tinkerforge 2.0.7

data/lib/tinkerforge.rb

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+
+require 'tinkerforge/version'
+
+module Tinkerforge
+end

data/lib/tinkerforge/brick_dc.rb

@@ -0,0 +1,359 @@
+# -*- ruby encoding: utf-8 -*-
+#############################################################
+# This file was automatically generated on 2013-05-16.      #
+#                                                           #
+# Bindings Version 2.0.7                                    #
+#                                                           #
+# If you have a bugfix for this file and want to commit it, #
+# please fix the bug in the generator. You can find a link  #
+# to the generator git on tinkerforge.com                   #
+#############################################################
+
+module Tinkerforge
+  # Device for controlling DC motors
+  class BrickDC < Device
+    DEVICE_IDENTIFIER = 11 # :nodoc:
+
+    # This callback is triggered when the input voltage drops below the value set by
+    # BrickDC#set_minimum_voltage. The parameter is the current voltage given
+    # in mV.
+    CALLBACK_UNDER_VOLTAGE = 21
+
+    # This callback is triggered if either the current consumption
+    # is too high (above 5A) or the temperature of the driver chip is too high
+    # (above 175°C). These two possibilities are essentially the same, since the
+    # temperature will reach this threshold immediately if the motor consumes too
+    # much current. In case of a voltage below 3.3V (external or stack) this
+    # callback is triggered as well.
+    # 
+    # If this callback is triggered, the driver chip gets disabled at the same time.
+    # That means, BrickDC#enable has to be called to drive the motor again.
+    # 
+    # .. note::
+    #  This callback only works in Drive/Brake mode (see BrickDC#set_drive_mode). In
+    #  Drive/Coast mode it is unfortunately impossible to reliably read the
+    #  overcurrent/overtemperature signal from the driver chip.
+    CALLBACK_EMERGENCY_SHUTDOWN = 22
+
+    # This callback is triggered whenever a set velocity is reached. For example:
+    # If a velocity of 0 is present, acceleration is set to 5000 and velocity
+    # to 10000, CALLBACK_VELOCITY_REACHED will be triggered after about 2 seconds, when
+    # the set velocity is actually reached.
+    # 
+    # .. note::
+    #  Since we can't get any feedback from the DC motor, this only works if the
+    #  acceleration (see BrickDC#set_acceleration) is set smaller or equal to the
+    #  maximum acceleration of the motor. Otherwise the motor will lag behind the
+    #  control value and the callback will be triggered too early.
+    CALLBACK_VELOCITY_REACHED = 23
+
+    # This callback is triggered with the period that is set by
+    # BrickDC#set_current_velocity_period. The parameter is the *current* velocity
+    # used by the motor.
+    # 
+    # CALLBACK_CURRENT_VELOCITY is only triggered after the set period if there is
+    # a change in the velocity.
+    CALLBACK_CURRENT_VELOCITY = 24
+
+    FUNCTION_SET_VELOCITY = 1 # :nodoc:
+    FUNCTION_GET_VELOCITY = 2 # :nodoc:
+    FUNCTION_GET_CURRENT_VELOCITY = 3 # :nodoc:
+    FUNCTION_SET_ACCELERATION = 4 # :nodoc:
+    FUNCTION_GET_ACCELERATION = 5 # :nodoc:
+    FUNCTION_SET_PWM_FREQUENCY = 6 # :nodoc:
+    FUNCTION_GET_PWM_FREQUENCY = 7 # :nodoc:
+    FUNCTION_FULL_BRAKE = 8 # :nodoc:
+    FUNCTION_GET_STACK_INPUT_VOLTAGE = 9 # :nodoc:
+    FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE = 10 # :nodoc:
+    FUNCTION_GET_CURRENT_CONSUMPTION = 11 # :nodoc:
+    FUNCTION_ENABLE = 12 # :nodoc:
+    FUNCTION_DISABLE = 13 # :nodoc:
+    FUNCTION_IS_ENABLED = 14 # :nodoc:
+    FUNCTION_SET_MINIMUM_VOLTAGE = 15 # :nodoc:
+    FUNCTION_GET_MINIMUM_VOLTAGE = 16 # :nodoc:
+    FUNCTION_SET_DRIVE_MODE = 17 # :nodoc:
+    FUNCTION_GET_DRIVE_MODE = 18 # :nodoc:
+    FUNCTION_SET_CURRENT_VELOCITY_PERIOD = 19 # :nodoc:
+    FUNCTION_GET_CURRENT_VELOCITY_PERIOD = 20 # :nodoc:
+    FUNCTION_GET_PROTOCOL1_BRICKLET_NAME = 241 # :nodoc:
+    FUNCTION_GET_CHIP_TEMPERATURE = 242 # :nodoc:
+    FUNCTION_RESET = 243 # :nodoc:
+    FUNCTION_GET_IDENTITY = 255 # :nodoc:
+
+    DRIVE_MODE_DRIVE_BRAKE = 0 # :nodoc:
+    DRIVE_MODE_DRIVE_COAST = 1 # :nodoc:
+
+    # Creates an object with the unique device ID <tt>uid</tt> and adds it to
+    # the IP Connection <tt>ipcon</tt>.
