AbsoluteIMU

java.lang.Object
- ev3dev.hardware.EV3DevDevice
- - ev3dev.hardware.EV3DevSensorDevice
  - - ev3dev.sensors.BaseSensor
    - - ev3dev.sensors.mindsensors.AbsoluteIMU

public class AbsoluteIMU
extends BaseSensor

Mindsensors AbsoluteIMU
Sensor interface for the Mindsensors AbsoluteIMU family of sensors. The AbsoluteIMU sensors combine gyro, accelerometer and compass sensors in various combinations in a single housing. This interface works with all AbsoluteIMU models, but not all modes will work with any particular model.

Supported modes
Mode name	Description	unit(s)	Getter
Magnetic	Measures the strength of the magnetic field over three axes		{getMagneticMode() }
Compass	Measures the orientation of the sensor	Degrees, corresponding to the compass rose	{getCompassMode() }
Angle	Measures the orientation of the sensor	Degrees, corresponding to the right hand coordinate system	{getAngleMode() }
Acceleration	The Acceleration mode measures the linear acceleration of the sensor over three axes	Metres/second^2	{getAccelerationMode() }
Rate	The Rate mode measures the angular speed of the sensor over three axes	Degrees/second	{getRateMode() }

Sensor configuration
The gyro sensor of the AbsoluteIMU uses a filter to remove noise from the samples. The filter can be configured using the {setGyroFilter } method.
The compass sensor of the AbsoluteIMU can be calibrated to compensate for magnetical disturbances on the robot (soft iron calibration) using the {#startCalibration} and {stopCalibration} methods.

To calibrate Compass, mount it on your robot where it will be used and issue startCalibration method and then rotate AbsoluteIMU slowly along all three axes. (The Compass in AbsoluteIMU is a 3 axis compass, and hence needs to be turned along all three axes, and if it's mounted on your robot, the whole robot needs to rotate). Rotate one axis at a time, turn once in clock-wise direction completing at-least 360 degrees, and then turn it in anti-clock-wise direction, then go to next axis. Upon finishing turning along all axes, issue stopCalibration method.

See Mindsensors IMU user guide"> Sensor Product page See The leJOS sensor framework See leJOS conventions for SampleProviders

Field Summary

Fields
Modifier and Type	Field and Description
`static java.lang.String`	`END_CALIBRATION`
`static int`	`GYRO_FILTER`
`static int`	`HIGH`
`static int`	`LOW`
`static int`	`MEDIUM`
`private static java.lang.String`	`MINDSENSORS_ABSOLUTEIMU`
`static java.lang.String`	`MODE_ACCELEROMETER`
`static java.lang.String`	`MODE_COMPASS`
`static java.lang.String`	`MODE_GYRO`
`static java.lang.String`	`MODE_MAGNETIC`
`static java.lang.String`	`MODE_TILT`
`static java.lang.String`	`SET_ACCELERATION_16G`
`static java.lang.String`	`SET_ACCELERATION_2G`
`static java.lang.String`	`SET_ACCELERATION_4G`
`static java.lang.String`	`SET_ACCELERATION_8G`
`static java.lang.String`	`START_CALIBRATION`
`static int`	`VERY_HIGH`

Fields inherited from class ev3dev.sensors.BaseSensor
currentMode, modes, SWITCH_DELAY

Fields inherited from class ev3dev.hardware.EV3DevSensorDevice
LEGO_ANALOG_SENSOR, LEGO_I2C, LEGO_UART_SENSOR, SENSOR_MODE, SENSOR_MODES

Fields inherited from class ev3dev.hardware.EV3DevDevice
ADDRESS, CURRENT_PLATFORM, DEVICE, ev3DevProperties, LEGO_PORT, LEGO_SENSOR, MODE, PATH_DEVICE

Constructor Summary

Constructors
Constructor and Description

AbsoluteIMU(Port portName)

