text: import subprocess
  import os
  import json
  import numpy as np
  
  #begin
  os.chdir("/home/pi/yeetbot/yeetbot_natural_language/pi_speech/odas/bin/")
  doa_matrix = subprocess.Popen(["./matrix-odas"], stdout=subprocess.PIPE)
  doa_odas = subprocess.Popen(["./odaslive", "-c", "../config/matrix-demo/matrix_voice.cfg"])
  
  mlem = 4
  
  while True:    
      output = doa_matrix.stdout.readline()
      mlem += 1
      if mlem == 9:
          output = json.loads(output[:-2])
          angle = np.arctan2(output.get('y'), output.get('x'))
          print angle
          mlem -= 9
  
  def get_doa(x, y):
      return np.arctan2(y,x)
  