Initializes IMU Sensor. More...

Classes
class	reg
	Register Class. More...

Public Member Functions
	__init__ (self, i2c)
	Initialization.
	euler (self)
	Read Euler Angles.
	calibration_check (self)
	Check IMU Calibration.
	calibration_check_sys (self)
	Check System Calibration.
	calibration_check_gyro (self)
	Check Gyroscope Calibration.
	calibration_check_accel (self)
	Check Accelerometer Calibration.
	calibration_check_mag (self)
	Check Magnetometer Calibration.
	get_calibration_coeff_accel (self)
	Get the Accelerometer Calibration Coefficients.
	get_calibration_coeff_mag (self)
	Get the Magnetometer Calibration Coefficients.
	get_calibration_coeff_gyro (self)
	Get the Gyroscope Calibration Coefficients.
	get_calibration_coeff (self)
	Get the Accelerometer, Magnetometer and Gyroscope Calibration Coefficients Method.
	change_mode (self, mode)
	Change the IMU Operating Mode.
	write_calibration_coeff (self, coef1, coef2, coef3, coef4, coef5, coef6, coef7, coef8, coef9, coef10, coef11)
	Write Calibration Coefficients.
	get_Euler_x (self)
	Get Euler x data.
	get_Euler_y (self)
	Get Euler Y data.
	get_Euler_z (self)
	Get Euler Z data.
	get_Yaw_Velocity (self)
	Get Yaw Angular Velocity data.
	get_Roll_Velocity (self)
	Get Roll Angular Velocity data.
	get_Pitch_Velocity (self)
	Get Pitch Angular Velocity data.

Static Public Attributes
int	DEV_ADDR = 0x28

Protected Member Functions
	_read_reg (self, reg)
	Read Register.

Protected Attributes
	_buf = bytearray((0 for n in range(22)))
	_i2c = i2c
	_buf_8 = bytearray((0))

Detailed Description

Initializes IMU Sensor.

This class manages the IMU sensors for romi.

Definition at line 7 of file imu.py.

Constructor & Destructor Documentation

◆ init()

imu.IMU.__init__	(		self,
			i2c )

Initialization.

Parameters

P1	I2C Object

Definition at line 45 of file imu.py.

Member Function Documentation

◆ _read_reg()

imu.IMU._read_reg	(		self,
			reg )

protected

Read Register.

Helper method to get data from the IMU

Parameters

P1	IMU register adresss

Definition at line 58 of file imu.py.

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◆ calibration_check()

imu.IMU.calibration_check ( self )

Check IMU Calibration.

Returns the Caliration status of the System, Gyroscope, Accelerometer and Magnetometer

Value of 3 means fully calibrated

Definition at line 87 of file imu.py.

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◆ calibration_check_accel()

imu.IMU.calibration_check_accel ( self )

Check Accelerometer Calibration.

Returns the Caliration status of the Accelerometer

Value of 3 means fully calibrated

Definition at line 122 of file imu.py.

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◆ calibration_check_gyro()

imu.IMU.calibration_check_gyro ( self )

Check Gyroscope Calibration.

Returns the Caliration status of the Gyroscope

Value of 3 means fully calibrated

Definition at line 112 of file imu.py.

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◆ calibration_check_mag()

imu.IMU.calibration_check_mag ( self )

Check Magnetometer Calibration.

Returns the Caliration status of the Magnetometer

Value of 3 means fully calibrated

Definition at line 132 of file imu.py.

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◆ calibration_check_sys()

imu.IMU.calibration_check_sys ( self )

Check System Calibration.

Returns the Calibration status of the System

Returns a 3 when the entire system is calibrated

Definition at line 102 of file imu.py.

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◆ change_mode()

imu.IMU.change_mode	(		self,
			mode )

Change the IMU Operating Mode.

Definition at line 173 of file imu.py.

◆ euler()

imu.IMU.euler ( self )

Read Euler Angles.

Returns Heading, Roll and Pitch

Definition at line 76 of file imu.py.

