# -*- coding: utf-8 -*- ############################################################# # This file was automatically generated on 2013-02-19. # # # # Bindings Version 2.0.4 # # # # If you have a bugfix for this file and want to commit it, # # please fix the bug in the generator. You can find a link # # to the generator git on tinkerforge.com # ############################################################# try: from collections import namedtuple except ImportError: try: from .ip_connection import namedtuple except ValueError: from ip_connection import namedtuple try: from .ip_connection import Device, IPConnection, Error except ValueError: from ip_connection import Device, IPConnection, Error GetAcceleration = namedtuple('Acceleration', ['x', 'y', 'z']) GetMagneticField = namedtuple('MagneticField', ['x', 'y', 'z']) GetAngularVelocity = namedtuple('AngularVelocity', ['x', 'y', 'z']) GetAllData = namedtuple('AllData', ['acc_x', 'acc_y', 'acc_z', 'mag_x', 'mag_y', 'mag_z', 'ang_x', 'ang_y', 'ang_z', 'temperature']) GetOrientation = namedtuple('Orientation', ['roll', 'pitch', 'yaw']) GetQuaternion = namedtuple('Quaternion', ['x', 'y', 'z', 'w']) GetProtocol1BrickletName = namedtuple('Protocol1BrickletName', ['protocol_version', 'firmware_version', 'name']) GetIdentity = namedtuple('Identity', ['uid', 'connected_uid', 'position', 'hardware_version', 'firmware_version', 'device_identifier']) class BrickIMU(Device): """ Device for sensing acceleration, magnetic field and angular velocity """ DEVICE_IDENTIFIER = 16 CALLBACK_ACCELERATION = 31 CALLBACK_MAGNETIC_FIELD = 32 CALLBACK_ANGULAR_VELOCITY = 33 CALLBACK_ALL_DATA = 34 CALLBACK_ORIENTATION = 35 CALLBACK_QUATERNION = 36 FUNCTION_GET_ACCELERATION = 1 FUNCTION_GET_MAGNETIC_FIELD = 2 FUNCTION_GET_ANGULAR_VELOCITY = 3 FUNCTION_GET_ALL_DATA = 4 FUNCTION_GET_ORIENTATION = 5 FUNCTION_GET_QUATERNION = 6 FUNCTION_GET_IMU_TEMPERATURE = 7 FUNCTION_LEDS_ON = 8 FUNCTION_LEDS_OFF = 9 FUNCTION_ARE_LEDS_ON = 10 FUNCTION_SET_ACCELERATION_RANGE = 11 FUNCTION_GET_ACCELERATION_RANGE = 12 FUNCTION_SET_MAGNETOMETER_RANGE = 13 FUNCTION_GET_MAGNETOMETER_RANGE = 14 FUNCTION_SET_CONVERGENCE_SPEED = 15 FUNCTION_GET_CONVERGENCE_SPEED = 16 FUNCTION_SET_CALIBRATION = 17 FUNCTION_GET_CALIBRATION = 18 FUNCTION_SET_ACCELERATION_PERIOD = 19 FUNCTION_GET_ACCELERATION_PERIOD = 20 FUNCTION_SET_MAGNETIC_FIELD_PERIOD = 21 FUNCTION_GET_MAGNETIC_FIELD_PERIOD = 22 FUNCTION_SET_ANGULAR_VELOCITY_PERIOD = 23 FUNCTION_GET_ANGULAR_VELOCITY_PERIOD = 24 FUNCTION_SET_ALL_DATA_PERIOD = 25 FUNCTION_GET_ALL_DATA_PERIOD = 26 FUNCTION_SET_ORIENTATION_PERIOD = 27 FUNCTION_GET_ORIENTATION_PERIOD = 28 FUNCTION_SET_QUATERNION_PERIOD = 29 FUNCTION_GET_QUATERNION_PERIOD = 30 FUNCTION_GET_PROTOCOL1_BRICKLET_NAME = 241 FUNCTION_GET_CHIP_TEMPERATURE = 242 FUNCTION_RESET = 243 FUNCTION_GET_IDENTITY = 255 CALIBRATION_TYPE_ACCELEROMETER_GAIN = 0 CALIBRATION_TYPE_ACCELEROMETER_BIAS = 1 CALIBRATION_TYPE_MAGNETOMETER_GAIN = 2 CALIBRATION_TYPE_MAGNETOMETER_BIAS = 3 CALIBRATION_TYPE_GYROSCOPE_GAIN = 4 CALIBRATION_TYPE_GYROSCOPE_BIAS = 5 def __init__(self, uid, ipcon): """ Creates an object with the unique device ID *uid* and adds it to the IP Connection *ipcon*. """ Device.