tinkerforge 2.1.4 → 2.1.6
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- data/lib/tinkerforge/brick_dc.rb +42 -4
- data/lib/tinkerforge/brick_imu.rb +49 -11
- data/lib/tinkerforge/brick_imu_v2.rb +506 -0
- data/lib/tinkerforge/brick_master.rb +86 -46
- data/lib/tinkerforge/brick_red.rb +36 -5
- data/lib/tinkerforge/brick_servo.rb +53 -15
- data/lib/tinkerforge/brick_stepper.rb +43 -14
- data/lib/tinkerforge/bricklet_accelerometer.rb +229 -0
- data/lib/tinkerforge/bricklet_ambient_light.rb +10 -9
- data/lib/tinkerforge/bricklet_ambient_light_v2.rb +216 -0
- data/lib/tinkerforge/bricklet_analog_in.rb +13 -12
- data/lib/tinkerforge/bricklet_analog_in_v2.rb +259 -0
- data/lib/tinkerforge/bricklet_analog_out.rb +5 -4
- data/lib/tinkerforge/bricklet_analog_out_v2.rb +66 -0
- data/lib/tinkerforge/bricklet_barometer.rb +11 -9
- data/lib/tinkerforge/bricklet_color.rb +11 -9
- data/lib/tinkerforge/bricklet_current12.rb +5 -4
- data/lib/tinkerforge/bricklet_current25.rb +5 -4
- data/lib/tinkerforge/bricklet_distance_ir.rb +8 -7
- data/lib/tinkerforge/bricklet_distance_us.rb +9 -8
- data/lib/tinkerforge/bricklet_dual_button.rb +5 -4
- data/lib/tinkerforge/bricklet_dual_relay.rb +5 -4
- data/lib/tinkerforge/bricklet_dust_detector.rb +178 -0
- data/lib/tinkerforge/bricklet_gps.rb +6 -5
- data/lib/tinkerforge/bricklet_hall_effect.rb +5 -4
- data/lib/tinkerforge/bricklet_humidity.rb +8 -7
- data/lib/tinkerforge/bricklet_industrial_analog_out.rb +137 -0
- data/lib/tinkerforge/bricklet_industrial_digital_in_4.rb +8 -7
- data/lib/tinkerforge/bricklet_industrial_digital_out_4.rb +5 -4
- data/lib/tinkerforge/bricklet_industrial_dual_0_20ma.rb +6 -5
- data/lib/tinkerforge/bricklet_industrial_dual_analog_in.rb +209 -0
- data/lib/tinkerforge/bricklet_industrial_quad_relay.rb +5 -4
- data/lib/tinkerforge/bricklet_io16.rb +8 -7
- data/lib/tinkerforge/bricklet_io4.rb +8 -7
- data/lib/tinkerforge/bricklet_joystick.rb +5 -4
- data/lib/tinkerforge/bricklet_laser_range_finder.rb +324 -0
- data/lib/tinkerforge/bricklet_lcd_16x2.rb +7 -6
- data/lib/tinkerforge/bricklet_lcd_20x4.rb +11 -10
- data/lib/tinkerforge/bricklet_led_strip.rb +12 -10
- data/lib/tinkerforge/bricklet_line.rb +5 -4
- data/lib/tinkerforge/bricklet_linear_poti.rb +8 -7
- data/lib/tinkerforge/bricklet_load_cell.rb +261 -0
- data/lib/tinkerforge/bricklet_moisture.rb +6 -5
- data/lib/tinkerforge/bricklet_motion_detector.rb +5 -4
- data/lib/tinkerforge/bricklet_multi_touch.rb +5 -4
- data/lib/tinkerforge/bricklet_nfc_rfid.rb +38 -46
- data/lib/tinkerforge/bricklet_piezo_buzzer.rb +5 -4
- data/lib/tinkerforge/bricklet_piezo_speaker.rb +6 -5
- data/lib/tinkerforge/bricklet_ptc.rb +5 -4
- data/lib/tinkerforge/bricklet_remote_switch.rb +9 -8
- data/lib/tinkerforge/bricklet_rotary_encoder.rb +5 -4
- data/lib/tinkerforge/bricklet_rotary_poti.rb +5 -4
- data/lib/tinkerforge/bricklet_rs232.rb +183 -0
- data/lib/tinkerforge/bricklet_segment_display_4x7.rb +8 -5
- data/lib/tinkerforge/bricklet_solid_state_relay.rb +5 -4
- data/lib/tinkerforge/bricklet_sound_intensity.rb +6 -5
- data/lib/tinkerforge/bricklet_temperature.rb +7 -6
- data/lib/tinkerforge/bricklet_temperature_ir.rb +7 -6
- data/lib/tinkerforge/bricklet_tilt.rb +5 -4
- data/lib/tinkerforge/bricklet_voltage.rb +8 -7
- data/lib/tinkerforge/bricklet_voltage_current.rb +5 -4
- data/lib/tinkerforge/version.rb +1 -1
- metadata +13 -2
data/lib/tinkerforge/brick_dc.rb
CHANGED
@@ -1,18 +1,19 @@
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# -*- ruby encoding: utf-8 -*-
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#############################################################
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# This file was automatically generated on
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# This file was automatically generated on 2015-11-17. #
