ImuSensor
robodyno.components.can_bus.imu_sensor
Imu sensor driver.
The imu sensor is a 6-axis inertial measurement unit (IMU) that provides accurate acceleration and angular rate (gyroscope) measurement data for space-constrained applications. This device also calculates and outputs quaternions that can be used to track the absolute orientation of the sensor.
Examples:
>>> from robodyno.components import ImuSensor
>>> from robodyno.interfaces import CanBus
>>> can = CanBus()
>>> imu = ImuSensor(can)
>>> imu.get_euler()
(-0.6930452576214104, -0.5058813752928343, 0.33744507654497824)
>>> can.disconnect()
ImuSensor
Bases: CanBusDevice
Imu sensor driver.
Attributes:
| Name | Type | Description |
|---|---|---|
id |
int
|
Device id. |
type |
Model
|
Device type. |
fw_ver |
float
|
Firmware version. |
__init__(can, id_=49)
Initializes the imu sensor.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
can |
CanBus
|
Can bus instance. |
required |
id_ |
int
|
Device id. The default factory id is 0x31. |
49
|
Raises:
| Type | Description |
|---|---|
ValueError
|
If the device is not a imu sensor. |
quaternion: tuple
property
Quaternion of imu sensor.
Returns:
| Type | Description |
|---|---|
tuple
|
Quaternion of imu sensor. |
euler: tuple
property
Euler angles of imu sensor.
Returns:
| Type | Description |
|---|---|
tuple
|
Euler angles of imu sensor. |
quat_to_euler(x, y, z, w)
classmethod
Convert quaternion to euler angles.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
x |
float
|
x of quaternion. |
required |
y |
float
|
y of quaternion. |
required |
z |
float
|
z of quaternion. |
required |
w |
float
|
w of quaternion. |
required |
Returns:
| Type | Description |
|---|---|
tuple
|
euler angles(roll, pitch, yaw). |
config_can_bus(new_id, heartbeat=1000, bitrate=1000000)
Configures the CAN bus settings.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
new_id |
int
|
The new device id. |
required |
heartbeat |
int
|
The heartbeat period in milliseconds. |
1000
|
bitrate |
int
|
The bitrate of the CAN bus. Choose from 250000, 500000, 1000000. |
1000000
|
Raises:
| Type | Description |
|---|---|
ValueError
|
If the new CAN id is not in the range of 0x01-0x3f. |
set_ranges(gyro_range, accel_range)
Set gyro and accel range.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
gyro_range |
int
|
gyro range, 0: 250dps, 1: 500dps, 2: 1000dps, 3: 2000dps |
required |
accel_range |
int
|
accel range, 0: 2g, 1: 4g, 2: 8g, 3: 16g |
required |
Raises:
| Type | Description |
|---|---|
ValueError
|
If gyro_range or accel_range is not in the range of 0-3. |
get_quaternion(timeout=None)
Reads the quaternion of imu sensor.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
timeout |
float
|
Timeout in seconds. |
None
|
Returns:
| Type | Description |
|---|---|
tuple | None
|
Quaternion of imu sensor. (x, y, z, w) |
get_euler(timeout=None)
Reads the euler angles of imu sensor.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
timeout |
float
|
Timeout in seconds. |
None
|
Returns:
| Type | Description |
|---|---|
tuple | None
|
Euler angles of imu sensor. (roll, pitch, yaw) |
get_gyro(timeout=None)
Reads the gyro of imu sensor.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
timeout |
float
|
Timeout in seconds. |
None
|
Returns:
| Type | Description |
|---|---|
tuple | None
|
Gyroscope of imu sensor. (gyro_x, gyro_y, gyro_z) |
get_accel(timeout=None)
Reads the accel of imu sensor.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
timeout |
float
|
Timeout in seconds. |
None
|
Returns:
| Type | Description |
|---|---|
tuple | None
|
Acceleration of imu sensor. (accel_x, accel_y, accel_z) |