__init__(self, uid, ipcon) self.api_version = (2, 0, 0) self.response_expected[BrickIMU.FUNCTION_GET_ACCELERATION] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_TRUE self.response_expected[BrickIMU.FUNCTION_GET_MAGNETIC_FIELD] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_TRUE self.response_expected[BrickIMU.FUNCTION_GET_ANGULAR_VELOCITY] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_TRUE self.response_expected[BrickIMU.FUNCTION_GET_ALL_DATA] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_TRUE self.response_expected[BrickIMU.FUNCTION_GET_ORIENTATION] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_TRUE self.response_expected[BrickIMU.FUNCTION_GET_QUATERNION] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_TRUE self.response_expected[BrickIMU.FUNCTION_GET_IMU_TEMPERATURE] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_TRUE self.response_expected[BrickIMU.FUNCTION_LEDS_ON] = BrickIMU.RESPONSE_EXPECTED_FALSE self.response_expected[BrickIMU.FUNCTION_LEDS_OFF] = BrickIMU.RESPONSE_EXPECTED_FALSE self.response_expected[BrickIMU.FUNCTION_ARE_LEDS_ON] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_TRUE self.response_expected[BrickIMU.FUNCTION_SET_ACCELERATION_RANGE] = BrickIMU.RESPONSE_EXPECTED_FALSE self.response_expected[BrickIMU.FUNCTION_GET_ACCELERATION_RANGE] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_TRUE self.response_expected[BrickIMU.FUNCTION_SET_MAGNETOMETER_RANGE] = BrickIMU.RESPONSE_EXPECTED_FALSE self.response_expected[BrickIMU.FUNCTION_GET_MAGNETOMETER_RANGE] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_TRUE self.response_expected[BrickIMU.FUNCTION_SET_CONVERGENCE_SPEED] = BrickIMU.RESPONSE_EXPECTED_FALSE self.response_expected[BrickIMU.FUNCTION_GET_CONVERGENCE_SPEED] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_TRUE self.response_expected[BrickIMU.FUNCTION_SET_CALIBRATION] = BrickIMU.RESPONSE_EXPECTED_FALSE self.response_expected[BrickIMU.FUNCTION_GET_CALIBRATION] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_TRUE self.response_expected[BrickIMU.FUNCTION_SET_ACCELERATION_PERIOD] = BrickIMU.RESPONSE_EXPECTED_TRUE self.response_expected[BrickIMU.FUNCTION_GET_ACCELERATION_PERIOD] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_TRUE self.response_expected[BrickIMU.FUNCTION_SET_MAGNETIC_FIELD_PERIOD] = BrickIMU.RESPONSE_EXPECTED_TRUE self.response_expected[BrickIMU.FUNCTION_GET_MAGNETIC_FIELD_PERIOD] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_TRUE self.response_expected[BrickIMU.FUNCTION_SET_ANGULAR_VELOCITY_PERIOD] = BrickIMU.RESPONSE_EXPECTED_TRUE self.response_expected[BrickIMU.FUNCTION_GET_ANGULAR_VELOCITY_PERIOD] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_TRUE self.response_expected[BrickIMU.FUNCTION_SET_ALL_DATA_PERIOD] = BrickIMU.RESPONSE_EXPECTED_TRUE self.response_expected[BrickIMU.FUNCTION_GET_ALL_DATA_PERIOD] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_TRUE self.response_expected[BrickIMU.FUNCTION_SET_ORIENTATION_PERIOD] = BrickIMU.RESPONSE_EXPECTED_TRUE self.response_expected[BrickIMU.FUNCTION_GET_ORIENTATION_PERIOD] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_TRUE self.response_expected[BrickIMU.FUNCTION_SET_QUATERNION_PERIOD] = BrickIMU.RESPONSE_EXPECTED_TRUE self.response_expected[BrickIMU.FUNCTION_GET_QUATERNION_PERIOD] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_TRUE self.response_expected[BrickIMU.CALLBACK_ACCELERATION] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_FALSE self.response_expected[BrickIMU.CALLBACK_MAGNETIC_FIELD] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_FALSE self.response_expected[BrickIMU.CALLBACK_ANGULAR_VELOCITY] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_FALSE self.response_expected[BrickIMU.CALLBACK_ALL_DATA] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_FALSE