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# #
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-
# Bindings Version 2.1.
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# Bindings Version 2.1.6 #
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# #
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# If you have a bugfix for this file and want to commit it, #
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# please fix the bug in the generator. You can find a link #
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-
# to the
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# to the generators git repository on tinkerforge.com #
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#############################################################
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module Tinkerforge
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-
#
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# Drives one brushed DC motor with up to 28V and 5A (peak)
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class BrickDC < Device
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DEVICE_IDENTIFIER = 11 # :nodoc:
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DEVICE_DISPLAY_NAME = 'DC Brick' # :nodoc:
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# This callback is triggered when the input voltage drops below the value set by
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# BrickDC#set_minimum_voltage. The parameter is the current voltage given
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@@ -75,6 +76,9 @@ module Tinkerforge
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FUNCTION_GET_DRIVE_MODE = 18 # :nodoc:
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FUNCTION_SET_CURRENT_VELOCITY_PERIOD = 19 # :nodoc:
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FUNCTION_GET_CURRENT_VELOCITY_PERIOD = 20 # :nodoc:
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FUNCTION_ENABLE_STATUS_LED = 238 # :nodoc:
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FUNCTION_DISABLE_STATUS_LED = 239 # :nodoc:
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FUNCTION_IS_STATUS_LED_ENABLED = 240 # :nodoc:
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FUNCTION_GET_PROTOCOL1_BRICKLET_NAME = 241 # :nodoc:
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FUNCTION_GET_CHIP_TEMPERATURE = 242 # :nodoc:
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FUNCTION_RESET = 243 # :nodoc:
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@@ -114,6 +118,9 @@ module Tinkerforge
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@response_expected[CALLBACK_EMERGENCY_SHUTDOWN] = RESPONSE_EXPECTED_ALWAYS_FALSE
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@response_expected[CALLBACK_VELOCITY_REACHED] = RESPONSE_EXPECTED_ALWAYS_FALSE
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@response_expected[CALLBACK_CURRENT_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_FALSE
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@response_expected[FUNCTION_ENABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
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@response_expected[FUNCTION_DISABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
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@response_expected[FUNCTION_IS_STATUS_LED_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE
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@response_expected[FUNCTION_GET_PROTOCOL1_BRICKLET_NAME] = RESPONSE_EXPECTED_ALWAYS_TRUE
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@response_expected[FUNCTION_GET_CHIP_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_TRUE
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@response_expected[FUNCTION_RESET] = RESPONSE_EXPECTED_FALSE
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@@ -304,6 +311,37 @@ module Tinkerforge
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send_request(FUNCTION_GET_CURRENT_VELOCITY_PERIOD, [], '', 2, 'S')
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end
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# Enables the status LED.
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#
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# The status LED is the blue LED next to the USB connector. If enabled is is
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# on and it flickers if data is transfered. If disabled it is always off.
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#
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# The default state is enabled.
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#
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# .. versionadded:: 2.3.1$nbsp;(Firmware)
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def enable_status_led
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send_request(FUNCTION_ENABLE_STATUS_LED, [], '', 0, '')
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end
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# Disables the status LED.
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#
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# The status LED is the blue LED next to the USB connector. If enabled is is
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# on and it flickers if data is transfered. If disabled it is always off.
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#
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# The default state is enabled.
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#
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# .. versionadded:: 2.3.1$nbsp;(Firmware)
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def disable_status_led
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send_request(FUNCTION_DISABLE_STATUS_LED, [], '', 0, '')
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end
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# Returns *true* if the status LED is enabled, *false* otherwise.
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#
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# .. versionadded:: 2.3.1$nbsp;(Firmware)
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def is_status_led_enabled
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send_request(FUNCTION_IS_STATUS_LED_ENABLED, [], '', 1, '?')
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end
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# Returns the firmware and protocol version and the name of the Bricklet for a
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# given port.
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#
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@@ -1,18 +1,19 @@
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# -*- ruby encoding: utf-8 -*-
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#############################################################
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# This file was automatically generated on
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# This file was automatically generated on 2015-11-17. #
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# #
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# Bindings Version 2.1.
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# Bindings Version 2.1.6 #
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# #
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# If you have a bugfix for this file and want to commit it, #
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# please fix the bug in the generator. You can find a link #
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# to the
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# to the generators git repository on tinkerforge.com #
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#############################################################
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module Tinkerforge
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#
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# Full fledged AHRS with 9 degrees of freedom
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class BrickIMU < Device
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DEVICE_IDENTIFIER = 16 # :nodoc:
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DEVICE_DISPLAY_NAME = 'IMU Brick' # :nodoc:
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# This callback is triggered periodically with the period that is set by
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# BrickIMU#set_acceleration_period. The parameters are the acceleration
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@@ -80,6 +81,9 @@ module Tinkerforge
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FUNCTION_ORIENTATION_CALCULATION_ON = 37 # :nodoc:
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FUNCTION_ORIENTATION_CALCULATION_OFF = 38 # :nodoc:
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FUNCTION_IS_ORIENTATION_CALCULATION_ON = 39 # :nodoc:
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FUNCTION_ENABLE_STATUS_LED = 238 # :nodoc:
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FUNCTION_DISABLE_STATUS_LED = 239 # :nodoc:
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FUNCTION_IS_STATUS_LED_ENABLED = 240 # :nodoc:
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FUNCTION_GET_PROTOCOL1_BRICKLET_NAME = 241 # :nodoc:
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FUNCTION_GET_CHIP_TEMPERATURE = 242 # :nodoc:
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FUNCTION_RESET = 243 # :nodoc:
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@@ -138,6 +142,9 @@ module Tinkerforge
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@response_expected[FUNCTION_ORIENTATION_CALCULATION_ON] = RESPONSE_EXPECTED_FALSE
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@response_expected[FUNCTION_ORIENTATION_CALCULATION_OFF] = RESPONSE_EXPECTED_FALSE
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@response_expected[FUNCTION_IS_ORIENTATION_CALCULATION_ON] = RESPONSE_EXPECTED_ALWAYS_TRUE
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@response_expected[FUNCTION_ENABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
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@response_expected[FUNCTION_DISABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
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@response_expected[FUNCTION_IS_STATUS_LED_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE
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@response_expected[FUNCTION_GET_PROTOCOL1_BRICKLET_NAME] = RESPONSE_EXPECTED_ALWAYS_TRUE
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@response_expected[FUNCTION_GET_CHIP_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_TRUE
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@response_expected[FUNCTION_RESET] = RESPONSE_EXPECTED_FALSE
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@@ -152,7 +159,7 @@ module Tinkerforge
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end
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# Returns the calibrated acceleration from the accelerometer for the
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# x, y and z axis in
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# x, y and z axis in g/1000 (1g = 9.80665m/s²).
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#
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# If you want to get the acceleration periodically, it is recommended
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# to use the callback CALLBACK_ACCELERATION and set the period with
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@@ -196,7 +203,7 @@ module Tinkerforge
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# Returns the current orientation (roll, pitch, yaw) of the IMU Brick as Euler
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# angles in one-hundredth degree. Note that Euler angles always experience a
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# `gimbal lock <
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# `gimbal lock <https://en.wikipedia.org/wiki/Gimbal_lock>`__.
