optoOIS
Loading...
Searching...
No Matches
optoOIS.registers.mre3ois_registers.InertialMeasurementUnit Class Reference

Parent class => FeedbackSystem
. More...

Inheritance diagram for optoOIS.registers.mre3ois_registers.InertialMeasurementUnit:

Public Member Functions

 __init__ (self, board=None)
 get_value (self, channel)
 get_value_id (self, channel)
 is_init_done (self)
 get_accel_x (self)
 get_accel_y (self)
 get_accel_z (self)
 get_gyro_x (self)
 get_gyro_y (self)
 get_gyro_z (self)
 get_gyro_x_offset (self)
 get_gyro_y_offset (self)
 get_gyro_z_offset (self)
 get_accel_resolution (self)
 get_gyro_resolution (self)
 get_accel_run (self)
 get_gyro_run (self)
 get_dlpf (self)
 get_init_done (self)
 set_gyro_x_offset (self, offset)
 set_gyro_y_offset (self, offset)
 set_gyro_z_offset (self, offset)
 set_callback_prescaler (self, prescaler=20)
 set_accel_resolution (self, resolution=0)
 set_gyro_resolution (self, resolution=0)
 set_dlpf (self, value=0)
 is_init_done (self)
 init (self)
 start_accel_readout (self)
 stop_accel_readout (self)
 start_gyro_readout (self)
 stop_gyro_readout (self)
 get_accel (self)
 get_gyro (self)

Static Public Member Functions

 help ()

Public Attributes

int sys_id = 0x37
dict accel_run
dict accel_x
dict accel_y
dict accel_z
dict gyro_run
dict gyro_x
dict gyro_y
dict gyro_z
dict gyro_x_offset
dict gyro_y_offset
dict gyro_z_offset
dict callback_prescaler
dict accel_resolution
dict gyro_resolution
dict dlpf
dict init_imu
dict init_done
dict accel_vec = {'id': self.sys_id << 8 | 0x00, 'type': float}
dict gyro_vec = {'id': self.sys_id << 8 | 0x01, 'type': float}
 name = self.__class__.__name__

Static Protected Attributes

bool _is_a_system = True

Detailed Description

Parent class => FeedbackSystem
. 

Device Functionality - Inertial Measurement Unit
System ID: 0x37

* Inertial Measurement Unit system ID: <b>0x37</b>
*
* The inertial measurement unit system provides information about the actual
* acceleration in X,Y,Z direction of actuator and angular rate around these axis.
* It also includes the parameter registers for setup of the IMU.
*
* ### Register Map:
*
*  | Address | Name             | Default Value | Description                                           |  Type  | Access     |
*  |---------|---------------------|---------------|-------------------------------------------------------|--------|------------|
*  | 0x3700  | RUN_ACCEL            | false         | Enable/Disable accelerometer readout callback         | boolean| read write |
*  | 0x3701  | ACCEL_X              | N/A           | Accelerometer value in X direction [m/s/s]            | float  | read only  |
*  | 0x3702  | ACCEL_Y              | N/A           | Accelerometer value in Y direction [m/s/s]            | float  | read only  |
*  | 0x3703  | ACCEL_Z              | N/A           | Accelerometer value in Z direction [m/s/s]            | float  | read only  |
*  | 0x3704  | RUN_GYRO             | false         | Enable/Disable Gyroscope readout callback             | boolean| read write |
*  | 0x3705  | GYRO_X               | N/A           | Gyroscope value in X direction [deg/s]                | float  | read only  |
*  | 0x3706  | GYRO_Y               | N/A           | Gyroscope value in Y direction [deg/s]                | float  | read only  |
*  | 0x3707  | GYRO_Z               | N/A           | Gyroscope value in Z direction [deg/s]                | float  | read only  |
*  | 0x3708  | CALLBACK_PRESCALER  | 20            | System timer callback prescaler                        | uint16 | read write |
*  | 0x3709  | ACCEL_RESOLUTION     | 0             | Resolution of accelerometer [0=2g, 1=4g, 2=8g, 3=16g] | uint8_t| read write |
*  | 0x370A  | GYRO_RESOLUTION     | 0              | Resolution of gyroscope [0=250, 1=500, 2=1000, 3=2000]| uint8_t| read write |
*  | 0x370B  | DLPF                 | 0             | Digital low pass filter for gyro. and accelerometer   | uint8_t| read write |
*  | 0x370C  | INIT                 | N/A           | Writes configuration from registers into IMU          | uint8  | write      |
*  | 0x370D  | INIT_DONE            | false         | If init was successful, then ==true                   | uint8  | read only  |
*  |---------|---------------------|---------------|-------------------------------------------------------|--------|------------|
*
* ### Vector Map:
*
* | Address | Name             | Default  | Description                     | Format and value | Access     |
* |---------|------------------|----------|--------------------------------|------------------|------------|
* | 0x3700  | ACCEL_VALUES      |   N/A    | {X,Y,Z}, 3 * float (12 bytes)  | float            | read only  |
* | 0x3701  | GYRO_VALUES       |   N/A    | {X,Y,Z}, 3 * float (12 bytes)  | float            | read only  |
*
*/