self.response_expected[BrickIMU.CALLBACK_ORIENTATION] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_FALSE self.response_expected[BrickIMU.CALLBACK_QUATERNION] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_FALSE self.response_expected[BrickIMU.FUNCTION_GET_PROTOCOL1_BRICKLET_NAME] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_TRUE self.response_expected[BrickIMU.FUNCTION_GET_CHIP_TEMPERATURE] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_TRUE self.response_expected[BrickIMU.FUNCTION_RESET] = BrickIMU.RESPONSE_EXPECTED_FALSE self.response_expected[BrickIMU.FUNCTION_GET_IDENTITY] = BrickIMU.RESPONSE_EXPECTED_ALWAYS_TRUE self.callback_formats[BrickIMU.CALLBACK_ACCELERATION] = 'h h h' self.callback_formats[BrickIMU.CALLBACK_MAGNETIC_FIELD] = 'h h h' self.callback_formats[BrickIMU.CALLBACK_ANGULAR_VELOCITY] = 'h h h' self.callback_formats[BrickIMU.CALLBACK_ALL_DATA] = 'h h h h h h h h h h' self.callback_formats[BrickIMU.CALLBACK_ORIENTATION] = 'h h h' self.callback_formats[BrickIMU.CALLBACK_QUATERNION] = 'f f f f' def get_acceleration(self): """ Returns the calibrated acceleration from the accelerometer for the x, y and z axis in mG (G/1000, 1G = 9.80605m/s²). If you want to get the acceleration periodically, it is recommended to use the callback :func:`Acceleration` and set the period with :func:`SetAccelerationPeriod`. """ return GetAcceleration(*self.ipcon.send_request(self, BrickIMU.FUNCTION_GET_ACCELERATION, (), '', 'h h h')) def get_magnetic_field(self): """ Returns the calibrated magnetic field from the magnetometer for the x, y and z axis in mG (Milligauss or Nanotesla). If you want to get the magnetic field periodically, it is recommended to use the callback :func:`MagneticField` and set the period with :func:`SetMagneticFieldPeriod`. """ return GetMagneticField(*self.ipcon.send_request(self, BrickIMU.FUNCTION_GET_MAGNETIC_FIELD, (), '', 'h h h')) def get_angular_velocity(self): """ Returns the calibrated angular velocity from the gyroscope for the x, y and z axis in °/17.5s (you have to divide by 17.5 to get the value in °/s). If you want to get the angular velocity periodically, it is recommended to use the callback :func:`AngularVelocity` and set the period with :func:`SetAngularVelocityPeriod`. """ return GetAngularVelocity(*self.ipcon.send_request(self, BrickIMU.FUNCTION_GET_ANGULAR_VELOCITY, (), '', 'h h h')) def get_all_data(self): """ Returns the data from :func:`GetAcceleration`, :func:`GetMagneticField` and :func:`GetAngularVelocity` as well as the temperature of the IMU Brick. The temperature is given in °C/100. If you want to get the data periodically, it is recommended to use the callback :func:`AllData` and set the period with :func:`SetAllDataPeriod`. """ return GetAllData(*self.ipcon.send_request(self, BrickIMU.FUNCTION_GET_ALL_DATA, (), '', 'h h h h h h h h h h')) def get_orientation(self): """ Returns the current orientation (roll, pitch, yaw) of the IMU Brick as Euler angles in one-hundredth degree. Note that Euler angles always experience a `gimbal lock `__. We recommend that you use quaternions instead. The order to sequence in which the orientation values should be applied is roll, yaw, pitch. If you want to get the orientation periodically, it is recommended to use the callback :func:`Orientation` and set the period with :func:`SetOrientationPeriod`. """ return GetOrientation(*self.ipcon.send_request(self, BrickIMU.FUNCTION_GET_ORIENTATION, (), '', 'h h h')) def get_quaternion(self): """ Returns the current orientation (x, y, z, w) of the