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◆ get_calibration_coeff()

imu.IMU.get_calibration_coeff ( self )

Get the Accelerometer, Magnetometer and Gyroscope Calibration Coefficients Method.

Returns the Accelerometer, Magnetometer and Gyroscope Calibration Coefficients as binary data

Definition at line 168 of file imu.py.

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◆ get_calibration_coeff_accel()

imu.IMU.get_calibration_coeff_accel ( self )

Get the Accelerometer Calibration Coefficients.

Returns the Accelerometer Calibration Coefficients as binary data

Definition at line 140 of file imu.py.

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◆ get_calibration_coeff_gyro()

imu.IMU.get_calibration_coeff_gyro ( self )

Get the Gyroscope Calibration Coefficients.

Returns the Gyroscope Calibration Coefficients as binary data

Definition at line 158 of file imu.py.

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◆ get_calibration_coeff_mag()

imu.IMU.get_calibration_coeff_mag ( self )

Get the Magnetometer Calibration Coefficients.

Returns the Magnetometer Calibration Coefficients as binary data

Definition at line 149 of file imu.py.

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◆ get_Euler_x()

imu.IMU.get_Euler_x ( self )

Get Euler x data.

Reads the Euler data to use as measurments

Definition at line 192 of file imu.py.

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◆ get_Euler_y()

imu.IMU.get_Euler_y ( self )

Get Euler Y data.

Reads the Euler data to use as measurments

Definition at line 201 of file imu.py.

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◆ get_Euler_z()

imu.IMU.get_Euler_z ( self )

Get Euler Z data.

Reads the Euler data to use as measurments

Definition at line 210 of file imu.py.

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◆ get_Pitch_Velocity()

imu.IMU.get_Pitch_Velocity ( self )

Get Pitch Angular Velocity data.

Reads the Pitch Angular Velocity to use as measurments

Definition at line 233 of file imu.py.

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◆ get_Roll_Velocity()

imu.IMU.get_Roll_Velocity ( self )

Get Roll Angular Velocity data.

Reads the Roll Angular Velocity to use as measurments

Definition at line 226 of file imu.py.

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◆ get_Yaw_Velocity()

imu.IMU.get_Yaw_Velocity ( self )

Get Yaw Angular Velocity data.

Reads the Yaw Angular Velocity to use as measurments

Definition at line 219 of file imu.py.

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◆ write_calibration_coeff()

imu.IMU.write_calibration_coeff	(	self,
		coef1,
		coef2,
		coef3,
		coef4,
		coef5,
		coef6,
		coef7,
		coef8,
		coef9,
		coef10,
		coef11 )

Write Calibration Coefficients.

Writes the Calibration Coefficients to the IMU from pre-recorded binary data

Definition at line 182 of file imu.py.

Member Data Documentation

◆ _buf

imu.IMU._buf = bytearray((0 for n in range(22)))

protected

Definition at line 47 of file imu.py.

◆ _buf_8

imu.IMU._buf_8 = bytearray((0))

protected

Definition at line 49 of file imu.py.

◆ _i2c

imu.IMU._i2c = i2c

protected

Definition at line 48 of file imu.py.

◆ DEV_ADDR

imu.IMU.DEV_ADDR = 0x28

static

Definition at line 9 of file imu.py.

The documentation for this class was generated from the following file:

C:/Users/14083/vscode_python/imu.py

Classes

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

Member Function Documentation

◆ _read_reg()

◆ calibration_check()

◆ calibration_check_accel()

◆ calibration_check_gyro()

◆ calibration_check_mag()

◆ calibration_check_sys()

◆ change_mode()

◆ euler()

◆ get_calibration_coeff()

◆ get_calibration_coeff_accel()

◆ get_calibration_coeff_gyro()

◆ get_calibration_coeff_mag()

◆ get_Euler_x()

◆ get_Euler_y()

◆ get_Euler_z()

◆ get_Pitch_Velocity()

◆ get_Roll_Velocity()

◆ get_Yaw_Velocity()

◆ write_calibration_coeff()

Member Data Documentation

◆ _buf

◆ _buf_8

◆ _i2c

◆ DEV_ADDR

◆ init()