IMU module of the TNY-360 API (code 0x07).
This module contains actions related to the IMU management of the robot, such as getting orientation and acceleration information.
Here's a list of all the actions available in the imu module:
0x07 - 0x00Gets the current acceleration vector from the IMU.
No arguments
Vec3f-
Acceleration vector in m/s^2 (x, y, z).
0x07 - 0x01Gets the current angular velocity vector from the IMU.
No arguments
Vec3f-
Angular velocity vector in rad/s (x, y, z).
0x07 - 0x02Gets the current down vector from the IMU (i.e. the direction of gravity).
No arguments
Vec3f-
Down vector (unit vector pointing in the direction of gravity).
0x07 - 0x03Gets the current orientation of the robot as a rotation vector (axis-angle representation).
No arguments
Vec3f-
Rotation vector representing the robot's orientation (Euler rotation in radians, XYZ order)
Gets the current calibration state of the IMU.
No arguments
uint8-
Calibration state (0 = not calibrated, 1 = calibrating, 2 = calibrated).
Gets the current calibration data of the IMU.
No arguments
byte[]-
Calibration data blob (format TBD).
Sets the calibration data of the IMU.
byte[]-
Calibration data blob (format TBD).
No return values
Starts the calibration process for the IMU.
No arguments
No return values
Stops the calibration process for the IMU.
No arguments
No return values
Gets the current progress of the IMU calibration process.
No arguments
uint8-
Calibration progress percentage (0-100).
Here's a list of all the types used in the imu module:
A 3D vector with x, y, z components represented as floats.
float32-
The x component of the vector.
float32-
The y component of the vector.
float32-
The z component of the vector.