IMU as `quaternions `__. You can go from quaternions to Euler angles with the following formula:: roll = atan2(2*y*w - 2*x*z, 1 - 2*y*y - 2*z*z) pitch = atan2(2*x*w - 2*y*z, 1 - 2*x*x - 2*z*z) yaw = asin(2*x*y + 2*z*w) This process is not reversible, because of the `gimbal lock `__. Converting the quaternions to an OpenGL transformation matrix is possible with the following formula:: matrix = [[1 - 2*(y*y + z*z), 2*(x*y - w*z), 2*(x*z + w*y), 0], [ 2*(x*y + w*z), 1 - 2*(x*x + z*z), 2*(y*z - w*x), 0], [ 2*(x*z - w*y), 2*(y*z + w*x), 1 - 2*(x*x + y*y), 0], [ 0, 0, 0, 1]] If you want to get the quaternions periodically, it is recommended to use the callback :func:`Quaternion` and set the period with :func:`SetQuaternionPeriod`. """ return GetQuaternion(*self.ipcon.send_request(self, BrickIMU.FUNCTION_GET_QUATERNION, (), '', 'f f f f')) def get_imu_temperature(self): """ Returns the temperature of the IMU Brick. The temperature is given in °C/100. """ return self.ipcon.send_request(self, BrickIMU.FUNCTION_GET_IMU_TEMPERATURE, (), '', 'h') def leds_on(self): """ Turns the orientation and direction LEDs of the IMU Brick on. """ self.ipcon.send_request(self, BrickIMU.FUNCTION_LEDS_ON, (), '', '') def leds_off(self): """ Turns the orientation and direction LEDs of the IMU Brick off. """ self.ipcon.send_request(self, BrickIMU.FUNCTION_LEDS_OFF, (), '', '') def are_leds_on(self): """ Returns *true* if the orientation and direction LEDs of the IMU Brick are on, *false* otherwise. """ return self.ipcon.send_request(self, BrickIMU.FUNCTION_ARE_LEDS_ON, (), '', '?') def set_acceleration_range(self, range): """ Not implemented yet. """ self.ipcon.send_request(self, BrickIMU.FUNCTION_SET_ACCELERATION_RANGE, (range,), 'B', '') def get_acceleration_range(self): """ Not implemented yet. """ return self.ipcon.send_request(self, BrickIMU.FUNCTION_GET_ACCELERATION_RANGE, (), '', 'B') def set_magnetometer_range(self, range): """ Not implemented yet. """ self.ipcon.send_request(self, BrickIMU.FUNCTION_SET_MAGNETOMETER_RANGE, (range,), 'B', '') def get_magnetometer_range(self): """ Not implemented yet. """ return self.ipcon.send_request(self, BrickIMU.FUNCTION_GET_MAGNETOMETER_RANGE, (), '', 'B') def set_convergence_speed(self, speed): """ Sets the convergence speed of the IMU Brick in °/s. The convergence speed determines how the different sensor measurements are fused. If the orientation of the IMU Brick is off by 10° and the convergence speed is set to 20°/s, it will take 0.5s until the orientation is corrected. However, if the correct orientation is reached and the convergence speed is too high, the orientation will fluctuate with the fluctuations of the accelerometer and the magnetometer. If you set the convergence speed to 0, practically only the gyroscope is used to calculate the orientation. This gives very smooth movements, but errors of the gyroscope will not be corrected. If you set the convergence speed to something above 500, practically only the magnetometer and the accelerometer are used to calculate the orientation. In this case the movements are abrupt and the values will fluctuate, but there won't be any errors that accumulate over time. In an application with high angular velocities, we recommend a high convergence speed, so the errors of the gyroscope can be corrected fast. In applications with only slow movements we recommend a low convergence speed. You can change the convergence speed on the fly. So it is possible (and recommended) to increase the convergence speed before