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#
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# We recommend that you use quaternions instead.
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#
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@@ -211,7 +218,7 @@ module Tinkerforge
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end
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# Returns the current orientation (x, y, z, w) of the IMU as
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# `quaternions <
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# `quaternions <https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation>`__.
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#
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# You can go from quaternions to Euler angles with the following formula::
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#
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@@ -220,7 +227,7 @@ module Tinkerforge
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# zAngle = asin(2*x*y + 2*z*w)
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#
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# This process is not reversible, because of the
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# `gimbal lock <
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# `gimbal lock <https://en.wikipedia.org/wiki/Gimbal_lock>`__.
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#
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# It is also possible to calculate independent angles. You can calculate
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# yaw, pitch and roll in a right-handed vehicle coordinate system according to DIN70000
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@@ -436,7 +443,7 @@ module Tinkerforge
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#
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# As default the calculation is on.
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#
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# .. versionadded:: 2.0.2
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# .. versionadded:: 2.0.2$nbsp;(Firmware)
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def orientation_calculation_on
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send_request(FUNCTION_ORIENTATION_CALCULATION_ON, [], '', 0, '')
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end
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@@ -453,7 +460,7 @@ module Tinkerforge
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#
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# As default the calculation is on.
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#
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# .. versionadded:: 2.0.2
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# .. versionadded:: 2.0.2$nbsp;(Firmware)
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def orientation_calculation_off
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send_request(FUNCTION_ORIENTATION_CALCULATION_OFF, [], '', 0, '')
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end
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@@ -461,11 +468,42 @@ module Tinkerforge
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# Returns *true* if the orientation calculation of the IMU Brick
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# is on, *false* otherwise.
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#
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# .. versionadded:: 2.0.2
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# .. versionadded:: 2.0.2$nbsp;(Firmware)
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def is_orientation_calculation_on
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send_request(FUNCTION_IS_ORIENTATION_CALCULATION_ON, [], '', 1, '?')
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end
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# Enables the status LED.
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#
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# The status LED is the blue LED next to the USB connector. If enabled is is
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# on and it flickers if data is transfered. If disabled it is always off.
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#
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# The default state is enabled.
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#
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# .. versionadded:: 2.3.1$nbsp;(Firmware)
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def enable_status_led
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send_request(FUNCTION_ENABLE_STATUS_LED, [], '', 0, '')
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end
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# Disables the status LED.
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#
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# The status LED is the blue LED next to the USB connector. If enabled is is
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# on and it flickers if data is transfered. If disabled it is always off.
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#
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# The default state is enabled.
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#
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# .. versionadded:: 2.3.1$nbsp;(Firmware)
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def disable_status_led
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send_request(FUNCTION_DISABLE_STATUS_LED, [], '', 0, '')
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end
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# Returns *true* if the status LED is enabled, *false* otherwise.
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#
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# .. versionadded:: 2.3.1$nbsp;(Firmware)
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def is_status_led_enabled
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send_request(FUNCTION_IS_STATUS_LED_ENABLED, [], '', 1, '?')
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end
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# Returns the firmware and protocol version and the name of the Bricklet for a
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# given port.
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#
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@@ -0,0 +1,506 @@
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# -*- ruby encoding: utf-8 -*-
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#############################################################
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# This file was automatically generated on 2015-11-17. #
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# #
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# Bindings Version 2.1.6 #
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# #
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# If you have a bugfix for this file and want to commit it, #
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# please fix the bug in the generator. You can find a link #
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# to the generators git repository on tinkerforge.com #
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#############################################################
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module Tinkerforge
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# Full fledged AHRS with 9 degrees of freedom
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class BrickIMUV2 < Device
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DEVICE_IDENTIFIER = 18 # :nodoc:
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DEVICE_DISPLAY_NAME = 'IMU Brick 2.0' # :nodoc:
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# This callback is triggered periodically with the period that is set by
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# BrickIMUV2#set_acceleration_period. The parameters are the acceleration
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# for the x, y and z axis.
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CALLBACK_ACCELERATION = 32
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# This callback is triggered periodically with the period that is set by
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# BrickIMUV2#set_magnetic_field_period. The parameters are the magnetic field
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# for the x, y and z axis.
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CALLBACK_MAGNETIC_FIELD = 33
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# This callback is triggered periodically with the period that is set by
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# BrickIMUV2#set_angular_velocity_period. The parameters are the angular velocity
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# for the x, y and z axis.
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CALLBACK_ANGULAR_VELOCITY = 34
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# This callback is triggered periodically with the period that is set by
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# BrickIMUV2#set_temperature_period. The parameter is the temperature.
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CALLBACK_TEMPERATURE = 35
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# This callback is triggered periodically with the period that is set by
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# BrickIMUV2#set_linear_acceleration_period. The parameters are the
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# linear acceleration for the x, y and z axis.
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CALLBACK_LINEAR_ACCELERATION = 36
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# This callback is triggered periodically with the period that is set by
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# BrickIMUV2#set_gravity_vector_period. The parameters gravity vector
