imu — imu sensor

The imu module is used for reading the IMU sensor under the camera sensor.

Note

The IMU sensor (and this module) is not present on all OpenMV Cam models.

Functions

imu.acceleration_mg() → Tuple[float, float, float]

Returns the acceleration for (x, y, z) in a float tuple in milli-g’s.

For when the camera board is lying on a table face up:

X points to the right of the camera sensor Y points down below the camera sensor (towards the bottom on the board) Z points in the reverse direction of the camera sensor (into the table)

imu.angular_rate_mdps() → Tuple[float, float, float]

Returns the angular rate for (x, y, z) in a float tuple in milli-degrees-per-second.

For when the camera board is lying on a table face up:

X points to the right of the camera sensor Y points down below the camera sensor (towards the bottom on the board) Z points in the reverse direction of the camera sensor (into the table)

Note

Not available if the IMU only provides acceleration data.

imu.temperature_c() → float

Returns the temperature in celsius (float).

imu.roll() → float

Returns the rotation angle in degrees (float) of the camera module.

  • 0 -> Camera is standing up.

  • 90 -> Camera is roated left.

  • 180 -> Camera is upside down.

  • 270 -> Camera is rotated right.

imu.pitch() → float

Returns the rotation angle in degrees (float) of the camera module.

  • 0 -> Camera is standing up.

  • 90 -> Camera is pointing down.

  • 180 -> Camera is upside down.

  • 270 -> Camera is pointing up.

imu.sleep(enable: bool) → None

Pass True to put the IMU sensor to sleep. False to wake it back up (the default).

imu.__write_reg(addr: int, val: int) → None

Set a register addr to a val.

imu.__read_reg(addr: int) → int

Get a register from addr.