an abrupt movement and decrease it afterwards again. You might want to play around with the convergence speed in the Brick Viewer to get a feeling for a good value for your application. The default value is 30. """ self.ipcon.send_request(self, BrickIMU.FUNCTION_SET_CONVERGENCE_SPEED, (speed,), 'H', '') def get_convergence_speed(self): """ Returns the convergence speed as set by :func:`SetConvergenceSpeed`. """ return self.ipcon.send_request(self, BrickIMU.FUNCTION_GET_CONVERGENCE_SPEED, (), '', 'H') def set_calibration(self, typ, data): """ There are several different types that can be calibrated: .. csv-table:: :header: "Type", "Description", "Values" :widths: 10, 40, 100 "0", "Accelerometer Gain", "[mul x, mul y, mul z, div x, div y, div z, 0, 0, 0, 0]" "1", "Accelerometer Bias", "[bias x, bias y, bias z, 0, 0, 0, 0, 0, 0, 0]" "2", "Magnetometer Gain", "[mul x, mul y, mul z, div x, div y, div z, 0, 0, 0, 0]" "3", "Magnetometer Bias", "[bias x, bias y, bias z, 0, 0, 0, 0, 0, 0, 0]" "4", "Gyroscope Gain", "[mul x, mul y, mul z, div x, div y, div z, 0, 0, 0, 0]" "5", "Gyroscope Bias", "[bias xl, bias yl, bias zl, temp l, bias xh, bias yh, bias zh, temp h, 0, 0]" The calibration via gain and bias is done with the following formula:: new_value = (bias + orig_value) * gain_mul / gain_div If you really want to write your own calibration software, please keep in mind that you first have to undo the old calibration (set bias to 0 and gain to 1/1) and that you have to average over several thousand values to obtain a usable result in the end. The gyroscope bias is highly dependent on the temperature, so you have to calibrate the bias two times with different temperatures. The values xl, yl, zl and temp l are the bias for x, y, z and the corresponding temperature for a low temperature. The values xh, yh, zh and temp h are the same for a high temperatures. The temperature difference should be at least 5°C. If you have a temperature where the IMU Brick is mostly used, you should use this temperature for one of the sampling points. .. note:: We highly recommend that you use the Brick Viewer to calibrate your IMU Brick. """ self.ipcon.send_request(self, BrickIMU.FUNCTION_SET_CALIBRATION, (typ, data), 'B 10h', '') def get_calibration(self, typ): """ Returns the calibration for a given type as set by :func:`SetCalibration`. """ return self.ipcon.send_request(self, BrickIMU.FUNCTION_GET_CALIBRATION, (typ,), 'B', '10h') def set_acceleration_period(self, period): """ Sets the period in ms with which the :func:`Acceleration` callback is triggered periodically. A value of 0 turns the callback off. The default value is 0. """ self.ipcon.send_request(self, BrickIMU.FUNCTION_SET_ACCELERATION_PERIOD, (period,), 'I', '') def get_acceleration_period(self): """ Returns the period as set by :func:`SetAccelerationPeriod`. """ return self.ipcon.send_request(self, BrickIMU.FUNCTION_GET_ACCELERATION_PERIOD, (), '', 'I') def set_magnetic_field_period(self, period): """ Sets the period in ms with which the :func:`MagneticField` callback is triggered periodically. A value of 0 turns the callback off. """ self.ipcon.send_request(self, BrickIMU.FUNCTION_SET_MAGNETIC_FIELD_PERIOD, (period,), 'I', '') def get_magnetic_field_period(self): """ Returns the period as set by :func:`SetMagneticFieldPeriod`. """ return self.ipcon.send_request(self, BrickIMU.FUNCTION_GET_MAGNETIC_FIELD_PERIOD, (), '', 'I') def set_angular_velocity_period(self, period): """ Sets the period in ms with which the :func:`AngularVelocity` callback