+    def initialize(uid, ipcon)
+      super uid, ipcon
+
+      @api_version = [2, 0, 0]
+
+      @response_expected[FUNCTION_SET_VELOCITY] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_CURRENT_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_ACCELERATION] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_ACCELERATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_PWM_FREQUENCY] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_PWM_FREQUENCY] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_FULL_BRAKE] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_STACK_INPUT_VOLTAGE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_CURRENT_CONSUMPTION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_ENABLE] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_DISABLE] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_IS_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_MINIMUM_VOLTAGE] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_MINIMUM_VOLTAGE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_DRIVE_MODE] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_DRIVE_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_CURRENT_VELOCITY_PERIOD] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_CURRENT_VELOCITY_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[CALLBACK_UNDER_VOLTAGE] = RESPONSE_EXPECTED_ALWAYS_FALSE
+      @response_expected[CALLBACK_EMERGENCY_SHUTDOWN] = RESPONSE_EXPECTED_ALWAYS_FALSE
+      @response_expected[CALLBACK_VELOCITY_REACHED] = RESPONSE_EXPECTED_ALWAYS_FALSE
+      @response_expected[CALLBACK_CURRENT_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_FALSE
+      @response_expected[FUNCTION_GET_PROTOCOL1_BRICKLET_NAME] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_CHIP_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_RESET] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
+
+      @callback_formats[CALLBACK_UNDER_VOLTAGE] = 'S'
+      @callback_formats[CALLBACK_EMERGENCY_SHUTDOWN] = ''
+      @callback_formats[CALLBACK_VELOCITY_REACHED] = 's'
+      @callback_formats[CALLBACK_CURRENT_VELOCITY] = 's'
+    end
+
+    # Sets the velocity of the motor. Whereas -32767 is full speed backward,
+    # 0 is stop and 32767 is full speed forward. Depending on the
+    # acceleration (see BrickDC#set_acceleration), the motor is not immediately
+    # brought to the velocity but smoothly accelerated.
+    # 
+    # The velocity describes the duty cycle of the PWM with which the motor is
+    # controlled, e.g. a velocity of 3277 sets a PWM with a 10% duty cycle.
+    # You can not only control the duty cycle of the PWM but also the frequency,
+    # see BrickDC#set_pwm_frequency.
+    # 
+    # The default velocity is 0.
+    def set_velocity(velocity)
+      send_request(FUNCTION_SET_VELOCITY, [velocity], 's', 0, '')
+    end
+
+    # Returns the velocity as set by BrickDC#set_velocity.
+    def get_velocity
+      send_request(FUNCTION_GET_VELOCITY, [], '', 2, 's')
+    end
+
+    # Returns the *current* velocity of the motor. This value is different
+    # from BrickDC#get_velocity whenever the motor is currently accelerating
+    # to a goal set by BrickDC#set_velocity.
+    def get_current_velocity
+      send_request(FUNCTION_GET_CURRENT_VELOCITY, [], '', 2, 's')
+    end
+
+    # Sets the acceleration of the motor. It is given in *velocity/s*. An
+    # acceleration of 10000 means, that every second the velocity is increased
+    # by 10000 (or about 30% duty cycle).
+    # 
+    # For example: If the current velocity is 0 and you want to accelerate to a
+    # velocity of 16000 (about 50% duty cycle) in 10 seconds, you should set
+    # an acceleration of 1600.
+    # 
+    # If acceleration is set to 0, there is no speed ramping, i.e. a new velocity
+    # is immediately given to the motor.
+    # 
+    # The default acceleration is 10000.
+    def set_acceleration(acceleration)
+      send_request(FUNCTION_SET_ACCELERATION, [acceleration], 'S', 0, '')
+    end
+
+    # Returns the acceleration as set by BrickDC#set_acceleration.
+    def get_acceleration
+      send_request(FUNCTION_GET_ACCELERATION, [], '', 2, 'S')
+    end
+
+    # Sets the frequency (in Hz) of the PWM with which the motor is driven.
+    # The possible range of the frequency is 1-20000Hz. Often a high frequency
+    # is less noisy and the motor runs smoother. However, with a low frequency
+    # there are less switches and therefore fewer switching losses. Also with
+    # most motors lower frequencies enable higher torque.
+    # 
+    # If you have no idea what all this means, just ignore this function and use
+    # the default frequency, it will very likely work fine.
+    # 
+    # The default frequency is 15 kHz.
+    def set_pwm_frequency(frequency)
+      send_request(FUNCTION_SET_PWM_FREQUENCY, [frequency], 'S', 0, '')
+    end
+
+    # Returns the PWM frequency (in Hz) as set by BrickDC#set_pwm_frequency.
+    def get_pwm_frequency
+      send_request(FUNCTION_GET_PWM_FREQUENCY, [], '', 2, 'S')
+    end
+
+    # Executes an active full brake.
+    # 
+    # .. warning::
+    #  This function is for emergency purposes,
+    #  where an immediate brake is necessary. Depending on the current velocity and
+    #  the strength of the motor, a full brake can be quite violent.
