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IMU

Python Library for ST LSM6DS33 IMU.

Python Library

Turta_IMU library is responsible for reading reading 3D gyro and acceleration data.

Initialization

Add the following statement to the top of your Python code.
from turta_rcdriverhat import Turta_IMU
Then, create an instance of the IMU class.
imu = Turta_IMU.IMU()
Now you're ready to access the library by calling its instance.
​

Basic Members

Read Accel X

Reads the X-axis acceleration.
read_accel_x()
  • Parameters
    • None
  • Returns
    • Int: X-axis acceleration.
​

Read Accel Y

Reads the Y-axis acceleration.
read_accel_y()
  • Parameters
    • None
  • Returns
    • Int: Y-axis acceleration.
​

Read Accel Z

Reads the Z-axis acceleration.
read_accel_z()
  • Parameters
    • None
  • Returns
    • Int: Z-axis acceleration.
​

Read Accel XYZ

Reads the accelerations of X, Y and Z-axes.
read_accel_xyz()
  • Parameters
    • None
  • Returns
    • Int[]: Acceleration of X, Y and Z-axes respectively.
​

Read Pitch

Reads the pitch on X-axis.
read_gyro_x_pitch()
  • Parameters
    • None
  • Returns
    • Int: Pitch.
​

Read Roll

Reads the roll on Y-axis.
read_gyro_y_roll()
  • Parameters
    • None
  • Returns
    • Int: Roll.
​

Read Yaw

Reads the yaw on Z-axis.
read_gyro_z_yaw()
  • Parameters
    • None
  • Returns
    • Int: Yaw.
​

Read Gyro XYZ

Reads the pitch, roll and yaw.
read_gyro_xyz()
  • Parameters
    • None
  • Returns
    • Int array: Pitch, roll and yaw values respectively.
​

Read Gyro Accel XYZ

Reads the accelerations of X, Y, Z-axes and pitch, roll, yaw values.
read_gyro_accel_xyz()
  • Parameters
    • None
  • Returns
    • Int[]: X accel, Y accel, Z accel, pitch, roll and yaw values respectively.
​

Read Internal Temperature

Reads the temperature of the IMU.
read_temp(fahrenheit)
  • Parameters
    • Bool fahrenheit: True for Fahrenheit output, False for Celcius output. (False is default.)
  • Returns
    • Float: Temperature of IMU.
​

Advanced Members

Test IMU

Sends Who_Am_I command to the IMU, checks if it responses correctly.
config(ch, pga, mode, dr, ts_mode)
  • Parameters
    • None
  • Returns
    • Bool: True if the device responses with 0x69, False if not.
​

Finalizer

When exiting from the program, the library turns off the IMU and then releases the SPI bus & interrupt pins.
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Last modified 3yr ago