Constructors
Constructor and Description
`AbsoluteIMU(Port portName)`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`SensorMode`	`getAccelerationMode()` Return a SensorMode object that will acceleration data for the X, Y and Z axis.
`SensorMode`	`getCompassMode()` Return a SensorMode object that will provide tilt compensated compass data .
`SensorMode`	`getGyroMode()`
`SensorMode`	`getMagneticMode()` Return a SensorMode object that will return Magnetic data for the X, Y and Z axis The data is returned in Guass
`SensorMode`	`getTiltMode()`
`void`	`sendCommand(java.lang.String cmd)` Send a single byte command represented by a letter
`void`	`setGyroFilter(int value)` Set the smoothing filter for the gyro.
`void`	`setRange(int range)` Set the sensitivity used by the sensor.
`void`	`startCalibration()` To calibrate Compass, mount it on your robot where it will be used and issue startCalibration method and then rotate AbsoluteIMU slowly along all three axes.
`void`	`stopCalibration()` Ends calibration sequence.

Methods inherited from class ev3dev.sensors.BaseSensor
fetchSample, getAvailableModes, getCurrentMode, getMode, getMode, getModeCount, getName, getSystemMode, sampleSize, setCurrentMode, setCurrentMode, setModes, switchMode

Methods inherited from class ev3dev.hardware.EV3DevDevice
detect, getIntegerAttribute, getStringAttribute, setIntegerAttribute, setStringAttribute

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - MINDSENSORS_ABSOLUTEIMU
```
private static final java.lang.String MINDSENSORS_ABSOLUTEIMU
```
    See Also:
    
    Constant Field Values
  - MODE_TILT
```
public static final java.lang.String MODE_TILT
```
    See Also:
    
    Constant Field Values
  - MODE_ACCELEROMETER
```
public static final java.lang.String MODE_ACCELEROMETER
```
    See Also:
    
    Constant Field Values
  - MODE_COMPASS
```
public static final java.lang.String MODE_COMPASS
```
    See Also:
    
    Constant Field Values
  - MODE_MAGNETIC
```
public static final java.lang.String MODE_MAGNETIC
```
    See Also:
    
    Constant Field Values
  - MODE_GYRO
```
public static final java.lang.String MODE_GYRO
```
    See Also:
    
    Constant Field Values
  - START_CALIBRATION
```
public static final java.lang.String START_CALIBRATION
```
    See Also:
    
    Constant Field Values
  - END_CALIBRATION
```
public static final java.lang.String END_CALIBRATION
```
    See Also:
    
    Constant Field Values
  - LOW
```
public static final int LOW
```
    See Also:
    
    Constant Field Values
  - MEDIUM
```
public static final int MEDIUM
```
    See Also:
    
    Constant Field Values
  - HIGH
```
public static final int HIGH
```
    See Also:
    
    Constant Field Values
  - VERY_HIGH
```
public static final int VERY_HIGH
```
    See Also:
    
    Constant Field Values
  - SET_ACCELERATION_2G
```
public static final java.lang.String SET_ACCELERATION_2G
```
    See Also:
    
    Constant Field Values
  - SET_ACCELERATION_4G
```
public static final java.lang.String SET_ACCELERATION_4G
```
    See Also:
    
    Constant Field Values
  - SET_ACCELERATION_8G
```
public static final java.lang.String SET_ACCELERATION_8G
```
    See Also:
    
    Constant Field Values
  - SET_ACCELERATION_16G
```
public static final java.lang.String SET_ACCELERATION_16G
```
    See Also:
    
    Constant Field Values
  - GYRO_FILTER
```
public static final int GYRO_FILTER
```
    See Also:
    
    Constant Field Values
- Constructor Detail
  - AbsoluteIMU
```
public AbsoluteIMU(Port portName)
```
- Method Detail
  - sendCommand
```
public void sendCommand(java.lang.String cmd)
```
    Send a single byte command represented by a letter
    
    Parameters:
    
    cmd - the letter that identifies the command
  - getCompassMode
```
public SensorMode getCompassMode()
```
    Return a SensorMode object that will provide tilt compensated compass data . The sample contains one element containing the bearing of the sensor relative to north expressed in degrees. East being at 90 degrees.
    