is triggered periodically. A value of 0 turns the callback off. """ self.ipcon.send_request(self, BrickIMU.FUNCTION_SET_ANGULAR_VELOCITY_PERIOD, (period,), 'I', '') def get_angular_velocity_period(self): """ Returns the period as set by :func:`SetAngularVelocityPeriod`. """ return self.ipcon.send_request(self, BrickIMU.FUNCTION_GET_ANGULAR_VELOCITY_PERIOD, (), '', 'I') def set_all_data_period(self, period): """ Sets the period in ms with which the :func:`AllData` callback is triggered periodically. A value of 0 turns the callback off. """ self.ipcon.send_request(self, BrickIMU.FUNCTION_SET_ALL_DATA_PERIOD, (period,), 'I', '') def get_all_data_period(self): """ Returns the period as set by :func:`SetAllDataPeriod`. """ return self.ipcon.send_request(self, BrickIMU.FUNCTION_GET_ALL_DATA_PERIOD, (), '', 'I') def set_orientation_period(self, period): """ Sets the period in ms with which the :func:`Orientation` callback is triggered periodically. A value of 0 turns the callback off. """ self.ipcon.send_request(self, BrickIMU.FUNCTION_SET_ORIENTATION_PERIOD, (period,), 'I', '') def get_orientation_period(self): """ Returns the period as set by :func:`SetOrientationPeriod`. """ return self.ipcon.send_request(self, BrickIMU.FUNCTION_GET_ORIENTATION_PERIOD, (), '', 'I') def set_quaternion_period(self, period): """ Sets the period in ms with which the :func:`Quaternion` callback is triggered periodically. A value of 0 turns the callback off. """ self.ipcon.send_request(self, BrickIMU.FUNCTION_SET_QUATERNION_PERIOD, (period,), 'I', '') def get_quaternion_period(self): """ Returns the period as set by :func:`SetQuaternionPeriod`. """ return self.ipcon.send_request(self, BrickIMU.FUNCTION_GET_QUATERNION_PERIOD, (), '', 'I') def get_protocol1_bricklet_name(self, port): """ Returns the firmware and protocol version and the name of the Bricklet for a given port. This functions sole purpose is to allow automatic flashing of v1.x.y Bricklet plugins. .. versionadded:: 2.0.0~(Firmware) """ return GetProtocol1BrickletName(*self.ipcon.send_request(self, BrickIMU.FUNCTION_GET_PROTOCOL1_BRICKLET_NAME, (port,), 'c', 'B 3B 40s')) def get_chip_temperature(self): """ Returns the temperature in °C/10 as measured inside the microcontroller. The value returned is not the ambient temperature! The temperature is only proportional to the real temperature and it has an accuracy of +-15%. Practically it is only useful as an indicator for temperature changes. .. versionadded:: 1.0.7~(Firmware) """ return self.ipcon.send_request(self, BrickIMU.FUNCTION_GET_CHIP_TEMPERATURE, (), '', 'h') def reset(self): """ Calling this function will reset the Brick. Calling this function on a Brick inside of a stack will reset the whole stack. After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior! .. versionadded:: 1.0.7~(Firmware) """ self.ipcon.send_request(self, BrickIMU.FUNCTION_RESET, (), '', '') def get_identity(self): """ Returns the UID, the UID where the Brick is connected to, the position, the hardware and firmware version as well as the device identifier. The position can be '0'-'8' (stack position). The device identifiers can be found :ref:`here `. .. versionadded:: 2.0.0~(Firmware) """ return GetIdentity(*self.ipcon.send_request(self, BrickIMU.FUNCTION_GET_IDENTITY, (), '', '8s 8s c 3B 3B H')) def register_callback(self, id, callback): """ Registers a callback with ID *id* to the function *callback*. """ self.registered_callbacks[id] = callback IMU = BrickIMU # for backward compatibility