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