    Returns:
    
    a SensorMode object
  - getAccelerationMode
```
public SensorMode getAccelerationMode()
```
    Return a SensorMode object that will acceleration data for the X, Y and Z axis. The data is returned in units of m/s/s.
    
    Returns:
    
    a SensorMode object
  - getMagneticMode
```
public SensorMode getMagneticMode()
```
    Return a SensorMode object that will return Magnetic data for the X, Y and Z axis The data is returned in Guass
    
    Returns:
    
    a SensorMode object
  - getGyroMode
```
public SensorMode getGyroMode()
```
    Returns:
    
    SensorMode for reading the mode's data.
  - getTiltMode
```
public SensorMode getTiltMode()
```
    Returns:
    
    SensorMode for reading the mode's data.
  - setRange
```
public void setRange(int range)
```
    Set the sensitivity used by the sensor. This setting impacts the maximum range of the returned value and the resolution of the reading.
    LOW Acceleration 2G Gyro 250 degrees/second
    MEDIUM Acceleration 4G Gyro 500 degrees/second
    HIGH Acceleration 8G Gyro 2000 degrees/second
    VERY_HIGH Acceleration 16G Gyro 2000 degrees/second
    The default setting is LOW.
    
    Parameters:
    
    range - the selected range (LOW/MEDIUM/HIGH/VERY_HIGH)
  - setGyroFilter
```
public void setGyroFilter(int value)
```
    Set the smoothing filter for the gyro.
    The Gyro readings are filtered with nth order finite impulse response filter, (where n ranges from 0 to 7) value 0 will apply no filter, resulting in faster reading, but noisier values.value 7 will apply stronger filter resulting in slower read (about 10 milli-seconds slower) but less noise.
    The default value for the filter is 4.
    
    Parameters:
    
    value - (range 0-7)
  - startCalibration
```
public void startCalibration()
```
    To calibrate Compass, mount it on your robot where it will be used and issue startCalibration method and then rotate AbsoluteIMU slowly along all three axes. (The Compass in AbsoluteIMU is a 3 axis compass, and hence needs to be turned along all three axes, and if it's mounted on your robot, the whole robot needs to rotate). Rotate one axis at a time, turn once in clock-wise direction completing at-least 360 degrees, and then turn it in anti-clock-wise direction, then go to next axis. Upon finishing turning along all axes, issue stopCalibration method.
  - stopCalibration
```
public void stopCalibration()
```
    Ends calibration sequence.

Class AbsoluteIMU

Field Summary

Fields inherited from class ev3dev.sensors.BaseSensor

Fields inherited from class ev3dev.hardware.EV3DevSensorDevice

Fields inherited from class ev3dev.hardware.EV3DevDevice

Constructor Summary

Method Summary

Methods inherited from class ev3dev.sensors.BaseSensor

Methods inherited from class ev3dev.hardware.EV3DevDevice

Methods inherited from class java.lang.Object

Field Detail

MINDSENSORS_ABSOLUTEIMU

MODE_TILT

MODE_ACCELEROMETER

MODE_COMPASS

MODE_MAGNETIC

MODE_GYRO

START_CALIBRATION

END_CALIBRATION

LOW

MEDIUM

HIGH

VERY_HIGH

SET_ACCELERATION_2G

SET_ACCELERATION_4G

SET_ACCELERATION_8G

SET_ACCELERATION_16G

GYRO_FILTER

Constructor Detail

AbsoluteIMU

Method Detail

sendCommand

getCompassMode

getAccelerationMode

getMagneticMode

getGyroMode

getTiltMode

setRange

setGyroFilter

startCalibration

stopCalibration