def IMU_init():
global ipcon
HOST = "localhost"
PORT = 4223
UID = "5VHux5" # Unique ID of IMU Brick
period = 7 #ms
ipcon = IPConnection() # Create IP connection object
imu = BrickIMU(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
print("Hey, IMU connected!")
# Set non-blocking callback funtions to read the sensor. CALLBACK_ACCELERATION is called each "period" ms
# and the returned value is send to cb_acceleration as an argument.
imu.register_callback(imu.CALLBACK_ACCELERATION, cb_acceleration)
imu.register_callback(imu.CALLBACK_ANGULAR_VELOCITY, cb_angular_velocity)
imu.set_acceleration_period(period)
imu.set_angular_velocity_period(period)
UID = "XXYYZZ" # Change XXYYZZ to the UID of your IMU Brick
from tinkerforge.ip_connection import IPConnection
from tinkerforge.brick_imu import BrickIMU
# Callback function for quaternion callback
def cb_quaternion(x, y, z, w):
print("Quaternion[X]: " + str(x))
print("Quaternion[Y]: " + str(y))
print("Quaternion[Z]: " + str(z))
print("Quaternion[W]: " + str(w))
print("")
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
imu = BrickIMU(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
# Register quaternion callback to function cb_quaternion
imu.register_callback(imu.CALLBACK_QUATERNION, cb_quaternion)
# Set period for quaternion callback to 1s (1000ms)
# Note: The quaternion callback is only called every second
# if the quaternion has changed since the last call!
imu.set_quaternion_period(1000)
raw_input("Press key to exit\n") # Use input() in Python 3
ipcon.disconnect()
#!/usr/bin/env python
# -*- coding: utf-8 -*-
HOST = "localhost"
PORT = 4223
UID = "XXYYZZ" # Change XXYYZZ to the UID of your IMU Brick
from tinkerforge.ip_connection import IPConnection
from tinkerforge.brick_imu import BrickIMU
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
imu = BrickIMU(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
# Get current quaternion
x, y, z, w = imu.get_quaternion()
print("Quaternion[X]: " + str(x))
print("Quaternion[Y]: " + str(y))
print("Quaternion[Z]: " + str(z))
print("Quaternion[W]: " + str(w))
raw_input("Press key to exit\n") # Use input() in Python 3
ipcon.disconnect()
#!/usr/bin/env python
# -*- coding: utf-8 -*-
HOST = "localhost"
PORT = 4223
UID = "62Bous" # Change XXYYZZ to the UID of your IMU Brick
from tinkerforge.ip_connection import IPConnection
from tinkerforge.brick_imu import BrickIMU
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
imu = BrickIMU(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
# Get current quaternion
x, y, z, w = imu.get_quaternion()
print("Quaternion[X]: " + str(x))
print("Quaternion[Y]: " + str(y))
print("Quaternion[Z]: " + str(z))
print("Quaternion[W]: " + str(w))
raw_input("Press key to exit\n") # Use input() in Python 3
ipcon.disconnect()