Constructor & Destructor Documentation

◆ __init__()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.__init__ ( self,
board = None )

Member Function Documentation

◆ get_accel()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.get_accel ( self)

◆ get_accel_resolution()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.get_accel_resolution ( self)

◆ get_accel_run()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.get_accel_run ( self)

◆ get_accel_x()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.get_accel_x ( self)

◆ get_accel_y()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.get_accel_y ( self)

◆ get_accel_z()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.get_accel_z ( self)

◆ get_dlpf()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.get_dlpf ( self)

◆ get_gyro()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.get_gyro ( self)

◆ get_gyro_resolution()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.get_gyro_resolution ( self)

◆ get_gyro_run()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.get_gyro_run ( self)

◆ get_gyro_x()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.get_gyro_x ( self)

◆ get_gyro_x_offset()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.get_gyro_x_offset ( self)

◆ get_gyro_y()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.get_gyro_y ( self)

◆ get_gyro_y_offset()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.get_gyro_y_offset ( self)

◆ get_gyro_z()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.get_gyro_z ( self)

◆ get_gyro_z_offset()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.get_gyro_z_offset ( self)

◆ get_init_done()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.get_init_done ( self)

◆ get_value()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.get_value ( self,
channel )

◆ get_value_id()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.get_value_id ( self,
channel )

◆ help()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.help ( )
static

◆ init()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.init ( self)

◆ is_init_done() [1/2]

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.is_init_done ( self)

◆ is_init_done() [2/2]

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.is_init_done ( self)

◆ set_accel_resolution()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.set_accel_resolution ( self,
resolution = 0 )

◆ set_callback_prescaler()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.set_callback_prescaler ( self,
prescaler = 20 )

◆ set_dlpf()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.set_dlpf ( self,
value = 0 )

◆ set_gyro_resolution()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.set_gyro_resolution ( self,
resolution = 0 )

◆ set_gyro_x_offset()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.set_gyro_x_offset ( self,
offset )

◆ set_gyro_y_offset()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.set_gyro_y_offset ( self,
offset )

◆ set_gyro_z_offset()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.set_gyro_z_offset ( self,
offset )

◆ start_accel_readout()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.start_accel_readout ( self)

◆ start_gyro_readout()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.start_gyro_readout ( self)

◆ stop_accel_readout()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.stop_accel_readout ( self)

◆ stop_gyro_readout()

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.stop_gyro_readout ( self)

Member Data Documentation

◆ _is_a_system

bool optoOIS.registers.mre3ois_registers.InertialMeasurementUnit._is_a_system = True
staticprotected