|
44
|
+
# for the x, y and z axis.
|
45
|
+
CALLBACK_GRAVITY_VECTOR = 37
|
46
|
+
|
47
|
+
# This callback is triggered periodically with the period that is set by
|
48
|
+
# BrickIMUV2#set_orientation_period. The parameters are the orientation
|
49
|
+
# (heading (yaw), roll, pitch) of the IMU Brick in Euler angles. See
|
50
|
+
# BrickIMUV2#get_orientation for details.
|
51
|
+
CALLBACK_ORIENTATION = 38
|
52
|
+
|
53
|
+
# This callback is triggered periodically with the period that is set by
|
54
|
+
# BrickIMUV2#set_quaternion_period. The parameters are the orientation
|
55
|
+
# (x, y, z, w) of the IMU Brick in quaternions. See BrickIMUV2#get_quaternion
|
56
|
+
# for details.
|
57
|
+
CALLBACK_QUATERNION = 39
|
58
|
+
|
59
|
+
# This callback is triggered periodically with the period that is set by
|
60
|
+
# BrickIMUV2#set_all_data_period. The parameters are as for BrickIMUV2#get_all_data.
|
61
|
+
CALLBACK_ALL_DATA = 40
|
62
|
+
|
63
|
+
FUNCTION_GET_ACCELERATION = 1 # :nodoc:
|
64
|
+
FUNCTION_GET_MAGNETIC_FIELD = 2 # :nodoc:
|
65
|
+
FUNCTION_GET_ANGULAR_VELOCITY = 3 # :nodoc:
|
66
|
+
FUNCTION_GET_TEMPERATURE = 4 # :nodoc:
|
67
|
+
FUNCTION_GET_ORIENTATION = 5 # :nodoc:
|
68
|
+
FUNCTION_GET_LINEAR_ACCELERATION = 6 # :nodoc:
|
69
|
+
FUNCTION_GET_GRAVITY_VECTOR = 7 # :nodoc:
|
70
|
+
FUNCTION_GET_QUATERNION = 8 # :nodoc:
|
71
|
+
FUNCTION_GET_ALL_DATA = 9 # :nodoc:
|
72
|
+
FUNCTION_LEDS_ON = 10 # :nodoc:
|
73
|
+
FUNCTION_LEDS_OFF = 11 # :nodoc:
|
74
|
+
FUNCTION_ARE_LEDS_ON = 12 # :nodoc:
|
75
|
+
FUNCTION_SAVE_CALIBRATION = 13 # :nodoc:
|
76
|
+
FUNCTION_SET_ACCELERATION_PERIOD = 14 # :nodoc:
|
77
|
+
FUNCTION_GET_ACCELERATION_PERIOD = 15 # :nodoc:
|
78
|
+
FUNCTION_SET_MAGNETIC_FIELD_PERIOD = 16 # :nodoc:
|
79
|
+
FUNCTION_GET_MAGNETIC_FIELD_PERIOD = 17 # :nodoc:
|
80
|
+
FUNCTION_SET_ANGULAR_VELOCITY_PERIOD = 18 # :nodoc:
|
81
|
+
FUNCTION_GET_ANGULAR_VELOCITY_PERIOD = 19 # :nodoc:
|
82
|
+
FUNCTION_SET_TEMPERATURE_PERIOD = 20 # :nodoc:
|
83
|
+
FUNCTION_GET_TEMPERATURE_PERIOD = 21 # :nodoc:
|
84
|
+
FUNCTION_SET_ORIENTATION_PERIOD = 22 # :nodoc:
|
85
|
+
FUNCTION_GET_ORIENTATION_PERIOD = 23 # :nodoc:
|
86
|
+
FUNCTION_SET_LINEAR_ACCELERATION_PERIOD = 24 # :nodoc:
|
87
|
+
FUNCTION_GET_LINEAR_ACCELERATION_PERIOD = 25 # :nodoc:
|
88
|
+
FUNCTION_SET_GRAVITY_VECTOR_PERIOD = 26 # :nodoc:
|
89
|
+
FUNCTION_GET_GRAVITY_VECTOR_PERIOD = 27 # :nodoc:
|
90
|
+
FUNCTION_SET_QUATERNION_PERIOD = 28 # :nodoc:
|
91
|
+
FUNCTION_GET_QUATERNION_PERIOD = 29 # :nodoc:
|
92
|
+
FUNCTION_SET_ALL_DATA_PERIOD = 30 # :nodoc:
|
93
|
+
FUNCTION_GET_ALL_DATA_PERIOD = 31 # :nodoc:
|
94
|
+
FUNCTION_ENABLE_STATUS_LED = 238 # :nodoc:
|
95
|
+
FUNCTION_DISABLE_STATUS_LED = 239 # :nodoc:
|
96
|
+
FUNCTION_IS_STATUS_LED_ENABLED = 240 # :nodoc:
|
97
|
+
FUNCTION_GET_PROTOCOL1_BRICKLET_NAME = 241 # :nodoc:
|
98
|
+
FUNCTION_GET_CHIP_TEMPERATURE = 242 # :nodoc:
|
99
|
+
FUNCTION_RESET = 243 # :nodoc:
|
100
|
+
FUNCTION_GET_IDENTITY = 255 # :nodoc:
|
101
|
+
|
102
|
+
|
103
|
+
# Creates an object with the unique device ID <tt>uid</tt> and adds it to
|
104
|
+
# the IP Connection <tt>ipcon</tt>.
|
105
|
+
def initialize(uid, ipcon)
|
106
|
+
super uid, ipcon
|
107
|
+
|
108
|
+
@api_version = [2, 0, 0]
|
109
|
+
|
110
|
+
@response_expected[FUNCTION_GET_ACCELERATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
|
111
|
+
@response_expected[FUNCTION_GET_MAGNETIC_FIELD] = RESPONSE_EXPECTED_ALWAYS_TRUE
|
112
|
+
@response_expected[FUNCTION_GET_ANGULAR_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
|
113
|
+
@response_expected[FUNCTION_GET_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_TRUE
|
114
|
+
@response_expected[FUNCTION_GET_ORIENTATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
|
115
|
+
@response_expected[FUNCTION_GET_LINEAR_ACCELERATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
|
116
|
+
@response_expected[FUNCTION_GET_GRAVITY_VECTOR] = RESPONSE_EXPECTED_ALWAYS_TRUE
|
117
|
+
@response_expected[FUNCTION_GET_QUATERNION] = RESPONSE_EXPECTED_ALWAYS_TRUE
|
118
|
+
@response_expected[FUNCTION_GET_ALL_DATA] = RESPONSE_EXPECTED_ALWAYS_TRUE
|
119
|
+
@response_expected[FUNCTION_LEDS_ON] = RESPONSE_EXPECTED_FALSE
|
120
|
+
@response_expected[FUNCTION_LEDS_OFF] = RESPONSE_EXPECTED_FALSE
|
121
|
+
@response_expected[FUNCTION_ARE_LEDS_ON] = RESPONSE_EXPECTED_ALWAYS_TRUE
|
122
|
+
@response_expected[FUNCTION_SAVE_CALIBRATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
|
123
|
+
@response_expected[FUNCTION_SET_ACCELERATION_PERIOD] = RESPONSE_EXPECTED_TRUE
|
124
|
+
@response_expected[FUNCTION_GET_ACCELERATION_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