+    # 
+    # Call BrickDC#set_velocity with 0 if you just want to stop the motor.
+    def full_brake
+      send_request(FUNCTION_FULL_BRAKE, [], '', 0, '')
+    end
+
+    # Returns the stack input voltage in mV. The stack input voltage is the
+    # voltage that is supplied via the stack, i.e. it is given by a
+    # Step-Down or Step-Up Power Supply.
+    def get_stack_input_voltage
+      send_request(FUNCTION_GET_STACK_INPUT_VOLTAGE, [], '', 2, 'S')
+    end
+
+    # Returns the external input voltage in mV. The external input voltage is
+    # given via the black power input connector on the DC Brick.
+    # 
+    # If there is an external input voltage and a stack input voltage, the motor
+    # will be driven by the external input voltage. If there is only a stack
+    # voltage present, the motor will be driven by this voltage.
+    # 
+    # .. warning::
+    #  This means, if you have a high stack voltage and a low external voltage,
+    #  the motor will be driven with the low external voltage. If you then remove
+    #  the external connection, it will immediately be driven by the high
+    #  stack voltage.
+    def get_external_input_voltage
+      send_request(FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE, [], '', 2, 'S')
+    end
+
+    # Returns the current consumption of the motor in mA.
+    def get_current_consumption
+      send_request(FUNCTION_GET_CURRENT_CONSUMPTION, [], '', 2, 'S')
+    end
+
+    # Enables the driver chip. The driver parameters can be configured (velocity,
+    # acceleration, etc) before it is enabled.
+    def enable
+      send_request(FUNCTION_ENABLE, [], '', 0, '')
+    end
+
+    # Disables the driver chip. The configurations are kept (velocity,
+    # acceleration, etc) but the motor is not driven until it is enabled again.
+    def disable
+      send_request(FUNCTION_DISABLE, [], '', 0, '')
+    end
+
+    # Returns *true* if the driver chip is enabled, *false* otherwise.
+    def is_enabled
+      send_request(FUNCTION_IS_ENABLED, [], '', 1, '?')
+    end
+
+    # Sets the minimum voltage in mV, below which the CALLBACK_UNDER_VOLTAGE callback
+    # is triggered. The minimum possible value that works with the DC Brick is 5V.
+    # You can use this function to detect the discharge of a battery that is used
+    # to drive the motor. If you have a fixed power supply, you likely do not need
+    # this functionality.
+    # 
+    # The default value is 5V.
+    def set_minimum_voltage(voltage)
+      send_request(FUNCTION_SET_MINIMUM_VOLTAGE, [voltage], 'S', 0, '')
+    end
+
+    # Returns the minimum voltage as set by BrickDC#set_minimum_voltage
+    def get_minimum_voltage
+      send_request(FUNCTION_GET_MINIMUM_VOLTAGE, [], '', 2, 'S')
+    end
+
+    # Sets the drive mode. Possible modes are:
+    # 
+    # * 0 = Drive/Brake
+    # * 1 = Drive/Coast
+    # 
+    # These modes are different kinds of motor controls.
+    # 
+    # In Drive/Brake mode, the motor is always either driving or braking. There
+    # is no freewheeling. Advantages are: A more linear correlation between
+    # PWM and velocity, more exact accelerations and the possibility to drive
+    # with slower velocities.
+    # 
+    # In Drive/Coast mode, the motor is always either driving or freewheeling.
+    # Advantages are: Less current consumption and less demands on the motor and
+    # driver chip.
+    # 
+    # The default value is 0 = Drive/Brake.
+    def set_drive_mode(mode)
+      send_request(FUNCTION_SET_DRIVE_MODE, [mode], 'C', 0, '')
+    end
+
+    # Returns the drive mode, as set by BrickDC#set_drive_mode.
+    def get_drive_mode
+      send_request(FUNCTION_GET_DRIVE_MODE, [], '', 1, 'C')
+    end
+
+    # Sets a period in ms with which the CALLBACK_CURRENT_VELOCITY callback is triggered.
+    # A period of 0 turns the callback off.
+    # 
+    # The default value is 0.
+    def set_current_velocity_period(period)
+      send_request(FUNCTION_SET_CURRENT_VELOCITY_PERIOD, [period], 'S', 0, '')
+    end
+
+    # Returns the period as set by BrickDC#set_current_velocity_period.
+    def get_current_velocity_period
+      send_request(FUNCTION_GET_CURRENT_VELOCITY_PERIOD, [], '', 2, 'S')
+    end
+
+    # 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.
+    # 
+    # .. versionadded:: 2.0.0~(Firmware)
+    def get_protocol1_bricklet_name(port)
+      send_request(FUNCTION_GET_PROTOCOL1_BRICKLET_NAME, [port], 'k', 44, 'C C3 Z40')
+    end
+
+    # 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.
+    # 
+    # .. versionadded:: 1.1.3~(Firmware)
+    def get_chip_temperature
+      send_request(FUNCTION_GET_CHIP_TEMPERATURE, [], '', 2, 's')
+    end
+
+    # 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!
