taskIMU_05.py File Reference

Creates and operates the IMU. More...

Functions
def	taskIMU_05.taskIMUFcn (str taskName, int period, shares_05.Share_05 euler_angles, shares_05.Share_05 angular_velocities, shares_05.Share_05 calib_status, PrintQueue print_queue)
	Task for operating the IMU. More...
def	taskIMU_05.testPrint (int period, shares_05.Share_05 euler_angles, shares_05.Share_05 angular_velocities, shares_05.Share_05 calib_status)

Variables
	taskIMU_05.S0_INIT = micropython.const(0)
	taskIMU_05.S1_CALIB = micropython.const(1)
	taskIMU_05.S2_RUN = micropython.const(2)
	taskIMU_05.euler_angles = shares_05.Share_05(None)
	taskIMU_05.angular_velocities = shares_05.Share_05(None)
	taskIMU_05.calib_status = shares_05.Share_05(False)
list	taskIMU_05.task_list

Detailed Description

Creates and operates the IMU.

Instantiates an I2C device for and IMU (BNO055 in particular). The pyBoard is set as the controller by default and the IMU is set to NDOF mode by default.

Author

Caleb Savard

Chris Linthacum

Date

March 2, 2022

Function Documentation

taskIMUFcn()

def taskIMU_05.taskIMUFcn	(	str	taskName,
		int	period,
		shares_05.Share_05	euler_angles,
		shares_05.Share_05	angular_velocities,
		shares_05.Share_05	calib_status,
		PrintQueue	print_queue
	)

Task for operating the IMU.

Finite state machine that controls IMU creation, calibration, and operation.

Parameters

taskName	Brief string to describe the instance of the function. Useful for debug purposes.
period	Period with which to run the function and update/execute state logic.

Variable Documentation

task_list

list taskIMU_05.task_list

Initial value:

=  [taskIMUFcn('TaskIMU', 10_000, euler_angles, angular_velocities, calib_status),
                 testPrint(1_000_000, euler_angles, angular_velocities, calib_status)]