|
125
|
+
@response_expected[FUNCTION_SET_MAGNETIC_FIELD_PERIOD] = RESPONSE_EXPECTED_TRUE
|
126
|
+
@response_expected[FUNCTION_GET_MAGNETIC_FIELD_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
|
127
|
+
@response_expected[FUNCTION_SET_ANGULAR_VELOCITY_PERIOD] = RESPONSE_EXPECTED_TRUE
|
128
|
+
@response_expected[FUNCTION_GET_ANGULAR_VELOCITY_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
|
129
|
+
@response_expected[FUNCTION_SET_TEMPERATURE_PERIOD] = RESPONSE_EXPECTED_TRUE
|
130
|
+
@response_expected[FUNCTION_GET_TEMPERATURE_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
|
131
|
+
@response_expected[FUNCTION_SET_ORIENTATION_PERIOD] = RESPONSE_EXPECTED_TRUE
|
132
|
+
@response_expected[FUNCTION_GET_ORIENTATION_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
|
133
|
+
@response_expected[FUNCTION_SET_LINEAR_ACCELERATION_PERIOD] = RESPONSE_EXPECTED_TRUE
|
134
|
+
@response_expected[FUNCTION_GET_LINEAR_ACCELERATION_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
|
135
|
+
@response_expected[FUNCTION_SET_GRAVITY_VECTOR_PERIOD] = RESPONSE_EXPECTED_TRUE
|
136
|
+
@response_expected[FUNCTION_GET_GRAVITY_VECTOR_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
|
137
|
+
@response_expected[FUNCTION_SET_QUATERNION_PERIOD] = RESPONSE_EXPECTED_TRUE
|
138
|
+
@response_expected[FUNCTION_GET_QUATERNION_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
|
139
|
+
@response_expected[FUNCTION_SET_ALL_DATA_PERIOD] = RESPONSE_EXPECTED_TRUE
|
140
|
+
@response_expected[FUNCTION_GET_ALL_DATA_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
|
141
|
+
@response_expected[CALLBACK_ACCELERATION] = RESPONSE_EXPECTED_ALWAYS_FALSE
|
142
|
+
@response_expected[CALLBACK_MAGNETIC_FIELD] = RESPONSE_EXPECTED_ALWAYS_FALSE
|
143
|
+
@response_expected[CALLBACK_ANGULAR_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_FALSE
|
144
|
+
@response_expected[CALLBACK_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_FALSE
|
145
|
+
@response_expected[CALLBACK_LINEAR_ACCELERATION] = RESPONSE_EXPECTED_ALWAYS_FALSE
|
146
|
+
@response_expected[CALLBACK_GRAVITY_VECTOR] = RESPONSE_EXPECTED_ALWAYS_FALSE
|
147
|
+
@response_expected[CALLBACK_ORIENTATION] = RESPONSE_EXPECTED_ALWAYS_FALSE
|
148
|
+
@response_expected[CALLBACK_QUATERNION] = RESPONSE_EXPECTED_ALWAYS_FALSE
|
149
|
+
@response_expected[CALLBACK_ALL_DATA] = RESPONSE_EXPECTED_ALWAYS_FALSE
|
150
|
+
@response_expected[FUNCTION_ENABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
|
151
|
+
@response_expected[FUNCTION_DISABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
|
152
|
+
@response_expected[FUNCTION_IS_STATUS_LED_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE
|
153
|
+
@response_expected[FUNCTION_GET_PROTOCOL1_BRICKLET_NAME] = RESPONSE_EXPECTED_ALWAYS_TRUE
|
154
|
+
@response_expected[FUNCTION_GET_CHIP_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_TRUE
|
155
|
+
@response_expected[FUNCTION_RESET] = RESPONSE_EXPECTED_FALSE
|
156
|
+
@response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
|
157
|
+
|
158
|
+
@callback_formats[CALLBACK_ACCELERATION] = 's s s'
|
159
|
+
@callback_formats[CALLBACK_MAGNETIC_FIELD] = 's s s'
|
160
|
+
@callback_formats[CALLBACK_ANGULAR_VELOCITY] = 's s s'
|
161
|
+
@callback_formats[CALLBACK_TEMPERATURE] = 'c'
|
162
|
+
@callback_formats[CALLBACK_LINEAR_ACCELERATION] = 's s s'
|
163
|
+
@callback_formats[CALLBACK_GRAVITY_VECTOR] = 's s s'
|
164
|
+
@callback_formats[CALLBACK_ORIENTATION] = 's s s'
|
165
|
+
@callback_formats[CALLBACK_QUATERNION] = 's s s s'
|
166
|
+
@callback_formats[CALLBACK_ALL_DATA] = 's3 s3 s3 s3 s4 s3 s3 c C'
|
167
|
+
end
|
168
|
+
|
169
|
+
# Returns the calibrated acceleration from the accelerometer for the
|
170
|
+
# x, y and z axis in 1/100 m/s².
|
171
|
+
#
|
172
|
+
# If you want to get the acceleration periodically, it is recommended
|
173
|
+
# to use the callback CALLBACK_ACCELERATION and set the period with
|
174
|
+
# BrickIMUV2#set_acceleration_period.
|
175
|
+
def get_acceleration
|
176
|
+
send_request(FUNCTION_GET_ACCELERATION, [], '', 6, 's s s')
|
177
|
+
end
|
178
|
+
|
179
|
+
# Returns the calibrated magnetic field from the magnetometer for the
|
180
|
+
# x, y and z axis in 1/16 µT (Microtesla).
|
181
|
+
#
|
182
|
+
# If you want to get the magnetic field periodically, it is recommended
|
183
|
+
# to use the callback CALLBACK_MAGNETIC_FIELD and set the period with
|
184
|
+
# BrickIMUV2#set_magnetic_field_period.
|
185
|
+
def get_magnetic_field
|
186
|
+
send_request(FUNCTION_GET_MAGNETIC_FIELD, [], '', 6, 's s s')