+    # 
+    # .. versionadded:: 1.1.3~(Firmware)
+    def reset
+      send_request(FUNCTION_RESET, [], '', 0, '')
+    end
+
+    # 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 identifiers can be found :ref:`here <device_identifier>`.
+    # 
+    # .. versionadded:: 2.0.0~(Firmware)
+    def get_identity
+      send_request(FUNCTION_GET_IDENTITY, [], '', 25, 'Z8 Z8 k C3 C3 S')
+    end
+
+    # Registers a callback with ID <tt>id</tt> to the block <tt>block</tt>.
+    def register_callback(id, &block)
+      callback = block
+      @registered_callbacks[id] = callback
+    end
+  end
+end

data/lib/tinkerforge/brick_imu.rb

@@ -0,0 +1,512 @@
+# -*- ruby encoding: utf-8 -*-
+#############################################################
+# This file was automatically generated on 2013-05-16.      #
+#                                                           #
+# Bindings Version 2.0.7                                    #
+#                                                           #
+# If you have a bugfix for this file and want to commit it, #
+# please fix the bug in the generator. You can find a link  #
+# to the generator git on tinkerforge.com                   #
+#############################################################
+
+module Tinkerforge
+  # Device for sensing acceleration, magnetic field and angular velocity
+  class BrickIMU < Device
+    DEVICE_IDENTIFIER = 16 # :nodoc:
+
+    # This callback is triggered periodically with the period that is set by
+    # BrickIMU#set_acceleration_period. The parameters are the acceleration
+    # for the x, y and z axis.
+    CALLBACK_ACCELERATION = 31
+
+    # This callback is triggered periodically with the period that is set by
+    # BrickIMU#set_magnetic_field_period. The parameters are the magnetic field
+    # for the x, y and z axis.
+    CALLBACK_MAGNETIC_FIELD = 32
+
+    # This callback is triggered periodically with the period that is set by
+    # BrickIMU#set_angular_velocity_period. The parameters are the angular velocity
+    # for the x, y and z axis.
+    CALLBACK_ANGULAR_VELOCITY = 33
+
+    # This callback is triggered periodically with the period that is set by
+    # BrickIMU#set_all_data_period. The parameters are the acceleration,
+    # the magnetic field and the angular velocity for the x, y and z axis as
+    # well as the temperature of the IMU Brick.
+    CALLBACK_ALL_DATA = 34
+
+    # This callback is triggered periodically with the period that is set by
+    # BrickIMU#set_orientation_period. The parameters are the orientation
+    # (roll, pitch and yaw) of the IMU Brick in Euler angles. See
+    # BrickIMU#get_orientation for details.
+    CALLBACK_ORIENTATION = 35
+
+    # This callback is triggered periodically with the period that is set by
+    # BrickIMU#set_quaternion_period. The parameters are the orientation
+    # (x, y, z, w) of the IMU Brick in quaternions. See BrickIMU#get_quaternion
+    # for details.
+    CALLBACK_QUATERNION = 36
+
+    FUNCTION_GET_ACCELERATION = 1 # :nodoc:
+    FUNCTION_GET_MAGNETIC_FIELD = 2 # :nodoc:
+    FUNCTION_GET_ANGULAR_VELOCITY = 3 # :nodoc:
+    FUNCTION_GET_ALL_DATA = 4 # :nodoc:
+    FUNCTION_GET_ORIENTATION = 5 # :nodoc:
+    FUNCTION_GET_QUATERNION = 6 # :nodoc:
+    FUNCTION_GET_IMU_TEMPERATURE = 7 # :nodoc:
+    FUNCTION_LEDS_ON = 8 # :nodoc:
+    FUNCTION_LEDS_OFF = 9 # :nodoc:
+    FUNCTION_ARE_LEDS_ON = 10 # :nodoc:
+    FUNCTION_SET_ACCELERATION_RANGE = 11 # :nodoc:
+    FUNCTION_GET_ACCELERATION_RANGE = 12 # :nodoc:
+    FUNCTION_SET_MAGNETOMETER_RANGE = 13 # :nodoc:
+    FUNCTION_GET_MAGNETOMETER_RANGE = 14 # :nodoc:
+    FUNCTION_SET_CONVERGENCE_SPEED = 15 # :nodoc:
+    FUNCTION_GET_CONVERGENCE_SPEED = 16 # :nodoc:
+    FUNCTION_SET_CALIBRATION = 17 # :nodoc:
+    FUNCTION_GET_CALIBRATION = 18 # :nodoc:
+    FUNCTION_SET_ACCELERATION_PERIOD = 19 # :nodoc:
+    FUNCTION_GET_ACCELERATION_PERIOD = 20 # :nodoc:
+    FUNCTION_SET_MAGNETIC_FIELD_PERIOD = 21 # :nodoc:
+    FUNCTION_GET_MAGNETIC_FIELD_PERIOD = 22 # :nodoc:
+    FUNCTION_SET_ANGULAR_VELOCITY_PERIOD = 23 # :nodoc:
+    FUNCTION_GET_ANGULAR_VELOCITY_PERIOD = 24 # :nodoc:
+    FUNCTION_SET_ALL_DATA_PERIOD = 25 # :nodoc:
+    FUNCTION_GET_ALL_DATA_PERIOD = 26 # :nodoc:
+    FUNCTION_SET_ORIENTATION_PERIOD = 27 # :nodoc:
+    FUNCTION_GET_ORIENTATION_PERIOD = 28 # :nodoc:
+    FUNCTION_SET_QUATERNION_PERIOD = 29 # :nodoc:
+    FUNCTION_GET_QUATERNION_PERIOD = 30 # :nodoc:
+    FUNCTION_ORIENTATION_CALCULATION_ON = 37 # :nodoc:
+    FUNCTION_ORIENTATION_CALCULATION_OFF = 38 # :nodoc:
+    FUNCTION_IS_ORIENTATION_CALCULATION_ON = 39 # :nodoc:
+    FUNCTION_GET_PROTOCOL1_BRICKLET_NAME = 241 # :nodoc:
