imu — imu sensor

The imu module is used for reading the 6-DOF LSM6DS3 IMU sensor under the camera sensor.

Functions

imu.acceleration_mg

imu.acceleration_mg() -> Tuple[float, float, float]

Returns the acceleration for (x, y, z) in a float tuple in milli-g’s.

For when the camera board is lying on a table face up:

X points to the right of the camera sensor Y points down below the camera sensor (towards the bottom on the board) Z points in the reverse direction of the camera sensor (into the table)

imu.angular_rate_mdps

imu.angular_rate_mdps() -> Tuple[float, float, float]

Returns the angular rate for (x, y, z) in a float tuple in milli-degrees-per-second.

For when the camera board is lying on a table face up:

X points to the right of the camera sensor Y points down below the camera sensor (towards the bottom on the board) Z points in the reverse direction of the camera sensor (into the table)

imu.temperature_c

imu.temperature_c() -> float

Returns the temperature in celsius (float).

imu.roll

imu.roll() -> float

Returns the rotation angle in degrees (float) of the camera module.

• 0 -> Camera is standing up.
• 90 -> Camera is rotated left.
• 180 -> Camera is upside down.
• 270 -> Camera is rotated right.

imu.pitch

imu.pitch() -> float

Returns the rotation angle in degrees (float) of the camera module.

• 0 -> Camera is standing up.
• 90 -> Camera is pointing down.
• 180 -> Camera is upside down.
• 270 -> Camera is pointing up.

imu.sleep

imu.sleep(enable: bool) -> None

Pass True to put the IMU sensor to sleep. False to wake it back up (the default).

imu.__write_reg

imu.__write_reg(addr: int, val: int) -> None

Set 8-bit LSM6DS3 register addr to 8-bit val.

imu.__read_reg

imu.__read_reg(addr: int) -> int

Get 8-bit LSM6DS3 register addr.