|
187
|
+
end
|
188
|
+
|
189
|
+
# Returns the calibrated angular velocity from the gyroscope for the
|
190
|
+
# x, y and z axis in 1/16 °/s.
|
191
|
+
#
|
192
|
+
# If you want to get the angular velocity periodically, it is recommended
|
193
|
+
# to use the callback CALLBACK_ANGULAR_VELOCITY and set the period with
|
194
|
+
# BrickIMUV2#set_angular_velocity_period.
|
195
|
+
def get_angular_velocity
|
196
|
+
send_request(FUNCTION_GET_ANGULAR_VELOCITY, [], '', 6, 's s s')
|
197
|
+
end
|
198
|
+
|
199
|
+
# Returns the temperature of the IMU Brick. The temperature is given in
|
200
|
+
# °C. The temperature is measured in the core of the BNO055 IC, it is not the
|
201
|
+
# ambient temperature
|
202
|
+
def get_temperature
|
203
|
+
send_request(FUNCTION_GET_TEMPERATURE, [], '', 1, 'c')
|
204
|
+
end
|
205
|
+
|
206
|
+
# Returns the current orientation (heading, roll, pitch) of the IMU Brick as
|
207
|
+
# independent Euler angles in 1/16 degree. Note that Euler angles always
|
208
|
+
# experience a `gimbal lock <https://en.wikipedia.org/wiki/Gimbal_lock>`__. We
|
209
|
+
# recommend that you use quaternions instead, if you need the absolute orientation.
|
210
|
+
#
|
211
|
+
# The rotation angle has the following ranges:
|
212
|
+
#
|
213
|
+
# * heading: 0° to 360°
|
214
|
+
# * roll: -90° to +90°
|
215
|
+
# * pitch: -180° to +180°
|
216
|
+
#
|
217
|
+
# If you want to get the orientation periodically, it is recommended
|
218
|
+
# to use the callback CALLBACK_ORIENTATION and set the period with
|
219
|
+
# BrickIMUV2#set_orientation_period.
|
220
|
+
def get_orientation
|
221
|
+
send_request(FUNCTION_GET_ORIENTATION, [], '', 6, 's s s')
|
222
|
+
end
|
223
|
+
|
224
|
+
# Returns the linear acceleration of the IMU Brick for the
|
225
|
+
# x, y and z axis in 1/100 m/s².
|
226
|
+
#
|
227
|
+
# The linear acceleration is the acceleration in each of the three
|
228
|
+
# axis of the IMU Brick with the influences of gravity removed.
|
229
|
+
#
|
230
|
+
# It is also possible to get the gravity vector with the influence of linear
|
231
|
+
# acceleration removed, see BrickIMUV2#get_gravity_vector.
|
232
|
+
#
|
233
|
+
# If you want to get the linear acceleration periodically, it is recommended
|
234
|
+
# to use the callback CALLBACK_LINEAR_ACCELERATION and set the period with
|
235
|
+
# BrickIMUV2#set_linear_acceleration_period.
|
236
|
+
def get_linear_acceleration
|
237
|
+
send_request(FUNCTION_GET_LINEAR_ACCELERATION, [], '', 6, 's s s')
|
238
|
+
end
|
239
|
+
|
240
|
+
# Returns the current gravity vector of the IMU Brick for the
|
241
|
+
# x, y and z axis in 1/100 m/s².
|
242
|
+
#
|
243
|
+
# The gravity vector is the acceleration that occurs due to gravity.
|
244
|
+
# Influences of additional linear acceleration are removed.
|
245
|
+
#
|
246
|
+
# It is also possible to get the linear acceleration with the influence
|
247
|
+
# of gravity removed, see BrickIMUV2#get_linear_acceleration.
|
248
|
+
#
|
249
|
+
# If you want to get the gravity vector periodically, it is recommended
|
250
|
+
# to use the callback CALLBACK_GRAVITY_VECTOR and set the period with
|
251
|
+
# BrickIMUV2#set_gravity_vector_period.
|
252
|
+
def get_gravity_vector
|
253
|
+
send_request(FUNCTION_GET_GRAVITY_VECTOR, [], '', 6, 's s s')
|
254
|
+
end
|
255
|
+
|
256
|
+
# Returns the current orientation (w, x, y, z) of the IMU Brick as
|
257
|
+
# `quaternions <https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation>`__.
|
258
|
+
#
|
259
|
+
# You have to divide the returns values by 16383 (14 bit) to get
|
260
|
+
# the usual range of -1.0 to +1.0 for quaternions.
|
261
|
+
#
|
262
|
+
# If you want to get the quaternions periodically, it is recommended
|
263
|
+
# to use the callback CALLBACK_QUATERNION and set the period with
|
264
|
+
# BrickIMUV2#set_quaternion_period.
|
265
|
+
def get_quaternion
|
266
|
+
send_request(FUNCTION_GET_QUATERNION, [], '', 8, 's s s s')
