Tinkerforge::BrickIMUV2 - Full fledged AHRS with 9 degrees of freedom
This constant is used to identify a IMU Brick 2.0.
The get_identity() subroutine and the CALLBACK_ENUMERATE callback of the IP Connection have a device_identifier parameter to specify the Brick's or Bricklet's type.
This constant represents the display name of a IMU Brick 2.0.
This constant is used with the register_callback() subroutine to specify the CALLBACK_ACCELERATION callback.
This constant is used with the register_callback() subroutine to specify the CALLBACK_MAGNETIC_FIELD callback.
This constant is used with the register_callback() subroutine to specify the CALLBACK_ANGULAR_VELOCITY callback.
This constant is used with the register_callback() subroutine to specify the CALLBACK_TEMPERATURE callback.
This constant is used with the register_callback() subroutine to specify the CALLBACK_LINEAR_ACCELERATION callback.
This constant is used with the register_callback() subroutine to specify the CALLBACK_GRAVITY_VECTOR callback.
This constant is used with the register_callback() subroutine to specify the CALLBACK_ORIENTATION callback.
This constant is used with the register_callback() subroutine to specify the CALLBACK_QUATERNION callback.
This constant is used with the register_callback() subroutine to specify the CALLBACK_ALL_DATA callback.
This constant is used with the get_response_expected(), set_response_expected() and set_response_expected_all() subroutines.
Creates an object with the unique device ID *uid* and adds it to the IP Connection *ipcon*.
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 :func:`Acceleration` and set the period with :func:`SetAccelerationPeriod`.
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 :func:`MagneticField` and set the period with :func:`SetMagneticFieldPeriod`.
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 :func:`AngularVelocity` and set the period with :func:`SetAngularVelocityPeriod`.
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
Returns the current orientation (heading, roll, pitch) of the IMU Brick as Euler angles in 1/16 degree. Note that Euler angles always experience a `gimbal lock <https://en.wikipedia.org/wiki/Gimbal_lock>`__.
We recommend that you use quaternions instead.
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 :func:`Orientation` and set the period with :func:`SetOrientationPeriod`.
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 :func:`GetGravityVector`.
If you want to get the linear acceleration periodically, it is recommended to use the callback :func:`LinearAcceleration` and set the period with :func:`SetLinearAccelerationPeriod`.
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 :func:`GetLinearAcceleration`.
If you want to get the gravity vector periodically, it is recommended to use the callback :func:`GravityVector` and set the period with :func:`SetGravityVectorPeriod`.
Returns the current orientation (w, x, y, z) of the IMU Brick as `quaternions <https://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 :func:`Quaternion` and set the period with :func:`SetQuaternionPeriod`.
Return all of the available data of the IMU Brick.
* acceleration in 1/100 m/s² (see :func:`GetAcceleration`) * magnetic field in 1/16 µT (see :func:`GetMagneticField`) * angular velocity in 1/16 °/s (see :func:`GetAngularVelocity`) * Euler angles in 1/16 ° (see :func:`GetOrientation`) * quaternion 1/16383 (see :func:`GetQuaternion`) * linear acceleration 1/100 m/s² (see :func:`GetLinearAcceleration`) * gravity vector 1/100 m/s² (see :func:`GetGravityVector`) * temperature in 1 °C (see :func:`GetTemperature`) * 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 :func:`AllData` and set the period with :func:`SetAllDataPeriod`.
Turns the orientation and direction LEDs of the IMU Brick on.
Turns the orientation and direction LEDs of the IMU Brick off.
Returns *true* if the orientation and direction LEDs of the IMU Brick are on, *false* otherwise.
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.
Sets the period in ms with which the :func:`Acceleration` callback is triggered periodically. A value of 0 turns the callback off.
The default value is 0.
Returns the period as set by :func:`SetAccelerationPeriod`.
Sets the period in ms with which the :func:`MagneticField` callback is triggered periodically. A value of 0 turns the callback off.
Returns the period as set by :func:`SetMagneticFieldPeriod`.
Sets the period in ms with which the :func:`AngularVelocity` callback is triggered periodically. A value of 0 turns the callback off.
Returns the period as set by :func:`SetAngularVelocityPeriod`.
Sets the period in ms with which the :func:`Temperature` callback is triggered periodically. A value of 0 turns the callback off.
Returns the period as set by :func:`SetTemperaturePeriod`.
Sets the period in ms with which the :func:`Orientation` callback is triggered periodically. A value of 0 turns the callback off.
Returns the period as set by :func:`SetOrientationPeriod`.
Sets the period in ms with which the :func:`LinearAcceleration` callback is triggered periodically. A value of 0 turns the callback off.
Returns the period as set by :func:`SetLinearAccelerationPeriod`.
Sets the period in ms with which the :func:`GravityVector` callback is triggered periodically. A value of 0 turns the callback off.
Returns the period as set by :func:`SetGravityVectorPeriod`.
Sets the period in ms with which the :func:`Quaternion` callback is triggered periodically. A value of 0 turns the callback off.
Returns the period as set by :func:`SetQuaternionPeriod`.
Sets the period in ms with which the :func:`AllData` callback is triggered periodically. A value of 0 turns the callback off.
Returns the period as set by :func:`SetAllDataPeriod`.
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.
Disables the status LED.
Returns *true* if the status LED is enabled, *false* otherwise.
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.
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.
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!
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|
To install Tinkerforge, copy and paste the appropriate command in to your terminal.
cpanm
cpanm Tinkerforge
CPAN shell
perl -MCPAN -e shell install Tinkerforge
For more information on module installation, please visit the detailed CPAN module installation guide.