text: import socket
  import math
  import pyttsx
  import datetime
  
  # UDP_IP = "192.168.1.3"
  # #UDP_IP = "10.27.176.183"
  # #UDP_IP = "192.168.42.23"
  # UDP_PORT = 5555
  
  class IMU(object):
      def __init__(self,UDP_IP,UDP_PORT):
          open('Datalogs/yaw.txt', 'w').close()
          self.datacount=0
          self.UDP_IP=UDP_IP
          self.UDP_PORT=UDP_PORT
          self.engine = pyttsx.init()
          self.engine.setProperty('voice', 'HKEY_LOCAL_MACHINE\SOFTWARE\Microsoft\Speech\Voices\Tokens\TTS_MS_EN-US_ZIRA_11.0')
          self.sock = socket.socket(socket.AF_INET,socket.SOCK_DGRAM) # UDP
          self.sock.bind((self.UDP_IP, self.UDP_PORT))
  
      def _listen(self): #need intellugent sensing algorithms based on sensed yaw
          self.yaw=0.0
          self.data, self.addr = self.sock.recvfrom(2056) # buffer size is 1024 bytes
          print "received message:", self.data
          
          try:
              print "yaw: ",float(self.data.split(',')[14][1:-1])
              self.yaw=float(self.data.split(',')[14][1:-1])
          except:
              print "Get lost"
          
          if(self.datacount<100000):
              self.datacount=datacount+1
              timestring=datetime.datetime.time(datetime.datetime.now()))
              yy= open("Datalogs/yaw.txt", "a")     
              yy.write("%s %s " %str(self.yaw),timestring)
              yy.write("\n")
              yy.close()
          else:
              datacount=0
              open('Datalogs/yaw.txt', 'w').close()
              timestring=datetime.datetime.time(datetime.datetime.now()))
              yy= open("Datalogs/yaw.txt", "a")     
              yy.write("%s %s " %str(self.yaw),timestring)
              yy.write("\n")
              yy.close()
  
  
  
  
  
      	