[1][:-8]+':'+NMEA1_array[1][-8:-6]+':'+NMEA1_array[1][-6:-4]
                        self.latDeg=NMEA2_array[3][:-7]
                        self.latMin=NMEA2_array[3][-7:]
                        self.latHem=NMEA2_array[4]
                        self.lonDeg=NMEA2_array[5][:-7]
                        self.lonMin=NMEA2_array[5][-7:]
                        self.lonHem=NMEA2_array[6]
                        self.knots=NMEA2_array[7]

                if NMEA2_array[0]=='$GPGGA':
                        self.fix=NMEA2_array[6]
                        self.altitude=NMEA2_array[9]
                        self.sats=NMEA2_array[7]
myGPS=GPS()
while(1):
        myGPS.read()
        print myGPS.NMEA1
        print myGPS.NMEA2
        if myGPS.fix!=0:
                print 'Universal Time: ',myGPS.timeUTC
                print 'You are Tracking: ',myGPS.sats,' satellites'
                print 'My Latitude: ',myGPS.latDeg, 'Degrees ', myGPS.latMin,' minutes ', myGPS.latHem
                print 'My Longitude: ',myGPS.lonDeg, 'Degrees ', myGPS.lonMin,' minutes ', myGPS.lonHem
                print 'My Speed: ', myGPS.knots
                print 'My Altitude: ',myGPS.altitude

import serial

import Adafruit_BBIO.UART as UART

from time import sleep

UART.setup("UART1")

ser=serial.Serial('/dev/ttyO1',9600)

class GPS:

def __init__(self):

#This sets up variables for useful commands.

#This set is used to set the rate the GPS reports

UPDATE_10_sec= "$PMTK220,10000*2F\r\n" #Update Every 10 Seconds

UPDATE_5_sec= "$PMTK220,5000*1B\r\n" #Update Every 5 Seconds

UPDATE_1_sec= "$PMTK220,1000*1F\r\n" #Update Every One Second

UPDATE_200_msec= "$PMTK220,200*2C\r\n" #Update Every 200 Milliseconds

#This set is used to set the rate the GPS takes measurements

MEAS_10_sec = "$PMTK300,10000,0,0,0,0*2C\r\n" #Measure every 10 seconds

MEAS_5_sec = "$PMTK300,5000,0,0,0,0*18\r\n" #Measure every 5 seconds

MEAS_1_sec = "$PMTK300,1000,0,0,0,0*1C\r\n" #Measure once a second

MEAS_200_msec= "$PMTK300,200,0,0,0,0*2F\r\n" #Meaure 5 times a second

#Set the Baud Rate of GPS

BAUD_57600 = "$PMTK251,57600*2C\r\n" #Set Baud Rate at 57600

BAUD_9600 ="$PMTK251,9600*17\r\n" #Set 9600 Baud Rate

#Commands for which NMEA Sentences are sent

ser.write(BAUD_57600)

sleep(1)

ser.baudrate=57600

GPRMC_ONLY= "$PMTK314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29\r\n" #Send only the GPRMC Sentence

GPRMC_GPGGA="$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n"#Send GPRMC AND GPGGA Sentences

SEND_ALL ="$PMTK314,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n" #Send All Sentences

SEND_NOTHING="$PMTK314,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n" #Send Nothing

ser.write(UPDATE_200_msec)

sleep(1)

ser.write(MEAS_200_msec)

sleep(1)

ser.write(GPRMC_GPGGA)

sleep(1)

ser.flushInput()

print "GPS Initialized"

def read(self):

ser.flushInput()

while ser.inWaiting()==0:

pass

self.NMEA1=ser.readline()

while ser.inWaiting()==0:

pass

self.NMEA2=ser.readline()

NMEA1_array=self.NMEA1.split(',')

NMEA2_array=self.NMEA2.split(',')

if NMEA1_array[0]=='$GPRMC':

self.timeUTC=NMEA1_array[1][:-8]+':'+NMEA1_array[1][-8:-6]+':'+NMEA1_array[1][-6:-4]

self.latDeg=NMEA1_array[3][:-7]

self.latMin=NMEA1_array[3][-7:]

self.latHem=NMEA1_array[4]

self.lonDeg=NMEA1_array[5][:-7]

self.lonMin=NMEA1_array[5][-7:]

self.lonHem=NMEA1_array[6]

self.knots=NMEA1_array[7]

if NMEA1_array[0]=='$GPGGA':

self.fix=NMEA1_array[6]

self.altitude=NMEA1_array[9]

self.sats=NMEA1_array[7]

if NMEA2_array[0]=='$GPRMC':

self.timeUTC=NMEA2_array[1][:-8]+':'+NMEA1_array[1][-8:-6]+':'+NMEA1_array[1][-6:-4]

self.latDeg=NMEA2_array[3][:-7]

self.latMin=NMEA2_array[3][-7:]

self.latHem=NMEA2_array[4]

self.lonDeg=NMEA2_array[5][:-7]

self.lonMin=NMEA2_array[5][-7:]

