Class: Tinkerforge::BrickIMUV2

Inherits:
Device
  • Object
show all
Defined in:
lib/tinkerforge/brick_imu_v2.rb

Overview

Full fledged AHRS with 9 degrees of freedom

Constant Summary collapse

DEVICE_IDENTIFIER =

:nodoc:

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DEVICE_DISPLAY_NAME =

:nodoc:

'IMU Brick 2.0'
CALLBACK_ACCELERATION =

This callback is triggered periodically with the period that is set by BrickIMUV2#set_acceleration_period. The parameters are the acceleration for the x, y and z axis.

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CALLBACK_MAGNETIC_FIELD =

This callback is triggered periodically with the period that is set by BrickIMUV2#set_magnetic_field_period. The parameters are the magnetic field for the x, y and z axis.

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CALLBACK_ANGULAR_VELOCITY =

This callback is triggered periodically with the period that is set by BrickIMUV2#set_angular_velocity_period. The parameters are the angular velocity for the x, y and z axis.

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CALLBACK_TEMPERATURE =

This callback is triggered periodically with the period that is set by BrickIMUV2#set_temperature_period. The parameter is the temperature.

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CALLBACK_LINEAR_ACCELERATION =

This callback is triggered periodically with the period that is set by BrickIMUV2#set_linear_acceleration_period. The parameters are the linear acceleration for the x, y and z axis.

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CALLBACK_GRAVITY_VECTOR =

This callback is triggered periodically with the period that is set by BrickIMUV2#set_gravity_vector_period. The parameters gravity vector for the x, y and z axis.

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CALLBACK_ORIENTATION =

This callback is triggered periodically with the period that is set by BrickIMUV2#set_orientation_period. The parameters are the orientation (heading (yaw), roll, pitch) of the IMU Brick in Euler angles. See BrickIMUV2#get_orientation for details.

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CALLBACK_QUATERNION =

This callback is triggered periodically with the period that is set by BrickIMUV2#set_quaternion_period. The parameters are the orientation (x, y, z, w) of the IMU Brick in quaternions. See BrickIMUV2#get_quaternion for details.

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CALLBACK_ALL_DATA =

This callback is triggered periodically with the period that is set by BrickIMUV2#set_all_data_period. The parameters are as for BrickIMUV2#get_all_data.

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FUNCTION_GET_ACCELERATION =

:nodoc:

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FUNCTION_GET_MAGNETIC_FIELD =

:nodoc:

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FUNCTION_GET_ANGULAR_VELOCITY =

:nodoc:

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FUNCTION_GET_TEMPERATURE =

:nodoc:

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FUNCTION_GET_ORIENTATION =

:nodoc:

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FUNCTION_GET_LINEAR_ACCELERATION =

:nodoc:

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FUNCTION_GET_GRAVITY_VECTOR =

:nodoc:

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FUNCTION_GET_QUATERNION =

:nodoc:

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FUNCTION_GET_ALL_DATA =

:nodoc:

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FUNCTION_LEDS_ON =

:nodoc:

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FUNCTION_LEDS_OFF =

:nodoc:

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FUNCTION_ARE_LEDS_ON =

:nodoc:

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FUNCTION_SAVE_CALIBRATION =

:nodoc:

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FUNCTION_SET_ACCELERATION_PERIOD =

:nodoc:

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FUNCTION_GET_ACCELERATION_PERIOD =

:nodoc:

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FUNCTION_SET_MAGNETIC_FIELD_PERIOD =

:nodoc:

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FUNCTION_GET_MAGNETIC_FIELD_PERIOD =

:nodoc:

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FUNCTION_SET_ANGULAR_VELOCITY_PERIOD =

:nodoc:

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FUNCTION_GET_ANGULAR_VELOCITY_PERIOD =

:nodoc:

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FUNCTION_SET_TEMPERATURE_PERIOD =

:nodoc:

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FUNCTION_GET_TEMPERATURE_PERIOD =

:nodoc:

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FUNCTION_SET_ORIENTATION_PERIOD =

:nodoc:

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FUNCTION_GET_ORIENTATION_PERIOD =

:nodoc:

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FUNCTION_SET_LINEAR_ACCELERATION_PERIOD =

:nodoc:

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FUNCTION_GET_LINEAR_ACCELERATION_PERIOD =

:nodoc:

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FUNCTION_SET_GRAVITY_VECTOR_PERIOD =

:nodoc:

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FUNCTION_GET_GRAVITY_VECTOR_PERIOD =

:nodoc:

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FUNCTION_SET_QUATERNION_PERIOD =

:nodoc:

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FUNCTION_GET_QUATERNION_PERIOD =

:nodoc:

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FUNCTION_SET_ALL_DATA_PERIOD =

:nodoc:

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FUNCTION_GET_ALL_DATA_PERIOD =

:nodoc:

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FUNCTION_ENABLE_STATUS_LED =

:nodoc:

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FUNCTION_DISABLE_STATUS_LED =

:nodoc:

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FUNCTION_IS_STATUS_LED_ENABLED =

:nodoc:

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FUNCTION_GET_PROTOCOL1_BRICKLET_NAME =

:nodoc:

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FUNCTION_GET_CHIP_TEMPERATURE =

:nodoc:

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FUNCTION_RESET =

:nodoc:

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FUNCTION_GET_IDENTITY =

:nodoc:

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Constants inherited from Device

Device::RESPONSE_EXPECTED_ALWAYS_FALSE, Device::RESPONSE_EXPECTED_ALWAYS_TRUE, Device::RESPONSE_EXPECTED_FALSE, Device::RESPONSE_EXPECTED_INVALID_FUNCTION_ID, Device::RESPONSE_EXPECTED_TRUE

Instance Attribute Summary

Attributes inherited from Device

#callback_formats, #expected_response_function_id, #expected_response_sequence_number, #registered_callbacks, #uid

Instance Method Summary collapse

Methods inherited from Device

#dequeue_response, #enqueue_response, #get_api_version, #get_response_expected, #send_request, #set_response_expected, #set_response_expected_all

Constructor Details

#initialize(uid, ipcon) ⇒ BrickIMUV2

Creates an object with the unique device ID uid and adds it to the IP Connection ipcon.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 105

def initialize(uid, ipcon)
  super uid, ipcon

  @api_version = [2, 0, 0]

  @response_expected[FUNCTION_GET_ACCELERATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_MAGNETIC_FIELD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_ANGULAR_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_ORIENTATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_LINEAR_ACCELERATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_GRAVITY_VECTOR] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_QUATERNION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_ALL_DATA] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_LEDS_ON] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_LEDS_OFF] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_ARE_LEDS_ON] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SAVE_CALIBRATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_ACCELERATION_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_ACCELERATION_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_MAGNETIC_FIELD_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_MAGNETIC_FIELD_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_ANGULAR_VELOCITY_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_ANGULAR_VELOCITY_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_TEMPERATURE_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_TEMPERATURE_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_ORIENTATION_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_ORIENTATION_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_LINEAR_ACCELERATION_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_LINEAR_ACCELERATION_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_GRAVITY_VECTOR_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_GRAVITY_VECTOR_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_QUATERNION_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_QUATERNION_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_ALL_DATA_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_ALL_DATA_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[CALLBACK_ACCELERATION] = RESPONSE_EXPECTED_ALWAYS_FALSE
  @response_expected[CALLBACK_MAGNETIC_FIELD] = RESPONSE_EXPECTED_ALWAYS_FALSE
  @response_expected[CALLBACK_ANGULAR_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_FALSE
  @response_expected[CALLBACK_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_FALSE
  @response_expected[CALLBACK_LINEAR_ACCELERATION] = RESPONSE_EXPECTED_ALWAYS_FALSE
  @response_expected[CALLBACK_GRAVITY_VECTOR] = RESPONSE_EXPECTED_ALWAYS_FALSE
  @response_expected[CALLBACK_ORIENTATION] = RESPONSE_EXPECTED_ALWAYS_FALSE
  @response_expected[CALLBACK_QUATERNION] = RESPONSE_EXPECTED_ALWAYS_FALSE
  @response_expected[CALLBACK_ALL_DATA] = RESPONSE_EXPECTED_ALWAYS_FALSE
  @response_expected[FUNCTION_ENABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_DISABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_IS_STATUS_LED_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_PROTOCOL1_BRICKLET_NAME] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_CHIP_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_RESET] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE

  @callback_formats[CALLBACK_ACCELERATION] = 's s s'
  @callback_formats[CALLBACK_MAGNETIC_FIELD] = 's s s'
  @callback_formats[CALLBACK_ANGULAR_VELOCITY] = 's s s'
  @callback_formats[CALLBACK_TEMPERATURE] = 'c'
  @callback_formats[CALLBACK_LINEAR_ACCELERATION] = 's s s'
  @callback_formats[CALLBACK_GRAVITY_VECTOR] = 's s s'
  @callback_formats[CALLBACK_ORIENTATION] = 's s s'
  @callback_formats[CALLBACK_QUATERNION] = 's s s s'
  @callback_formats[CALLBACK_ALL_DATA] = 's3 s3 s3 s3 s4 s3 s3 c C'
end

Instance Method Details

#are_leds_on ⇒ Object

Returns true if the orientation and direction LEDs of the IMU Brick are on, false otherwise.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 315

def are_leds_on
  send_request(FUNCTION_ARE_LEDS_ON, [], '', 1, '?')
end

#disable_status_led ⇒ Object

Disables the status LED.

The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.

The default state is enabled.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 450

def disable_status_led
  send_request(FUNCTION_DISABLE_STATUS_LED, [], '', 0, '')
end

#enable_status_led ⇒ Object

Enables the status LED.

The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.

The default state is enabled.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 440

def enable_status_led
  send_request(FUNCTION_ENABLE_STATUS_LED, [], '', 0, '')
end

#get_acceleration ⇒ Object

Returns the calibrated acceleration from the accelerometer for the x, y and z axis in 1/100 m/s².

If you want to get the acceleration periodically, it is recommended to use the callback CALLBACK_ACCELERATION and set the period with BrickIMUV2#set_acceleration_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 175

def get_acceleration
  send_request(FUNCTION_GET_ACCELERATION, [], '', 6, 's s s')
end

#get_acceleration_period ⇒ Object

Returns the period as set by BrickIMUV2#set_acceleration_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 342

def get_acceleration_period
  send_request(FUNCTION_GET_ACCELERATION_PERIOD, [], '', 4, 'L')
end

#get_all_data ⇒ Object

Return all of the available data of the IMU Brick.

  • acceleration in 1/100 m/s² (see BrickIMUV2#get_acceleration)

  • magnetic field in 1/16 µT (see BrickIMUV2#get_magnetic_field)

  • angular velocity in 1/16 °/s (see BrickIMUV2#get_angular_velocity)

  • Euler angles in 1/16 ° (see BrickIMUV2#get_orientation)

  • quaternion 1/16383 (see BrickIMUV2#get_quaternion)

  • linear acceleration 1/100 m/s² (see BrickIMUV2#get_linear_acceleration)

  • gravity vector 1/100 m/s² (see BrickIMUV2#get_gravity_vector)

  • temperature in 1 °C (see BrickIMUV2#get_temperature)

  • calibration status (see below)

The calibration status consists of four pairs of two bits. Each pair of bits represents the status of the current calibration.

  • bit 0-1: Magnetometer

  • bit 2-3: Accelerometer

  • bit 4-5: Gyroscope

  • bit 6-7: System

A value of 0 means for “not calibrated” and a value of 3 means “fully calibrated”. In your program you should always be able to ignore the calibration status, it is used by the calibration window of the Brick Viewer and it can be ignored after the first calibration. See the documentation in the calibration window for more information regarding the calibration of the IMU Brick.