+    FUNCTION_GET_CHIP_TEMPERATURE = 242 # :nodoc:
+    FUNCTION_RESET = 243 # :nodoc:
+    FUNCTION_GET_IDENTITY = 255 # :nodoc:
+
+    CALIBRATION_TYPE_ACCELEROMETER_GAIN = 0 # :nodoc:
+    CALIBRATION_TYPE_ACCELEROMETER_BIAS = 1 # :nodoc:
+    CALIBRATION_TYPE_MAGNETOMETER_GAIN = 2 # :nodoc:
+    CALIBRATION_TYPE_MAGNETOMETER_BIAS = 3 # :nodoc:
+    CALIBRATION_TYPE_GYROSCOPE_GAIN = 4 # :nodoc:
+    CALIBRATION_TYPE_GYROSCOPE_BIAS = 5 # :nodoc:
+
+    # Creates an object with the unique device ID <tt>uid</tt> and adds it to
+    # the IP Connection <tt>ipcon</tt>.
+    def initialize(uid, ipcon)
+      super uid, ipcon
+
+      @api_version = [2, 0, 1]
+
+      @response_expected[FUNCTION_GET_ACCELERATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_MAGNETIC_FIELD] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_ANGULAR_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_ALL_DATA] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_ORIENTATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_QUATERNION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_IMU_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_LEDS_ON] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_LEDS_OFF] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_ARE_LEDS_ON] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_ACCELERATION_RANGE] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_ACCELERATION_RANGE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_MAGNETOMETER_RANGE] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_MAGNETOMETER_RANGE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_CONVERGENCE_SPEED] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_CONVERGENCE_SPEED] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_CALIBRATION] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_CALIBRATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_ACCELERATION_PERIOD] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_ACCELERATION_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_MAGNETIC_FIELD_PERIOD] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_MAGNETIC_FIELD_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_ANGULAR_VELOCITY_PERIOD] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_ANGULAR_VELOCITY_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_ALL_DATA_PERIOD] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_ALL_DATA_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_ORIENTATION_PERIOD] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_ORIENTATION_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_QUATERNION_PERIOD] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_QUATERNION_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[CALLBACK_ACCELERATION] = RESPONSE_EXPECTED_ALWAYS_FALSE
+      @response_expected[CALLBACK_MAGNETIC_FIELD] = RESPONSE_EXPECTED_ALWAYS_FALSE
+      @response_expected[CALLBACK_ANGULAR_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_FALSE
+      @response_expected[CALLBACK_ALL_DATA] = RESPONSE_EXPECTED_ALWAYS_FALSE
+      @response_expected[CALLBACK_ORIENTATION] = RESPONSE_EXPECTED_ALWAYS_FALSE
+      @response_expected[CALLBACK_QUATERNION] = RESPONSE_EXPECTED_ALWAYS_FALSE
+      @response_expected[FUNCTION_ORIENTATION_CALCULATION_ON] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_ORIENTATION_CALCULATION_OFF] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_IS_ORIENTATION_CALCULATION_ON] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_PROTOCOL1_BRICKLET_NAME] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_CHIP_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_RESET] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
+
+      @callback_formats[CALLBACK_ACCELERATION] = 's s s'
+      @callback_formats[CALLBACK_MAGNETIC_FIELD] = 's s s'
+      @callback_formats[CALLBACK_ANGULAR_VELOCITY] = 's s s'
+      @callback_formats[CALLBACK_ALL_DATA] = 's s s s s s s s s s'
+      @callback_formats[CALLBACK_ORIENTATION] = 's s s'
+      @callback_formats[CALLBACK_QUATERNION] = 'e e e e'
+    end
+
+    # Returns the calibrated acceleration from the accelerometer for the 
+    # x, y and z axis in mG (G/1000, 1G = 9.80605m/s²).
+    # 
+    # If you want to get the acceleration periodically, it is recommended 
+    # to use the callback CALLBACK_ACCELERATION and set the period with 
+    # BrickIMU#set_acceleration_period.
+    def get_acceleration
+      send_request(FUNCTION_GET_ACCELERATION, [], '', 6, 's s s')
+    end
+
+    # Returns the calibrated magnetic field from the magnetometer for the 
+    # x, y and z axis in mG (Milligauss or Nanotesla).
