View difference between Paste ID: vGUaaQfX and WxnncMx9

-"""he MIT License (MIT)
+"""The MIT License (MIT)
 
 Copyright (c) 2014 Andrew Luo luo_andrew a|t yahoo.com
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
 in the Software without restriction, including without limitation the rights
 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 copies of the Software, and to permit persons to whom the Software is
 furnished to do so, subject to the following conditions:
 
 The above copyright notice and this permission notice shall be included in
 all copies or substantial portions of the Software.
 
 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 THE SOFTWARE."""
 
 def navigate():
     import _motion as motion
     from numpy import zeros, divide
     from math import cos
     from operator import add, sub
     from console import clear
     m = motion.MotionManager()
     m.stop()
     m.start()
     import time
     print "\nStarting motion update, please wait 10 seconds for the values to stabilize. During this time, please avoid touching the phone"
     """First we start updating, we allow a 5 second time out because there is a significant amount of drift initially present"""
     time.sleep(10)
     print "\nStarting calibration in 10 seconds. Please keep the device UTTERLY still in an position that you expect it to be most commonly in during the measurements later."
     time.sleep(6)
     print "\nCalibration starting in 5 seconds."
     time.sleep(5)
     print "\nCalibration starting..."
     caliacc = zeros(3)
     caliangle = zeros(3)
     cali=1
     for u in xrange(300):
         caliacc = caliacc + m.user_acceleration
         caliangle = caliangle + m.rotation_rate
     zeroingacc= divide(caliacc, 300)
     zeroingang=divide(caliangle, 300)
-    print zeroingacc
+    print "\nCalibration ended, you may start to move in 5 seconds."
     time.sleep(5)
-    print "\nCalibration ended, you may start to move."
+
     zeroingacc1=zeroingacc[1]
     zeroingacc2=zeroingacc[2]
     zeroingang0=zeroingang[0]
     zeroingang1=zeroingang[1]
     zeroingang2=zeroingang[2]
     speed0=0
     speed1=0
     speed2=0
     angle0=0
     angle1=0
     angle2=0
     movement0=0
     movement1=0
     movement2=0
     time2=0.083 #You need to change this number to make it work on your device, just replace the while loop and timeit
-    time2=0.083 #You need to change this number to make it work on your device, so just replace the while loop, and timeit
+
     """Apparently for small lists, direct assignment is twice as fast as map and lists! Very unexpected!"""
     while 1:
         cos0=cos(angle0)
-        speed0 += (-zeroingacc0 + m.user_acceleration[0]) * time1
+
-        speed1 += (-zeroingacc1 + m.user_acceleration[1]) * time1
+
-        speed2 += (-zeroingacc2 + m.user_acceleration[2]) * time1
+        speed0 += (-zeroingacc0 + m.user_acceleration[0]) * time1*cos0*cos2
         speed1 += (-zeroingacc1 + m.user_acceleration[1]) * time1*cos1*cos2
         speed2 += (-zeroingacc2 + m.user_acceleration[2]) * time1*cos0*cos1
         angle0 += (m.rotation_rate[0]-zeroingang0) * time2
         angle1 += (m.rotation_rate[1]-zeroingang1)* time2
         angle2 += (m.rotation_rate[2]-zeroingang2)* time2
         movement0 = movement0+speed0*time2*cos0*cos2
         movement1 = movement1+speed1*time2*cos1*cos2
         movement2 = movement2+speed2*time2*cos0*cos1
         #speed = map(lambda x, y: time*add(x, y), speed, map(sub, list(m.user_acceleration), zeroingacc))
         #angle = map(add, angle, list(m.rotation_rate))
         #movement = map(lambda x,y: time*add(x,y), movement, map(lambda l, o: l*o, map(cos, angle), speed))
         print movement0, movement1, movement2
         clear()
 navigate()