Unit IMU

Example

Gets the current gyroscope status

from m5stack import *
from m5ui import *
from uiflow import *
import unit

setScreenColor(0x222222)
unit_imu_0 = unit.get(unit.IMU6886, unit.PORTA)

unit_imu_0.setAccUnit(0)
unit_imu_0.gyroFullScaleRange(0x00)
while True:
  print((str('ACC Z:') + str((unit_imu_0.acceleration[0]))))
  print((str('ACC Y:') + str((unit_imu_0.acceleration[1]))))
  print((str('ACC Y:') + str((unit_imu_0.acceleration[2]))))
  print((str('Gyro X:') + str((unit_imu_0.gyro[0]))))
  print((str('Gyro Y:') + str((unit_imu_0.gyro[1]))))
  print((str('Gyro Z:') + str((unit_imu_0.gyro[2]))))
  wait_ms(2)

API

unit_imu_0.accFullScaleRange(0x00)

• Set the full range of acceleration scales

print(unit_imu_0.acceleration[0])

• Get the value of the accelerometer on the X-axis

print(unit_imu_0.acceleration[1])

• Get the value of the accelerometer on the Y-axis

print(unit_imu_0.acceleration[2])

• Get the value of the accelerometer on the Z-axis

print(unit_imu_0.gyro[0])

• Get the value of the gyroscope on the X-axis

print(unit_imu_0.gyro[1])

• Get the value of the gyroscope on the Y-axis

print(unit_imu_0.gyro[2])

• Get the value of the gyroscope on the Z-axis

print(unit_imu_0.ypr[1])

• Get the attitude angle on the X-axis

print(unit_imu_0.ypr[2])

• Get the attitude angle on the Y-axis

unit_imu_0.gyroCalibrate(250, 5)

• Set gyroscope calibration using the number of samples and delay per sample

unit_imu_0.gyroFullScaleRange(0x00)

• Set the gyroscope scale range

unit_imu_0.setAccUnit(0)

• Set the accelerometer unit to g or m/s^2

unit_imu_0.setGyroOffsets(0, 0, 0)

• Set manual gyroscope calibration offset values