◆ accel_resolution

dict optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.accel_resolution
Initial value:
= {'id': self.sys_id << 8 | 0x0C, 'type': int, 'unit': None,
'range': None, 'default': None, 'value': None}

◆ accel_run

dict optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.accel_run
Initial value:
= {'id': self.sys_id << 8 | 0x00, 'type': int, 'unit': None,
'range': None, 'default': None, 'value': None}

◆ accel_vec

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.accel_vec = {'id': self.sys_id << 8 | 0x00, 'type': float}

◆ accel_x

dict optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.accel_x
Initial value:
= {'id': self.sys_id << 8 | 0x01, 'type': float, 'unit': None,
'range': [-16000, 16000], 'default': None, 'value': None}

◆ accel_y

dict optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.accel_y
Initial value:
= {'id': self.sys_id << 8 | 0x02, 'type': float, 'unit': None,
'range': [-16000, 16000], 'default': None, 'value': None}

◆ accel_z

dict optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.accel_z
Initial value:
= {'id': self.sys_id << 8 | 0x03, 'type': float, 'unit': None,
'range': [-16000, 16000], 'default': None, 'value': None}

◆ callback_prescaler

dict optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.callback_prescaler
Initial value:
= {'id': self.sys_id << 8 | 0x0B, 'type': int, 'unit': None,
'range': None, 'default': None, 'value': None}

◆ dlpf

dict optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.dlpf
Initial value:
= {'id': self.sys_id << 8 | 0x0E, 'type': int, 'unit': None,
'range': None, 'default': None, 'value': None}

◆ gyro_resolution

dict optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.gyro_resolution
Initial value:
= {'id': self.sys_id << 8 | 0x0D, 'type': int, 'unit': None,
'range': None, 'default': None, 'value': None}

◆ gyro_run

dict optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.gyro_run
Initial value:
= {'id': self.sys_id << 8 | 0x04, 'type': int, 'unit': None,
'range': None, 'default': None, 'value': None}

◆ gyro_vec

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.gyro_vec = {'id': self.sys_id << 8 | 0x01, 'type': float}

◆ gyro_x

dict optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.gyro_x
Initial value:
= {'id': self.sys_id << 8 | 0x05, 'type': float, 'unit': None,
'range': None, 'default': None, 'value': None}

◆ gyro_x_offset

dict optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.gyro_x_offset
Initial value:
= {'id': self.sys_id << 8 | 0x08, 'type': float, 'unit': None,
'range': None, 'default': None, 'value': None}

◆ gyro_y

dict optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.gyro_y
Initial value:
= {'id': self.sys_id << 8 | 0x06, 'type': float, 'unit': None,
'range': None, 'default': None, 'value': None}

◆ gyro_y_offset

dict optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.gyro_y_offset
Initial value:
= {'id': self.sys_id << 8 | 0x09, 'type': float, 'unit': None,
'range': None, 'default': None, 'value': None}

◆ gyro_z

dict optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.gyro_z
Initial value:
= {'id': self.sys_id << 8 | 0x07, 'type': float, 'unit': None,
'range': None, 'default': None, 'value': None}

◆ gyro_z_offset

dict optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.gyro_z_offset
Initial value:
= {'id': self.sys_id << 8 | 0x0A, 'type': float, 'unit': None,
'range': None, 'default': None, 'value': None}

◆ init_done

dict optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.init_done
Initial value:
= {'id': self.sys_id << 8 | 0x10, 'type': int, 'unit': None,
'range': None, 'default': None, 'value': None}

◆ init_imu

dict optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.init_imu
Initial value:
= {'id': self.sys_id << 8 | 0x0F, 'type': int, 'unit': None,
'range': None, 'default': None, 'value': None}

◆ name

optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.name = self.__class__.__name__

◆ sys_id

int optoOIS.registers.mre3ois_registers.InertialMeasurementUnit.sys_id = 0x37
The documentation for this class was generated from the following file: