Module micromelon.imu

Collection of functions to read information from the robot's Inertial Measurement Unit (IMU)
The robot's IMU has an accelerometer and gyroscope

"""
Collection of functions to read information from the robot's Inertial Measurement Unit (IMU)  
The robot's IMU has an accelerometer and gyroscope
"""
from ._imu import *

__all__ = [
    "readAccel",
    "readGyro",
    "readGyroAccum",
    "isFlipped",
    "isRighted",
]

Functions

def isFlipped()

Returns

True iff (if and only if) the robot is upside down. False otherwise

Expand source code

def isFlipped():
    """
    Returns:
      True iff (if and only if) the robot is upside down. False otherwise
    """
    return readAccel()[2] < 0

def isRighted()

Returns

True iff (if and only if) the robot is the right way up. False otherwise

Expand source code

def isRighted():
    """
    Returns:
      True iff (if and only if) the robot is the right way up. False otherwise
    """
    return readAccel()[2] >= 0

def readAccel(n=None)

Reads the axes of the accelerometer (in Gs)
The accelerometer reads the magnitude of acceleration the robot is experiencing in each axis

Args

n : int

must be either 0, 1, 2, or None to read x, y, z, or all axes respectively

Raises

Exception if n is not a valid argument

Returns

Values are float values in units of Gs (9.81m/s^2)
Returns [x, y, z] iff (if and only if) argument n is None
Iff n == 0 returns x axis
Iff n == 1 returns y axis
Iff n == 2 returns z axis

Expand source code

def readAccel(n=None):
    """
    Reads the axes of the accelerometer (in Gs)
    The accelerometer reads the magnitude of acceleration the robot is experiencing in each axis

    Args:
      n (int): must be either 0, 1, 2, or None to read x, y, z, or all axes respectively

    Raises:
      Exception if n is not a valid argument

    Returns:
      Values are float values in units of Gs (9.81m/s^2)
      Returns [x, y, z] iff (if and only if) argument n is None
      Iff n == 0 returns x axis
      Iff n == 1 returns y axis
      Iff n == 2 returns z axis
    """
    if n != None and (not isNumber(n) or n < 0 or n > 2):
        raise Exception("Argument to IMU.readAccel must be a number between 0 and 2")
    accel = _rc.readAttribute(OPTYPE.ACCL)
    accel = bytesToIntArray(accel, 2, signed=True)
    accel = list(map(_div1000, accel))
    if n == None:
        return accel
    return accel[n]

def readGyro(n=None)

Reads the axes of the gyroscope (in degrees per second)
The gyroscope reads the rate at which the robot is rotating about each axis

Args

n : int

must be either 0, 1, 2, or None to read x, y, z, or all axes respectively

Raises

Exception if n is not a valid argument

Returns

Values are float values in units of degrees per second
Returns [x, y, z] iff (if and only if) argument n is None
Iff n == 0 returns x axis
Iff n == 1 returns y axis
Iff n == 2 returns z axis

Expand source code

def readGyro(n=None):
    """
    Reads the axes of the gyroscope (in degrees per second)
    The gyroscope reads the rate at which the robot is rotating about each axis

    Args:
      n (int): must be either 0, 1, 2, or None to read x, y, z, or all axes respectively

    Raises:
      Exception if n is not a valid argument

    Returns:
      Values are float values in units of degrees per second
      Returns [x, y, z] iff (if and only if) argument n is None
      Iff n == 0 returns x axis
      Iff n == 1 returns y axis
      Iff n == 2 returns z axis
    """
    if n != None and (not isNumber(n) or n < 0 or n > 2):
        raise Exception("Argument to IMU.readGyro must be a number between 0 and 2")
    gyro = _rc.readAttribute(OPTYPE.GYRO)
    gyro = bytesToIntArray(gyro, 4, signed=True)
    gyro = list(map(_div1000, gyro))
    if n == None:
        return gyro
    return gyro[n]

def readGyroAccum(n=None)

Reads the accumulated gyroscope readings (in degrees)
This is an approximation of the number of degrees the
robot has rotated in each axis since it started

Args

n : int

must be either 0, 1, 2, or None to read x, y, z, or all axes respectively

Raises

Exception if n is not a valid argument

Returns

Values are float values in units of degrees
Returns [x, y, z] iff (if and only if) argument n is None
Iff n == 0 returns x axis
Iff n == 1 returns y axis
Iff n == 2 returns z axis

Expand source code

def readGyroAccum(n=None):
    """
    Reads the accumulated gyroscope readings (in degrees)
    This is an approximation of the number of degrees the
    robot has rotated in each axis since it started

    Args:
      n (int): must be either 0, 1, 2, or None to read x, y, z, or all axes respectively

    Raises:
      Exception if n is not a valid argument

    Returns:
      Values are float values in units of degrees
      Returns [x, y, z] iff (if and only if) argument n is None
      Iff n == 0 returns x axis
      Iff n == 1 returns y axis
      Iff n == 2 returns z axis
    """
    if n != None and (not isNumber(n) or n < 0 or n > 2):
        raise Exception(
            "Argument to IMU.readGyroAccum must be a number between 0 and 2"
        )
    gyro = _rc.readAttribute(OPTYPE.GYRO_ACCUM)
    gyro = bytesToIntArray(gyro, 4, signed=True)
    gyro = list(map(_div1000, gyro))
    if n == None:
        return gyro
    return gyro[n]