+    # 
+    # If you want to get the magnetic field periodically, it is recommended 
+    # to use the callback CALLBACK_MAGNETIC_FIELD and set the period with 
+    # BrickIMU#set_magnetic_field_period.
+    def get_magnetic_field
+      send_request(FUNCTION_GET_MAGNETIC_FIELD, [], '', 6, 's s s')
+    end
+
+    # Returns the calibrated angular velocity from the gyroscope for the 
+    # x, y and z axis in °/17.5s (you have to divide by 17.5 to
+    # get the value in °/s).
+    # 
+    # If you want to get the angular velocity periodically, it is recommended 
+    # to use the callback CALLBACK_ANGULAR_VELOCITY and set the period with 
+    # BrickIMU#set_angular_velocity_period.
+    def get_angular_velocity
+      send_request(FUNCTION_GET_ANGULAR_VELOCITY, [], '', 6, 's s s')
+    end
+
+    # Returns the data from BrickIMU#get_acceleration, BrickIMU#get_magnetic_field 
+    # and BrickIMU#get_angular_velocity as well as the temperature of the IMU Brick.
+    # 
+    # The temperature is given in °C/100.
+    # 
+    # If you want to get the data periodically, it is recommended 
+    # to use the callback CALLBACK_ALL_DATA and set the period with 
+    # BrickIMU#set_all_data_period.
+    def get_all_data
+      send_request(FUNCTION_GET_ALL_DATA, [], '', 20, 's s s s s s s s s s')
+    end
+
+    # Returns the current orientation (roll, pitch, yaw) of the IMU Brick as Euler
+    # angles in one-hundredth degree. Note that Euler angles always experience a
+    # `gimbal lock <http://en.wikipedia.org/wiki/Gimbal_lock>`__.
+    # 
+    # We recommend that you use quaternions instead.
+    # 
+    # The order to sequence in which the orientation values should be applied is 
+    # roll, yaw, pitch. 
+    # 
+    # If you want to get the orientation periodically, it is recommended 
+    # to use the callback CALLBACK_ORIENTATION and set the period with 
+    # BrickIMU#set_orientation_period.
+    def get_orientation
+      send_request(FUNCTION_GET_ORIENTATION, [], '', 6, 's s s')
+    end
+
+    # Returns the current orientation (x, y, z, w) of the IMU as 
+    # `quaternions <http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation>`__.
+    # 
+    # You can go from quaternions to Euler angles with the following formula::
+    # 
+    #  roll  = atan2(2*y*w - 2*x*z, 1 - 2*y*y - 2*z*z)
+    #  pitch = atan2(2*x*w - 2*y*z, 1 - 2*x*x - 2*z*z)
+    #  yaw   =  asin(2*x*y + 2*z*w)
+    # 
+    # This process is not reversible, because of the 
+    # `gimbal lock <http://en.wikipedia.org/wiki/Gimbal_lock>`__.
+    # 
+    # Converting the quaternions to an OpenGL transformation matrix is
+    # possible with the following formula::
+    # 
+    #  matrix = [[1 - 2*(y*y + z*z),     2*(x*y - w*z),     2*(x*z + w*y), 0],
+    #            [    2*(x*y + w*z), 1 - 2*(x*x + z*z),     2*(y*z - w*x), 0],
+    #            [    2*(x*z - w*y),     2*(y*z + w*x), 1 - 2*(x*x + y*y), 0],
+    #            [                0,                 0,                 0, 1]]
+    # 
+    # If you want to get the quaternions periodically, it is recommended 
+    # to use the callback CALLBACK_QUATERNION and set the period with 
+    # BrickIMU#set_quaternion_period.
+    def get_quaternion
+      send_request(FUNCTION_GET_QUATERNION, [], '', 16, 'e e e e')
+    end
+
+    # Returns the temperature of the IMU Brick. The temperature is given in 
+    # °C/100.
+    def get_imu_temperature
+      send_request(FUNCTION_GET_IMU_TEMPERATURE, [], '', 2, 's')
+    end
+
+    # Turns the orientation and direction LEDs of the IMU Brick on.
+    def leds_on
+      send_request(FUNCTION_LEDS_ON, [], '', 0, '')
+    end
+
+    # Turns the orientation and direction LEDs of the IMU Brick off.
+    def leds_off
+      send_request(FUNCTION_LEDS_OFF, [], '', 0, '')
+    end
+
+    # Returns *true* if the orientation and direction LEDs of the IMU Brick
+    # are on, *false* otherwise.
+    def are_leds_on
+      send_request(FUNCTION_ARE_LEDS_ON, [], '', 1, '?')
+    end
+
+    # Not implemented yet.
+    def set_acceleration_range(range)
+      send_request(FUNCTION_SET_ACCELERATION_RANGE, [range], 'C', 0, '')
+    end
+
+    # Not implemented yet.
+    def get_acceleration_range
+      send_request(FUNCTION_GET_ACCELERATION_RANGE, [], '', 1, 'C')
+    end
+
+    # Not implemented yet.
+    def set_magnetometer_range(range)
+      send_request(FUNCTION_SET_MAGNETOMETER_RANGE, [range], 'C', 0, '')
+    end
+
+    # Not implemented yet.