If you want to get the data periodically, it is recommended to use the callback CALLBACK_ALL_DATA and set the period with BrickIMUV2#set_all_data_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 299

def get_all_data
  send_request(FUNCTION_GET_ALL_DATA, [], '', 46, 's3 s3 s3 s3 s4 s3 s3 c C')
end

#get_all_data_period ⇒ Object

Returns the period as set by BrickIMUV2#set_all_data_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 430

def get_all_data_period
  send_request(FUNCTION_GET_ALL_DATA_PERIOD, [], '', 4, 'L')
end

#get_angular_velocity ⇒ Object

Returns the calibrated angular velocity from the gyroscope for the x, y and z axis in 1/16 °/s.

If you want to get the angular velocity periodically, it is recommended to use the callback CALLBACK_ANGULAR_VELOCITY and set the period with BrickIMUV2#set_angular_velocity_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 195

def get_angular_velocity
  send_request(FUNCTION_GET_ANGULAR_VELOCITY, [], '', 6, 's s s')
end

#get_angular_velocity_period ⇒ Object

Returns the period as set by BrickIMUV2#set_angular_velocity_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 364

def get_angular_velocity_period
  send_request(FUNCTION_GET_ANGULAR_VELOCITY_PERIOD, [], '', 4, 'L')
end

#get_chip_temperature ⇒ Object

Returns the temperature in °C/10 as measured inside the microcontroller. The value returned is not the ambient temperature!

The temperature is only proportional to the real temperature and it has an accuracy of +-15%. Practically it is only useful as an indicator for temperature changes.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 474

def get_chip_temperature
  send_request(FUNCTION_GET_CHIP_TEMPERATURE, [], '', 2, 's')
end

#get_gravity_vector ⇒ Object

Returns the current gravity vector of the IMU Brick for the x, y and z axis in 1/100 m/s².

The gravity vector is the acceleration that occurs due to gravity. Influences of additional linear acceleration are removed.

It is also possible to get the linear acceleration with the influence of gravity removed, see BrickIMUV2#get_linear_acceleration.

If you want to get the gravity vector periodically, it is recommended to use the callback CALLBACK_GRAVITY_VECTOR and set the period with BrickIMUV2#set_gravity_vector_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 252

def get_gravity_vector
  send_request(FUNCTION_GET_GRAVITY_VECTOR, [], '', 6, 's s s')
end

#get_gravity_vector_period ⇒ Object

Returns the period as set by BrickIMUV2#set_gravity_vector_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 408

def get_gravity_vector_period
  send_request(FUNCTION_GET_GRAVITY_VECTOR_PERIOD, [], '', 4, 'L')
end

#get_identity ⇒ Object

Returns the UID, the UID where the Brick is connected to, the position, the hardware and firmware version as well as the device identifier.

The position can be ‘0’-‘8’ (stack position).

The device identifier numbers can be found :ref:‘here <device_identifier>`. |device_identifier_constant|



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 496

def get_identity
  send_request(FUNCTION_GET_IDENTITY, [], '', 25, 'Z8 Z8 k C3 C3 S')
end

#get_linear_acceleration ⇒ Object

Returns the linear acceleration of the IMU Brick for the x, y and z axis in 1/100 m/s².

The linear acceleration is the acceleration in each of the three axis of the IMU Brick with the influences of gravity removed.

It is also possible to get the gravity vector with the influence of linear acceleration removed, see BrickIMUV2#get_gravity_vector.

If you want to get the linear acceleration periodically, it is recommended to use the callback CALLBACK_LINEAR_ACCELERATION and set the period with BrickIMUV2#set_linear_acceleration_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 236

def get_linear_acceleration
  send_request(FUNCTION_GET_LINEAR_ACCELERATION, [], '', 6, 's s s')
end

#get_linear_acceleration_period ⇒ Object

Returns the period as set by BrickIMUV2#set_linear_acceleration_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 397

def get_linear_acceleration_period
  send_request(FUNCTION_GET_LINEAR_ACCELERATION_PERIOD, [], '', 4, 'L')
end

#get_magnetic_field ⇒ Object

Returns the calibrated magnetic field from the magnetometer for the x, y and z axis in 1/16 µT (Microtesla).