self.lonHem=NMEA2_array[6]

self.knots=NMEA2_array[7]

if NMEA2_array[0]=='$GPGGA':

self.fix=NMEA2_array[6]

self.altitude=NMEA2_array[9]

self.sats=NMEA2_array[7]

myGPS=GPS()

while(1):

myGPS.read()

print myGPS.NMEA1

print myGPS.NMEA2

if myGPS.fix!=0:

print 'Universal Time: ',myGPS.timeUTC

print 'You are Tracking: ',myGPS.sats,' satellites'

print 'My Latitude: ',myGPS.latDeg, 'Degrees ', myGPS.latMin,' minutes ', myGPS.latHem

print 'My Longitude: ',myGPS.lonDeg, 'Degrees ', myGPS.lonMin,' minutes ', myGPS.lonHem

print 'My Speed: ', myGPS.knots

print 'My Altitude: ',myGPS.altitude

Beaglevone Black Rev. C, Tutorial

Beaglebone Black GPS LESSON 2: Sending Commands to the Adafruit GPS Module

June 15, 2015 admin

In lesson 1 we showed you how to connect the Adafruit Ultimate GPS breakout board to the Beaglebone Black and how to read the NMEA sentences streaming off the GPS over the UART pins. In this lesson we will show you how to send commands to the GPS to better tailor its operation for our needs. There are a number of commands that can be sent to it. Some of the things we we can control are the baud rate it communicates at, and the rate that it takes and sends data. We can also influence which NMEA sentences it sends. In this video we will go over the different commands we can use.

To review, you should connect the GPS as follows:

The video explains the code step-by-step, but here it is for your reference.

import serial #import pyserial library
import Adafruit_BBIO.UART as UART #import UART Library
UART.setup("UART1")  #Initialize UART1
ser=serial.Serial('/dev/ttyO1',9600) #Initialize Serial Port
from time import sleep #import sleep library
class GPS:                      #Create GPS class
        def __init__(self):     #This init will run when you create a GPS object.
                #This sets up variables for useful commands.
                #This set is used to set the rate the GPS reports
                UPDATE_10_sec=  "$PMTK220,10000*2F\r\n" #Update Every 10 Seconds
                UPDATE_5_sec=  "$PMTK220,5000*1B\r\n"   #Update Every 5 Seconds  
                UPDATE_1_sec=  "$PMTK220,1000*1F\r\n"   #Update Every One Second
                UPDATE_200_msec=  "$PMTK220,200*2C\r\n" #Update Every 200 Milliseconds
                #This set is used to set the rate the GPS takes measurements
                MEAS_10_sec = "$PMTK300,10000,0,0,0,0*2C\r\n" #Measure every 10 seconds
                MEAS_5_sec = "$PMTK300,5000,0,0,0,0*18\r\n"   #Measure every 5 seconds
                MEAS_1_sec = "$PMTK300,1000,0,0,0,0*1C\r\n"   #Measure once a second
                MEAS_200_msec= "$PMTK300,200,0,0,0,0*2F\r\n"  #Meaure 5 times a second
                #Set the Baud Rate of GPS
                BAUD_57600 = "$PMTK251,57600*2C\r\n"          #Set Baud Rate at 57600
                BAUD_9600 ="$PMTK251,9600*17\r\n"             #Set 9600 Baud Rate
                #Commands for which NMEA Sentences are sent
                GPRMC_ONLY= "$PMTK314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29\r\n" #Send only the GPRMC Sentence
                GPRMC_GPGGA="$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n"#Send GPRMC AND GPGGA Sentences
                SEND_ALL ="$PMTK314,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n" #Send All Sentences
                SEND_NOTHING="$PMTK314,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n" #Send Nothing
                ser.write(BAUD_57600)   #Set Baud Rate to 57600
                sleep(1)                #Paulse
                ser.baudrate=57600      #IMPORTANT Since change ser baudrate to match GPS
                ser.write(UPDATE_200_msec) #Set update rate
                sleep(1)
                ser.write(MEAS_200_msec)  #Set measurement rate
                sleep(1)
                ser.write(GPRMC_GPGGA)    #Ask for only GPRMC and GPGGA Sentences
                sleep(1)
                ser.flushInput()          #clear buffers
                ser.flushOutput()
                print "GPS is Initialized" #Print message

myGPS=GPS()
while(1):
        ser.flushInput() #Clear Buffers
        ser.flushInput()
        while ser.inWaiting()==0: #Wait for input
                pass
        NMEA1=ser.readline()      #Read NMEA1
        while ser.inWaiting()==0:
                pass
        NMEA2=ser.readline()
        print NMEA1
        print NMEA2

import serial #import pyserial library

import Adafruit_BBIO.UART as UART #import UART Library

UART.setup("UART1") #Initialize UART1

ser=serial.Serial('/dev/ttyO1',9600) #Initialize Serial Port

from time import sleep #import sleep library

class GPS: #Create GPS class

def __init__(self): #This init will run when you create a GPS object.