+    def get_magnetometer_range
+      send_request(FUNCTION_GET_MAGNETOMETER_RANGE, [], '', 1, 'C')
+    end
+
+    # Sets the convergence speed of the IMU Brick in °/s. The convergence speed 
+    # determines how the different sensor measurements are fused.
+    # 
+    # If the orientation of the IMU Brick is off by 10° and the convergence speed is 
+    # set to 20°/s, it will take 0.5s until the orientation is corrected. However,
+    # if the correct orientation is reached and the convergence speed is too high,
+    # the orientation will fluctuate with the fluctuations of the accelerometer and
+    # the magnetometer.
+    # 
+    # If you set the convergence speed to 0, practically only the gyroscope is used
+    # to calculate the orientation. This gives very smooth movements, but errors of the
+    # gyroscope will not be corrected. If you set the convergence speed to something
+    # above 500, practically only the magnetometer and the accelerometer are used to
+    # calculate the orientation. In this case the movements are abrupt and the values
+    # will fluctuate, but there won't be any errors that accumulate over time.
+    # 
+    # In an application with high angular velocities, we recommend a high convergence
+    # speed, so the errors of the gyroscope can be corrected fast. In applications with
+    # only slow movements we recommend a low convergence speed. You can change the
+    # convergence speed on the fly. So it is possible (and recommended) to increase 
+    # the convergence speed before an abrupt movement and decrease it afterwards 
+    # again.
+    # 
+    # You might want to play around with the convergence speed in the Brick Viewer to
+    # get a feeling for a good value for your application.
+    # 
+    # The default value is 30.
+    def set_convergence_speed(speed)
+      send_request(FUNCTION_SET_CONVERGENCE_SPEED, [speed], 'S', 0, '')
+    end
+
+    # Returns the convergence speed as set by BrickIMU#set_convergence_speed.
+    def get_convergence_speed
+      send_request(FUNCTION_GET_CONVERGENCE_SPEED, [], '', 2, 'S')
+    end
+
+    # There are several different types that can be calibrated:
+    # 
+    #  "Type", "Description",        "Values"
+    # 
+    #  "0",    "Accelerometer Gain", "[mul x, mul y, mul z, div x, div y, div z, 0, 0, 0, 0]"
+    #  "1",    "Accelerometer Bias", "[bias x, bias y, bias z, 0, 0, 0, 0, 0, 0, 0]"
+    #  "2",    "Magnetometer Gain",  "[mul x, mul y, mul z, div x, div y, div z, 0, 0, 0, 0]"
+    #  "3",    "Magnetometer Bias",  "[bias x, bias y, bias z, 0, 0, 0, 0, 0, 0, 0]"
+    #  "4",    "Gyroscope Gain",     "[mul x, mul y, mul z, div x, div y, div z, 0, 0, 0, 0]"
+    #  "5",    "Gyroscope Bias",     "[bias xl, bias yl, bias zl, temp l, bias xh, bias yh, bias zh, temp h, 0, 0]"
+    # 
+    # The calibration via gain and bias is done with the following formula::
+    # 
+    #  new_value = (bias + orig_value) * gain_mul / gain_div
+    # 
+    # If you really want to write your own calibration software, please keep
+    # in mind that you first have to undo the old calibration (set bias to 0 and
+    # gain to 1/1) and that you have to average over several thousand values
+    # to obtain a usable result in the end.
+    # 
+    # The gyroscope bias is highly dependent on the temperature, so you have to
+    # calibrate the bias two times with different temperatures. The values xl, yl, zl 
+    # and temp l are the bias for x, y, z and the corresponding temperature for a 
+    # low temperature. The values xh, yh, zh and temp h are the same for a high 
+    # temperatures. The temperature difference should be at least 5°C. If you have 
+    # a temperature where the IMU Brick is mostly used, you should use this 
+    # temperature for one of the sampling points.
+    # 
+    # .. note::
+    #  We highly recommend that you use the Brick Viewer to calibrate your
+    #  IMU Brick.
+    def set_calibration(typ, data)
+      send_request(FUNCTION_SET_CALIBRATION, [typ, data], 'C s10', 0, '')
+    end
+
+    # Returns the calibration for a given type as set by BrickIMU#set_calibration.
+    def get_calibration(typ)
+      send_request(FUNCTION_GET_CALIBRATION, [typ], 'C', 20, 's10')
+    end
+
+    # Sets the period in ms with which the CALLBACK_ACCELERATION callback is triggered
+    # periodically. A value of 0 turns the callback off.
+    # 
+    # The default value is 0.
+    def set_acceleration_period(period)
+      send_request(FUNCTION_SET_ACCELERATION_PERIOD, [period], 'L', 0, '')
+    end
+
+    # Returns the period as set by BrickIMU#set_acceleration_period.
+    def get_acceleration_period
+      send_request(FUNCTION_GET_ACCELERATION_PERIOD, [], '', 4, 'L')
+    end
+
+    # Sets the period in ms with which the CALLBACK_MAGNETIC_FIELD callback is triggered
+    # periodically. A value of 0 turns the callback off.
