Inertial#

Initializing the Inertial Class #

An Inertial Sensor is created by using the following constructor:

Inertial(port)

Parameter	Description
`port`	Optional. If using the EXP Brain’s built-in Inertial Sensor, a Smart Port is unneeded. If connecting an external Inertial Sensor, specify the Smart Port that the Inertial Sensor is connected to.

# Create a new object "brain_inertial" with the
# Inertial class.
brain_inertial = Inertial()

This brain_inertial object will be used in all subsequent examples throughout this API documentation when referring to Inertial class methods.

Class Methods #

calibrate()#

The calibrate() method calibrates the Inertial Sensor. Calibration should be done when the Inertial Sensor is not moving.

Returns: None.

# Start calibration.
brain_inertial.calibrate()
# Print that the Inertial Sensor is calibrating while
# waiting for it to finish calibrating.
while brain_inertial.is_calibrating():
    brain.screen.clear()
    brain.screen.print("Inertial Sensor Calibrating")
    wait(50, MSEC)

is_calibrating()#

The is_calibrating() method checks if the Inertial Sensor is currently calibrating.

Returns: True if the Inertial Sensor is calibrating. False if it is not.

# Start calibration.
brain_inertial.calibrate()
# Print that the Inertial Sensor is calibrating while
# waiting for it to finish calibrating.
while brain_inertial.is_calibrating():
    brain.screen.clear()
    brain.screen.print("Inertial Sensor Calibrating")
    wait(50, MSEC)

set_heading()#

The set_heading(value, units) method sets the heading of the Inertial Sensor to a specified value.

Parameters	Description
value	The heading value to set.
units	Optional. A valid RotationUnits type. The default is `DEGREES`.

Returns: None.

# Set the Inertial Sensor's heading to 180 degrees.
brain_inertial.set_heading(180)

reset_heading()#

The reset_heading() method resets the heading of the Inertial Sensor to 0.

Returns: None.

heading()#

The heading(units) method returns the current heading of the Inertial Sensor.

Parameters	Description
units	Optional. A valid RotationUnits type. The default is `DEGREES`.

Returns: The current heading of the Inertial Sensor in the specified units.

# Get the current heading for the Inertial Sensor.
value = brain_inertial.heading()

set_rotation()#

The set_rotation(value, units) method sets the rotation of the Inertial Sensor.

Parameters	Description
value	The rotation value to set.
units	Optional. A valid RotationUnits type. The default is `DEGREES`.

Returns: None.

# Set the Inertial Sensor's rotation to 180 degrees.
brain_inertial.set_rotation(180)

reset_rotation()#

The reset_rotation() method resets the rotation of the Inertial Sensor to 0.

Returns: None.

rotation()#

The rotation(units) method returns the current rotation of the Inertial Sensor.

Parameters	Description
units	Optional. A valid RotationUnits type. The default is `DEGREES`.

Returns: The current rotation of the Inertial Sensor in the specified units.

# Print the value of the current rotation of the
# Inertial Sensor to the Brain's screen.
brain.screen.print(brain_inertial.rotation())

orientation()#

The orientation(axis, units) method returns the orientation for one axis of the Inertial Sensor.

Parameters	Description
axis	A valid AxisType.
units	Optional. A valid RotationUnits type. The default is `DEGREES`.

Returns: A value for the axis orientation in the units specified.

# Get the pitch value for the Inertial Sensor.
pitch = brain_inertial.orientation(OrientationType.PITCH)

gyro_rate()#

The gyro_rate(axis, units) method returns the gyro rate for one axis of the Inertial Sensor.

Parameters	Description
axis	A valid AxisType.
units	Optional. A valid VelocityUnits type. The default is `DPS`.

Returns: A value for the gyro rate of the axis in the units specified.

# Get the gyro rate for the Z axis of the Inertial Sensor.
zrate = brain_inertial.gyro_rate(ZAXIS)

acceleration()#

The acceleration(axis) method returns the acceleration of the Inertial Sensor.

Parameters	Description
axis	A valid AxisType.

Returns: A value for the acceleration of the axis in units of gravity.

# Get the acceleration for the Z axis of the Inertial Sensor.
zaccel = brain_inertial.acceleration(ZAXIS)

# Print the value of the current acceleration of the z-axis
# of the Inertial Sensor to the Brain's screen.
brain.screen.print(zaccel)

changed()#

The changed(callback, arg) method registers a callback function for when the Inertial Sensor’s heading changes.

Parameters	Description
callback	The callback function to be called when the Inertial Sensor heading changes.
arg	Optional. A tuple of arguments to pass to the callback function.

Returns: An instance of the Event class.

# Define a function heading_changed()
def heading_changed():
    # The Brain will print that the heading changed on the
    # Brain's screen.
    brain.screen.print("heading changed ")
# Run heading_changed when the heading for this
# Inertial Sensor changes.
brain_inertial.changed(heading_changed)

collision()#

The collision(callback, arg) method registers a callback function for when the Inertial Sensor detects a collision.

Parameters	Description
callback	The callback function to be called when a collision is detected.
arg	Optional. A tuple of arguments to pass to the callback function.

Returns: An instance of the Event class.

# Define a function collision_occur().
def collision_occur():
    # The Brain will print that a collision was detected by
    # the Inertial Sensor on the Brain's screen.
    brain.screen.print("collision detected ")
# Run collision_occur when the heading for this
# Inertial Sensor detects a collision.
brain_inertial.collision(collision_occur)

set_turn_type()#

The set_turn_type(turntype) method sets the direction that returns positive values for the heading.

Parameters	Description
turntype	A valid TurnType.

Returns: None.

# Set the turn type to left.
brain_inertial.set_turn_type(LEFT)

# Set the turn type to right.
brain_inertial.set_turn_type(RIGHT)

Inertial#

Initializing the Inertial Class #

Class Methods #

calibrate()#

is_calibrating()#

set_heading()#

reset_heading()#

heading()#

set_rotation()#

reset_rotation()#

rotation()#

orientation()#

gyro_rate()#

acceleration()#

changed()#

collision()#

set_turn_type()#

get_turn_type()#

installed()#

timestamp()#