imu.h file
Contents
Contains prototypes for functions related to the VEX Inertial sensor.
This file should not be modified by users, since it gets replaced whenever a kernel upgrade occurs.
This Source Code Form is subject to the terms of the Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with this file, You can obtain one at http:/
Namespaces
Functions
- struct __attribute__((__packed__)) gps_position_s
- int32_t imu_reset(uint8_t port)
- Calibrate IMU.
- int32_t imu_reset_blocking(uint8_t port)
- Calibrate IMU and Blocks while Calibrating.
- int32_t imu_set_data_rate(uint8_t port, uint32_t rate)
- Set the Inertial Sensor's refresh interval in milliseconds.
- double imu_get_rotation(uint8_t port)
- Get the total number of degrees the Inertial Sensor has spun about the z-axis.
- double imu_get_heading(uint8_t port)
- Get the Inertial Sensor's heading relative to the initial direction of its x-axis.
-
quaternion_
s_ t imu_get_quaternion(uint8_t port) - Get a quaternion representing the Inertial Sensor's orientation.
-
euler_
s_ t imu_get_euler(uint8_t port) - Get the Euler angles representing the Inertial Sensor's orientation.
-
imu_
gyro_ s_ t imu_get_gyro_rate(uint8_t port) - Get the Inertial Sensor's raw gyroscope values.
-
imu_
accel_ s_ t imu_get_accel(uint8_t port) - Get the Inertial Sensor's raw acceleroneter values.
- imu_status_e_t imu_get_status(uint8_t port)
- Get the Inertial Sensor's status.
- double imu_get_pitch(uint8_t port)
- Get the Inertial Sensor's pitch angle bounded by (-180,180)
- double imu_get_roll(uint8_t port)
- Get the Inertial Sensor's roll angle bounded by (-180,180)
- double imu_get_yaw(uint8_t port)
- Get the Inertial Sensor's yaw angle bounded by (-180,180)
Value Reset Functions
- int32_t imu_tare_heading(uint8_t port)
- Resets the current reading of the Inertial Sensor's heading to zero.
- int32_t imu_tare_rotation(uint8_t port)
- Resets the current reading of the Inertial Sensor's rotation to zero.
- int32_t imu_tare_pitch(uint8_t port)
- Resets the current reading of the Inertial Sensor's pitch to zero.
- int32_t imu_tare_roll(uint8_t port)
- Resets the current reading of the Inertial Sensor's roll to zero.
- int32_t imu_tare_yaw(uint8_t port)
- Resets the current reading of the Inertial Sensor's yaw to zero.
- int32_t imu_tare_euler(uint8_t port)
- Reset all 3 euler values of the Inertial Sensor to 0.
- int32_t imu_tare(uint8_t port)
- Resets all 5 values of the Inertial Sensor to 0.
Value Set Functions
-
int32_t imu_set_euler(uint8_t port,
euler_
s_ t target) - Sets the current reading of the Inertial Sensor's euler values to target euler values.
- int32_t imu_set_rotation(uint8_t port, double target)
- Sets the current reading of the Inertial Sensor's rotation to target value.
- int32_t imu_set_heading(uint8_t port, double target)
- Sets the current reading of the Inertial Sensor's heading to target value Target will default to 360 if above 360 and default to 0 if below 0.
- int32_t imu_set_pitch(uint8_t port, double target)
- Sets the current reading of the Inertial Sensor's pitch to target value Will default to +/- 180 if target exceeds +/- 180.
- int32_t imu_set_roll(uint8_t port, double target)
- Sets the current reading of the Inertial Sensor's roll to target value Will default to +/- 180 if target exceeds +/- 180.
- int32_t imu_set_yaw(uint8_t port, double target)
- Sets the current reading of the Inertial Sensor's yaw to target value Will default to +/- 180 if target exceeds +/- 180.
- imu_orientation_e_t imu_get_physical_orientation(uint8_t port)
- Returns the physical orientation of the IMU.
Enums
- enum imu_status_e { E_IMU_STATUS_READY = 0, E_IMU_STATUS_CALIBRATING = 1, E_IMU_STATUS_ERROR = 0xFF }
- enum imu_orientation_e { E_IMU_Z_UP = 0, E_IMU_Z_DOWN = 1, E_IMU_X_UP = 2, E_IMU_X_DOWN = 3, E_IMU_Y_UP = 4, E_IMU_Y_DOWN = 5, E_IMU_ORIENTATION_ERROR = 0xFF }
Typedefs
- using imu_gyro_s_t = struct imu_raw_s
- using imu_accel_s_t = struct imu_raw_s
Variables
Defines
- #define IMU_MINIMUM_DATA_RATE