+    def set_magnetic_field_period(period)
+      send_request(FUNCTION_SET_MAGNETIC_FIELD_PERIOD, [period], 'L', 0, '')
+    end
+
+    # Returns the period as set by BrickIMU#set_magnetic_field_period.
+    def get_magnetic_field_period
+      send_request(FUNCTION_GET_MAGNETIC_FIELD_PERIOD, [], '', 4, 'L')
+    end
+
+    # Sets the period in ms with which the CALLBACK_ANGULAR_VELOCITY callback is triggered
+    # periodically. A value of 0 turns the callback off.
+    def set_angular_velocity_period(period)
+      send_request(FUNCTION_SET_ANGULAR_VELOCITY_PERIOD, [period], 'L', 0, '')
+    end
+
+    # Returns the period as set by BrickIMU#set_angular_velocity_period.
+    def get_angular_velocity_period
+      send_request(FUNCTION_GET_ANGULAR_VELOCITY_PERIOD, [], '', 4, 'L')
+    end
+
+    # Sets the period in ms with which the CALLBACK_ALL_DATA callback is triggered
+    # periodically. A value of 0 turns the callback off.
+    def set_all_data_period(period)
+      send_request(FUNCTION_SET_ALL_DATA_PERIOD, [period], 'L', 0, '')
+    end
+
+    # Returns the period as set by BrickIMU#set_all_data_period.
+    def get_all_data_period
+      send_request(FUNCTION_GET_ALL_DATA_PERIOD, [], '', 4, 'L')
+    end
+
+    # Sets the period in ms with which the CALLBACK_ORIENTATION callback is triggered
+    # periodically. A value of 0 turns the callback off.
+    def set_orientation_period(period)
+      send_request(FUNCTION_SET_ORIENTATION_PERIOD, [period], 'L', 0, '')
+    end
+
+    # Returns the period as set by BrickIMU#set_orientation_period.
+    def get_orientation_period
+      send_request(FUNCTION_GET_ORIENTATION_PERIOD, [], '', 4, 'L')
+    end
+
+    # Sets the period in ms with which the CALLBACK_QUATERNION callback is triggered
+    # periodically. A value of 0 turns the callback off.
+    def set_quaternion_period(period)
+      send_request(FUNCTION_SET_QUATERNION_PERIOD, [period], 'L', 0, '')
+    end
+
+    # Returns the period as set by BrickIMU#set_quaternion_period.
+    def get_quaternion_period
+      send_request(FUNCTION_GET_QUATERNION_PERIOD, [], '', 4, 'L')
+    end
+
+    # Turns the orientation calculation of the IMU Brick on.
+    # 
+    # As default the calculation is on.
+    # 
+    # .. versionadded:: 2.0.2~(Firmware)
+    def orientation_calculation_on
+      send_request(FUNCTION_ORIENTATION_CALCULATION_ON, [], '', 0, '')
+    end
+
+    # Turns the orientation calculation of the IMU Brick off.
+    # 
+    # If the calculation is off, BrickIMU#get_orientation will return
+    # the last calculated value until the calculation is turned on again.
+    # 
+    # The trigonometric functions that are needed to calculate the orientation 
+    # are very expensive. We recommend to turn the orientation calculation
+    # off if the orientation is not needed, to free calculation time for the
+    # sensor fusion algorithm.
+    # 
+    # As default the calculation is on.
+    # 
+    # .. versionadded:: 2.0.2~(Firmware)
+    def orientation_calculation_off
+      send_request(FUNCTION_ORIENTATION_CALCULATION_OFF, [], '', 0, '')
+    end
+
+    # Returns *true* if the orientation calculation of the IMU Brick
+    # is on, *false* otherwise.
+    # 
+    # .. versionadded:: 2.0.2~(Firmware)
+    def is_orientation_calculation_on
+      send_request(FUNCTION_IS_ORIENTATION_CALCULATION_ON, [], '', 1, '?')
+    end
+
+    # 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.
+    # 
+    # .. versionadded:: 2.0.0~(Firmware)
+    def get_protocol1_bricklet_name(port)
+      send_request(FUNCTION_GET_PROTOCOL1_BRICKLET_NAME, [port], 'k', 44, 'C C3 Z40')
+    end
+
+    # 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.
+    # 
+    # .. versionadded:: 1.0.7~(Firmware)
+    def get_chip_temperature
+      send_request(FUNCTION_GET_CHIP_TEMPERATURE, [], '', 2, 's')
+    end
+
+    # 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!
+    # 
+    # .. versionadded:: 1.0.7~(Firmware)
+    def reset
+      send_request(FUNCTION_RESET, [], '', 0, '')
+    end
+
+    # 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 identifiers can be found :ref:`here <device_identifier>`.
+    # 
+    # .. versionadded:: 2.0.0~(Firmware)
+    def get_identity
+      send_request(FUNCTION_GET_IDENTITY, [], '', 25, 'Z8 Z8 k C3 C3 S')
+    end
+
+    # Registers a callback with ID <tt>id</tt> to the block <tt>block</tt>.
+    def register_callback(id, &block)
+      callback = block
+      @registered_callbacks[id] = callback
+    end
+  end
+end