imu_task.imu_task Class Reference

Runs the IMU. More...

Public Member Functions
	__init__ (self, imu, imu_flg, yaw, yaw_velocity)
	Initialization.
	run (self)
	Runs the IMU Tasks.

Public Attributes
	imu = imu
	imu_flg = imu_flg
int	state = 0
int	count = 0
int	calibrated = 0
int	substate = 0
int	accel = 0
int	sys = 0
int	gyro = 0
int	mag = 0
int	config_flag = 0
	yaw = yaw
	yaw_velocity = yaw_velocity

Detailed Description

Runs the IMU.

This task class which contains a generator finite state machine that runs multiple functions.

It sets up the IMU and collects data from it using its methods

Definition at line 8 of file imu_task.py.

Constructor & Destructor Documentation

__init__()

imu_task.imu_task.__init__	(		self,
			imu,
			imu_flg,
			yaw,
			yaw_velocity )

Initialization.

Parameters

P1	IMU object
P2	IMU flag
P3	Romi Yaw Share
P4	Romi Yaw Velocity Share

Definition at line 15 of file imu_task.py.

Member Function Documentation

run()

imu_task.imu_task.run

(

self

)

Runs the IMU Tasks.

State 0 Initialize the IMU by writing to it the coefficients and changing it to the desired fusion mode

State 1 Put IMU data in shares for other tasks (note commented out code is for obtaining calibration coefficients)

State 2 Delay

Definition at line 38 of file imu_task.py.

Member Data Documentation

accel

int imu_task.imu_task.accel = 0

Definition at line 23 of file imu_task.py.

calibrated

int imu_task.imu_task.calibrated = 0

Definition at line 21 of file imu_task.py.

config_flag

int imu_task.imu_task.config_flag = 0

Definition at line 27 of file imu_task.py.

count

int imu_task.imu_task.count = 0

Definition at line 20 of file imu_task.py.

gyro

int imu_task.imu_task.gyro = 0

Definition at line 25 of file imu_task.py.

imu

imu_task.imu_task.imu = imu

Definition at line 17 of file imu_task.py.

imu_flg

imu_task.imu_task.imu_flg = imu_flg

Definition at line 18 of file imu_task.py.

mag

int imu_task.imu_task.mag = 0

Definition at line 26 of file imu_task.py.

state

int imu_task.imu_task.state = 0

Definition at line 19 of file imu_task.py.

substate

int imu_task.imu_task.substate = 0

Definition at line 22 of file imu_task.py.

sys

int imu_task.imu_task.sys = 0

Definition at line 24 of file imu_task.py.

yaw

imu_task.imu_task.yaw = yaw

Definition at line 28 of file imu_task.py.

yaw_velocity

imu_task.imu_task.yaw_velocity = yaw_velocity

Definition at line 29 of file imu_task.py.

---

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

• C:/Users/14083/vscode_python/imu_task.py