|
267
|
+
end
|
268
|
+
|
269
|
+
# Return all of the available data of the IMU Brick.
|
270
|
+
#
|
271
|
+
# * acceleration in 1/100 m/s² (see BrickIMUV2#get_acceleration)
|
272
|
+
# * magnetic field in 1/16 µT (see BrickIMUV2#get_magnetic_field)
|
273
|
+
# * angular velocity in 1/16 °/s (see BrickIMUV2#get_angular_velocity)
|
274
|
+
# * Euler angles in 1/16 ° (see BrickIMUV2#get_orientation)
|
275
|
+
# * quaternion 1/16383 (see BrickIMUV2#get_quaternion)
|
276
|
+
# * linear acceleration 1/100 m/s² (see BrickIMUV2#get_linear_acceleration)
|
277
|
+
# * gravity vector 1/100 m/s² (see BrickIMUV2#get_gravity_vector)
|
278
|
+
# * temperature in 1 °C (see BrickIMUV2#get_temperature)
|
279
|
+
# * calibration status (see below)
|
280
|
+
#
|
281
|
+
# The calibration status consists of four pairs of two bits. Each pair
|
282
|
+
# of bits represents the status of the current calibration.
|
283
|
+
#
|
284
|
+
# * bit 0-1: Magnetometer
|
285
|
+
# * bit 2-3: Accelerometer
|
286
|
+
# * bit 4-5: Gyroscope
|
287
|
+
# * bit 6-7: System
|
288
|
+
#
|
289
|
+
# A value of 0 means for "not calibrated" and a value of 3 means
|
290
|
+
# "fully calibrated". In your program you should always be able to
|
291
|
+
# ignore the calibration status, it is used by the calibration
|
292
|
+
# window of the Brick Viewer and it can be ignored after the first
|
293
|
+
# calibration. See the documentation in the calibration window for
|
294
|
+
# more information regarding the calibration of the IMU Brick.
|
295
|
+
#
|
296
|
+
# If you want to get the data periodically, it is recommended
|
297
|
+
# to use the callback CALLBACK_ALL_DATA and set the period with
|
298
|
+
# BrickIMUV2#set_all_data_period.
|
299
|
+
def get_all_data
|
300
|
+
send_request(FUNCTION_GET_ALL_DATA, [], '', 46, 's3 s3 s3 s3 s4 s3 s3 c C')
|
301
|
+
end
|
302
|
+
|
303
|
+
# Turns the orientation and direction LEDs of the IMU Brick on.
|
304
|
+
def leds_on
|
305
|
+
send_request(FUNCTION_LEDS_ON, [], '', 0, '')
|
306
|
+
end
|
307
|
+
|
308
|
+
# Turns the orientation and direction LEDs of the IMU Brick off.
|
309
|
+
def leds_off
|
310
|
+
send_request(FUNCTION_LEDS_OFF, [], '', 0, '')
|
311
|
+
end
|
312
|
+
|
313
|
+
# Returns *true* if the orientation and direction LEDs of the IMU Brick
|
314
|
+
# are on, *false* otherwise.
|
315
|
+
def are_leds_on
|
316
|
+
send_request(FUNCTION_ARE_LEDS_ON, [], '', 1, '?')
|
317
|
+
end
|
318
|
+
|
319
|
+
# A call of this function saves the current calibration to be used
|
320
|
+
# as a starting point for the next restart of continuous calibration
|
321
|
+
# of the IMU Brick.
|
322
|
+
#
|
323
|
+
# A return value of *true* means that the calibration could be used and
|
324
|
+
# *false* means that it could not be used (this happens if the calibration
|
325
|
+
# status is not "fully calibrated").
|
326
|
+
#
|
327
|
+
# This function is used by the calibration window of the Brick Viewer, you
|
328
|
+
# should not need to call it in your program.
|
329
|
+
def save_calibration
|
330
|
+
send_request(FUNCTION_SAVE_CALIBRATION, [], '', 1, '?')
|
331
|
+
end
|
332
|
+
|
333
|
+
# Sets the period in ms with which the CALLBACK_ACCELERATION callback is triggered
|
334
|
+
# periodically. A value of 0 turns the callback off.
|
335
|
+
#
|
336
|
+
# The default value is 0.
|
337
|
+
def set_acceleration_period(period)
|
338
|
+
send_request(FUNCTION_SET_ACCELERATION_PERIOD, [period], 'L', 0, '')
|
339
|
+
end
|
340
|
+
|
341
|
+
# Returns the period as set by BrickIMUV2#set_acceleration_period.
|
342
|
+
def get_acceleration_period
|
343
|
+
send_request(FUNCTION_GET_ACCELERATION_PERIOD, [], '', 4, 'L')
|
344
|
+
end
|
345
|
+
|
346
|
+
# Sets the period in ms with which the CALLBACK_MAGNETIC_FIELD callback is triggered
|
347
|
+
# periodically. A value of 0 turns the callback off.
|
348
|
+
def set_magnetic_field_period(period)
|
349
|
+
send_request(FUNCTION_SET_MAGNETIC_FIELD_PERIOD, [period], 'L', 0, '')
|
350
|
+
end
|
351
|
+
|
352
|
+
# Returns the period as set by BrickIMUV2#set_magnetic_field_period.
|
353
|
+
def get_magnetic_field_period
|
354
|
+
send_request(FUNCTION_GET_MAGNETIC_FIELD_PERIOD, [], '', 4, 'L')
|
355
|
+
end
|
356
|
+
|
357
|
+
# Sets the period in ms with which the CALLBACK_ANGULAR_VELOCITY callback is triggered
|
358
|
+
# periodically. A value of 0 turns the callback off.
|
359
|
+
def set_angular_velocity_period(period)
|
360
|
+
send_request(FUNCTION_SET_ANGULAR_VELOCITY_PERIOD, [period], 'L', 0, '')
|
361
|
+
end
|
362
|
+
|
363
|
+
# Returns the period as set by BrickIMUV2#set_angular_velocity_period.
|
364
|
+
def get_angular_velocity_period
|
365
|
+
send_request(FUNCTION_GET_ANGULAR_VELOCITY_PERIOD, [], '', 4, 'L')
|
366
|
+
end
|
367
|
+
|
368
|
+
# Sets the period in ms with which the CALLBACK_TEMPERATURE callback is triggered
|
369
|
+
# periodically. A value of 0 turns the callback off.
|
370
|
+
def set_temperature_period(period)
|
371
|
+
send_request(FUNCTION_SET_TEMPERATURE_PERIOD, [period], 'L', 0, '')
|
372
|
+
end
|
373
|
+
|
374
|
+
# Returns the period as set by BrickIMUV2#set_temperature_period.
|
375
|
+
def get_temperature_period
|
376
|
+
send_request(FUNCTION_GET_TEMPERATURE_PERIOD, [], '', 4, 'L')
|
377
|
+
end
|
378
|
+
|
379
|
+
# Sets the period in ms with which the CALLBACK_ORIENTATION callback is triggered
|
380
|
+
# periodically. A value of 0 turns the callback off.
|
381
|
+
def set_orientation_period(period)
|
382
|
+
send_request(FUNCTION_SET_ORIENTATION_PERIOD, [period], 'L', 0, '')
|
383
|
+
end
|
384
|
+
|
385
|
+
# Returns the period as set by BrickIMUV2#set_orientation_period.
|
386
|
+
def get_orientation_period
|
387
|
+
send_request(FUNCTION_GET_ORIENTATION_PERIOD, [], '', 4, 'L')
|
388
|
+
end
|
389
|
+
|
390
|
+
# Sets the period in ms with which the CALLBACK_LINEAR_ACCELERATION callback is triggered
|
391
|
+
# periodically. A value of 0 turns the callback off.
|
392
|
+
def set_linear_acceleration_period(period)
|
393
|
+
send_request(FUNCTION_SET_LINEAR_ACCELERATION_PERIOD, [period], 'L', 0, '')
