IMU

API for the hub built-in IMU. More...

Functions
pbio_error_t	hub_imu_init (void)
	Initialize the IMU driver.
bool	hub_imu_is_ready (void)
	Check if the IMU module is "ready.".
bool	hub_imu_is_stationary (void)
	Check if the IMU module is "stationary.".
void	hub_imu_set_tilt (float angle)
	Set the tilt angle of the IMU module.
void	hub_imu_get_acceleration (float accel[3])
	Get the acceleration by the IMU.
void	hub_imu_get_angular_velocity (float angv[3])
	Get the angular velocity by the IMU.
float	hub_imu_get_temperature (void)
	Get the temperature by the IMU.
float	hub_imu_get_heading (void)
	Get the heading angle of the IMU.
void	hub_imu_reset_heading (void)
	Reset the heading angle of the IMU.

Detailed Description

API for the hub built-in IMU.

Function Documentation

hub_imu_get_acceleration()

void hub_imu_get_acceleration

(

float

accel[3]

)

Get the acceleration by the IMU.

Parameters

accel

Float array to store the x/y/z axes acceleration[mm/s^2].

hub_imu_get_angular_velocity()

void hub_imu_get_angular_velocity

(

float

angv[3]

)

Get the angular velocity by the IMU.

Parameters

angv	Float array to store the x/y/z axes angular velocity [°/s].

hub_imu_get_heading()

float hub_imu_get_heading

(

void

)

Get the heading angle of the IMU.

Return values

Angle

in degrees.

hub_imu_get_temperature()

float hub_imu_get_temperature

(

void

)

Get the temperature by the IMU.

Return values

Temperature

[℃]．

hub_imu_init()

pbio_error_t hub_imu_init

(

void

)

Initialize the IMU driver.

Return values

PBIO_SUCCESS	Successfully initialized.
PBIO_ERROR_FAILED	Failed to initialized.

hub_imu_is_ready()

bool hub_imu_is_ready

(

void

)

Check if the IMU module is "ready.".

Return values

true	Module is ready.
false	Module still needs more quiet time.

hub_imu_is_stationary()

bool hub_imu_is_stationary

(

void

)

Check if the IMU module is "stationary.".

Return values

true	Module is stationary.
false	Module is in motion.

hub_imu_set_tilt()

void hub_imu_set_tilt

(

float

angle

)

Set the tilt angle of the IMU module.

Parameters

angle

Tilt angle (wrt the Y-axis) in degrees.