If you want to get the magnetic field periodically, it is recommended to use the callback CALLBACK_MAGNETIC_FIELD and set the period with BrickIMUV2#set_magnetic_field_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 185

def get_magnetic_field
  send_request(FUNCTION_GET_MAGNETIC_FIELD, [], '', 6, 's s s')
end

#get_magnetic_field_period ⇒ Object

Returns the period as set by BrickIMUV2#set_magnetic_field_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 353

def get_magnetic_field_period
  send_request(FUNCTION_GET_MAGNETIC_FIELD_PERIOD, [], '', 4, 'L')
end

#get_orientation ⇒ Object

Returns the current orientation (heading, roll, pitch) of the IMU Brick as independent Euler angles in 1/16 degree. Note that Euler angles always experience a ‘gimbal lock <en.wikipedia.org/wiki/Gimbal_lock>`__. We recommend that you use quaternions instead, if you need the absolute orientation.

The rotation angle has the following ranges:

  • heading: 0° to 360°

  • roll: -90° to +90°

  • pitch: -180° to +180°

If you want to get the orientation periodically, it is recommended to use the callback CALLBACK_ORIENTATION and set the period with BrickIMUV2#set_orientation_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 220

def get_orientation
  send_request(FUNCTION_GET_ORIENTATION, [], '', 6, 's s s')
end

#get_orientation_period ⇒ Object

Returns the period as set by BrickIMUV2#set_orientation_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 386

def get_orientation_period
  send_request(FUNCTION_GET_ORIENTATION_PERIOD, [], '', 4, 'L')
end

#get_protocol1_bricklet_name(port) ⇒ Object

Returns the firmware and protocol version and the name of the Bricklet for a given port.

This functions sole purpose is to allow automatic flashing of v1.x.y Bricklet plugins.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 464

def get_protocol1_bricklet_name(port)
  send_request(FUNCTION_GET_PROTOCOL1_BRICKLET_NAME, [port], 'k', 44, 'C C3 Z40')
end

#get_quaternion ⇒ Object

Returns the current orientation (w, x, y, z) of the IMU Brick as ‘quaternions <en.wikipedia.org/wiki/Quaternions_and_spatial_rotation>`__.

You have to divide the returns values by 16383 (14 bit) to get the usual range of -1.0 to +1.0 for quaternions.

If you want to get the quaternions periodically, it is recommended to use the callback CALLBACK_QUATERNION and set the period with BrickIMUV2#set_quaternion_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 265

def get_quaternion
  send_request(FUNCTION_GET_QUATERNION, [], '', 8, 's s s s')
end

#get_quaternion_period ⇒ Object

Returns the period as set by BrickIMUV2#set_quaternion_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 419

def get_quaternion_period
  send_request(FUNCTION_GET_QUATERNION_PERIOD, [], '', 4, 'L')
end

#get_temperature ⇒ Object

Returns the temperature of the IMU Brick. The temperature is given in °C. The temperature is measured in the core of the BNO055 IC, it is not the ambient temperature



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 202

def get_temperature
  send_request(FUNCTION_GET_TEMPERATURE, [], '', 1, 'c')
end

#get_temperature_period ⇒ Object

Returns the period as set by BrickIMUV2#set_temperature_period.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 375

def get_temperature_period
  send_request(FUNCTION_GET_TEMPERATURE_PERIOD, [], '', 4, 'L')
end

#is_status_led_enabled ⇒ Object

Returns true if the status LED is enabled, false otherwise.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 455

def is_status_led_enabled
  send_request(FUNCTION_IS_STATUS_LED_ENABLED, [], '', 1, '?')
end

#leds_off ⇒ Object

Turns the orientation and direction LEDs of the IMU Brick off.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 309

def leds_off
  send_request(FUNCTION_LEDS_OFF, [], '', 0, '')
end

#leds_on ⇒ Object

Turns the orientation and direction LEDs of the IMU Brick on.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 304

def leds_on
  send_request(FUNCTION_LEDS_ON, [], '', 0, '')
end

#register_callback(id, &block) ⇒ Object

Registers a callback with ID id to the block block.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 501

def register_callback(id, &block)
  callback = block
  @registered_callbacks[id] = callback
end

#reset ⇒ Object

Calling this function will reset the Brick. Calling this function on a Brick inside of a stack will reset the whole stack.