|
394
|
+
end
|
395
|
+
|
396
|
+
# Returns the period as set by BrickIMUV2#set_linear_acceleration_period.
|
397
|
+
def get_linear_acceleration_period
|
398
|
+
send_request(FUNCTION_GET_LINEAR_ACCELERATION_PERIOD, [], '', 4, 'L')
|
399
|
+
end
|
400
|
+
|
401
|
+
# Sets the period in ms with which the CALLBACK_GRAVITY_VECTOR callback is triggered
|
402
|
+
# periodically. A value of 0 turns the callback off.
|
403
|
+
def set_gravity_vector_period(period)
|
404
|
+
send_request(FUNCTION_SET_GRAVITY_VECTOR_PERIOD, [period], 'L', 0, '')
|
405
|
+
end
|
406
|
+
|
407
|
+
# Returns the period as set by BrickIMUV2#set_gravity_vector_period.
|
408
|
+
def get_gravity_vector_period
|
409
|
+
send_request(FUNCTION_GET_GRAVITY_VECTOR_PERIOD, [], '', 4, 'L')
|
410
|
+
end
|
411
|
+
|
412
|
+
# Sets the period in ms with which the CALLBACK_QUATERNION callback is triggered
|
413
|
+
# periodically. A value of 0 turns the callback off.
|
414
|
+
def set_quaternion_period(period)
|
415
|
+
send_request(FUNCTION_SET_QUATERNION_PERIOD, [period], 'L', 0, '')
|
416
|
+
end
|
417
|
+
|
418
|
+
# Returns the period as set by BrickIMUV2#set_quaternion_period.
|
419
|
+
def get_quaternion_period
|
420
|
+
send_request(FUNCTION_GET_QUATERNION_PERIOD, [], '', 4, 'L')
|
421
|
+
end
|
422
|
+
|
423
|
+
# Sets the period in ms with which the CALLBACK_ALL_DATA callback is triggered
|
424
|
+
# periodically. A value of 0 turns the callback off.
|
425
|
+
def set_all_data_period(period)
|
426
|
+
send_request(FUNCTION_SET_ALL_DATA_PERIOD, [period], 'L', 0, '')
|
427
|
+
end
|
428
|
+
|
429
|
+
# Returns the period as set by BrickIMUV2#set_all_data_period.
|
430
|
+
def get_all_data_period
|
431
|
+
send_request(FUNCTION_GET_ALL_DATA_PERIOD, [], '', 4, 'L')
|
432
|
+
end
|
433
|
+
|
434
|
+
# Enables the status LED.
|
435
|
+
#
|
436
|
+
# The status LED is the blue LED next to the USB connector. If enabled is is
|
437
|
+
# on and it flickers if data is transfered. If disabled it is always off.
|
438
|
+
#
|
439
|
+
# The default state is enabled.
|
440
|
+
def enable_status_led
|
441
|
+
send_request(FUNCTION_ENABLE_STATUS_LED, [], '', 0, '')
|
442
|
+
end
|
443
|
+
|
444
|
+
# Disables the status LED.
|
445
|
+
#
|
446
|
+
# The status LED is the blue LED next to the USB connector. If enabled is is
|
447
|
+
# on and it flickers if data is transfered. If disabled it is always off.
|
448
|
+
#
|
449
|
+
# The default state is enabled.
|
450
|
+
def disable_status_led
|
451
|
+
send_request(FUNCTION_DISABLE_STATUS_LED, [], '', 0, '')
|
452
|
+
end
|
453
|
+
|
454
|
+
# Returns *true* if the status LED is enabled, *false* otherwise.
|
455
|
+
def is_status_led_enabled
|
456
|
+
send_request(FUNCTION_IS_STATUS_LED_ENABLED, [], '', 1, '?')
|
457
|
+
end
|
458
|
+
|
459
|
+
# Returns the firmware and protocol version and the name of the Bricklet for a
|
460
|
+
# given port.
|
461
|
+
#
|
462
|
+
# This functions sole purpose is to allow automatic flashing of v1.x.y Bricklet
|
463
|
+
# plugins.
|
464
|
+
def get_protocol1_bricklet_name(port)
|
465
|
+
send_request(FUNCTION_GET_PROTOCOL1_BRICKLET_NAME, [port], 'k', 44, 'C C3 Z40')
|
466
|
+
end
|
467
|
+
|
468
|
+
# Returns the temperature in °C/10 as measured inside the microcontroller. The
|
469
|
+
# value returned is not the ambient temperature!
|
470
|
+
#
|
471
|
+
# The temperature is only proportional to the real temperature and it has an
|
472
|
+
# accuracy of +-15%. Practically it is only useful as an indicator for
|
473
|
+
# temperature changes.
|
474
|
+
def get_chip_temperature
|
475
|
+
send_request(FUNCTION_GET_CHIP_TEMPERATURE, [], '', 2, 's')
|
476
|
+
end
|
477
|
+
|
478
|
+
# Calling this function will reset the Brick. Calling this function
|
479
|
+
# on a Brick inside of a stack will reset the whole stack.
|
480
|
+
#
|
481
|
+
# After a reset you have to create new device objects,
|
482
|
+
# calling functions on the existing ones will result in
|
483
|
+
# undefined behavior!
|
484
|
+
def reset
|
485
|
+
send_request(FUNCTION_RESET, [], '', 0, '')
|
486
|
+
end
|
487
|
+
|
488
|
+
# Returns the UID, the UID where the Brick is connected to,
|
489
|
+
# the position, the hardware and firmware version as well as the
|
490
|
+
# device identifier.
|
491
|
+
#
|
492
|
+
# The position can be '0'-'8' (stack position).
|
493
|
+
#
|
494
|
+
# The device identifier numbers can be found :ref:`here <device_identifier>`.
|
495
|
+
# |device_identifier_constant|
|
496
|
+
def get_identity
|
497
|
+
send_request(FUNCTION_GET_IDENTITY, [], '', 25, 'Z8 Z8 k C3 C3 S')
|
498
|
+
end
|
499
|
+
|
500
|
+
# Registers a callback with ID <tt>id</tt> to the block <tt>block</tt>.
|
501
|
+
def register_callback(id, &block)
|
502
|
+
callback = block
|
503
|
+
@registered_callbacks[id] = callback
|
504
|
+
end
|
505
|
+
end
|
506
|
+
end
|