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.

属性：

名称	类型	描述
id	int	Device id.
type	Model	Device type.
fw_ver	float	Firmware version.

__init__(can, id_=49)

Initializes the imu sensor.

参数：

名称	类型	描述	默认
can	CanBus	Can bus instance.	必需
id_	int	Device id. The default factory id is 0x31.	49

引发：

类型	描述
ValueError	If the device is not a imu sensor.

quaternion property

Quaternion of imu sensor.

返回：

类型	描述
tuple	Quaternion of imu sensor.

euler property

Euler angles of imu sensor.

返回：

类型	描述
tuple	Euler angles of imu sensor.

quat_to_euler(x, y, z, w) classmethod

Convert quaternion to euler angles.

参数：

名称	类型	描述	默认
x	float	x of quaternion.	必需
y	float	y of quaternion.	必需
z	float	z of quaternion.	必需
w	float	w of quaternion.	必需

返回：

类型	描述
tuple	euler angles(roll, pitch, yaw).

config_can_bus(new_id, heartbeat=1000, bitrate=1000000)

Configures the CAN bus settings.

参数：

名称	类型	描述	默认
new_id	int	The new device id.	必需
heartbeat	int	The heartbeat period in milliseconds.	1000
bitrate	int	The bitrate of the CAN bus. Choose from 250000, 500000, 1000000.	1000000

引发：

类型	描述
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.

参数：

名称	类型	描述	默认
gyro_range	int	gyro range, 0: 250dps, 1: 500dps, 2: 1000dps, 3: 2000dps	必需
accel_range	int	accel range, 0: 2g, 1: 4g, 2: 8g, 3: 16g	必需

引发：

类型	描述
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.

参数：

名称	类型	描述	默认
timeout	float	Timeout in seconds.	None

返回：

类型	描述
tuple | None	Quaternion of imu sensor. (x, y, z, w)

get_euler(timeout=None)

Reads the euler angles of imu sensor.

参数：

名称	类型	描述	默认
timeout	float	Timeout in seconds.	None

返回：

类型	描述
tuple | None	Euler angles of imu sensor. (roll, pitch, yaw)

get_gyro(timeout=None)

Reads the gyro of imu sensor.

参数：

名称	类型	描述	默认
timeout	float	Timeout in seconds.	None

返回：

类型	描述
tuple | None	Gyroscope of imu sensor. (gyro_x, gyro_y, gyro_z)

get_accel(timeout=None)

Reads the accel of imu sensor.

参数：

名称	类型	描述	默认
timeout	float	Timeout in seconds.	None

返回：

类型	描述
tuple | None	Acceleration of imu sensor. (accel_x, accel_y, accel_z)