After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 484

def reset
  send_request(FUNCTION_RESET, [], '', 0, '')
end

#save_calibration ⇒ Object

A call of this function saves the current calibration to be used as a starting point for the next restart of continuous calibration of the IMU Brick.

A return value of true means that the calibration could be used and false means that it could not be used (this happens if the calibration status is not “fully calibrated”).

This function is used by the calibration window of the Brick Viewer, you should not need to call it in your program.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 329

def save_calibration
  send_request(FUNCTION_SAVE_CALIBRATION, [], '', 1, '?')
end

#set_acceleration_period(period) ⇒ Object

Sets the period in ms with which the CALLBACK_ACCELERATION callback is triggered periodically. A value of 0 turns the callback off.

The default value is 0.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 337

def set_acceleration_period(period)
  send_request(FUNCTION_SET_ACCELERATION_PERIOD, [period], 'L', 0, '')
end

#set_all_data_period(period) ⇒ Object

Sets the period in ms with which the CALLBACK_ALL_DATA callback is triggered periodically. A value of 0 turns the callback off.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 425

def set_all_data_period(period)
  send_request(FUNCTION_SET_ALL_DATA_PERIOD, [period], 'L', 0, '')
end

#set_angular_velocity_period(period) ⇒ Object

Sets the period in ms with which the CALLBACK_ANGULAR_VELOCITY callback is triggered periodically. A value of 0 turns the callback off.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 359

def set_angular_velocity_period(period)
  send_request(FUNCTION_SET_ANGULAR_VELOCITY_PERIOD, [period], 'L', 0, '')
end

#set_gravity_vector_period(period) ⇒ Object

Sets the period in ms with which the CALLBACK_GRAVITY_VECTOR callback is triggered periodically. A value of 0 turns the callback off.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 403

def set_gravity_vector_period(period)
  send_request(FUNCTION_SET_GRAVITY_VECTOR_PERIOD, [period], 'L', 0, '')
end

#set_linear_acceleration_period(period) ⇒ Object

Sets the period in ms with which the CALLBACK_LINEAR_ACCELERATION callback is triggered periodically. A value of 0 turns the callback off.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 392

def set_linear_acceleration_period(period)
  send_request(FUNCTION_SET_LINEAR_ACCELERATION_PERIOD, [period], 'L', 0, '')
end

#set_magnetic_field_period(period) ⇒ Object

Sets the period in ms with which the CALLBACK_MAGNETIC_FIELD callback is triggered periodically. A value of 0 turns the callback off.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 348

def set_magnetic_field_period(period)
  send_request(FUNCTION_SET_MAGNETIC_FIELD_PERIOD, [period], 'L', 0, '')
end

#set_orientation_period(period) ⇒ Object

Sets the period in ms with which the CALLBACK_ORIENTATION callback is triggered periodically. A value of 0 turns the callback off.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 381

def set_orientation_period(period)
  send_request(FUNCTION_SET_ORIENTATION_PERIOD, [period], 'L', 0, '')
end

#set_quaternion_period(period) ⇒ Object

Sets the period in ms with which the CALLBACK_QUATERNION callback is triggered periodically. A value of 0 turns the callback off.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 414

def set_quaternion_period(period)
  send_request(FUNCTION_SET_QUATERNION_PERIOD, [period], 'L', 0, '')
end

#set_temperature_period(period) ⇒ Object

Sets the period in ms with which the CALLBACK_TEMPERATURE callback is triggered periodically. A value of 0 turns the callback off.



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# File 'lib/tinkerforge/brick_imu_v2.rb', line 370

def set_temperature_period(period)
  send_request(FUNCTION_SET_TEMPERATURE_PERIOD, [period], 'L', 0, '')
end