MindsensorsAbsoluteIMU (leJOS EV3 API documentation)

java.lang.Object
- lejos.hardware.Device
- - lejos.hardware.sensor.BaseSensor
  - - lejos.hardware.sensor.I2CSensor
    - - lejos.hardware.sensor.MindsensorsAbsoluteIMU

All Implemented Interfaces:: java.io.Closeable, java.lang.AutoCloseable, SensorConstants, SensorMode, SensorModes, Calibrate, SampleProvider

public class MindsensorsAbsoluteIMU
extends I2CSensor
implements SensorModes, Calibrate

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(int) 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

Author:: Andy

Nested Class Summary

Nested Classes
Modifier and Type Class and Description

protected class MindsensorsAbsoluteIMU.ShortSensorMode

Nested Classes
Modifier and Type	Class and Description
`protected class`	`MindsensorsAbsoluteIMU.ShortSensorMode`

Field Summary

Fields
Modifier and Type	Field and Description
`protected static int`	`ACCEL_DATA`
`protected MindsensorsAbsoluteIMU.ShortSensorMode`	`accelMode`
`protected MindsensorsAbsoluteIMU.ShortSensorMode`	`angleMode`
`protected static int`	`COMMAND`
`protected static int`	`COMPASS_DATA`
`protected MindsensorsAbsoluteIMU.ShortSensorMode`	`compassMode`
`static int`	`DEFAULT_I2C_ADDRESS` The default I2C address of the sensor
`protected static byte`	`END_CALIBRATION`
`protected static int`	`GYRO_DATA`
`protected static int`	`GYRO_FILTER`
`protected MindsensorsAbsoluteIMU.ShortSensorMode`	`gyroMode`
`static int`	`HIGH`
`static int`	`LOW`
`protected static int`	`MAG_DATA`
`protected MindsensorsAbsoluteIMU.ShortSensorMode`	`magMode`
`static int`	`MEDIUM`
`protected static byte`	`SENSITIVITY_BASE`
`protected static byte`	`START_CALIBRATION`
`static int`	`VERY_HIGH`

Fields inherited from class lejos.hardware.sensor.I2CSensor
address, port, REG_PRODUCT_ID, REG_VENDOR_ID, REG_VERSION, retryCount

Fields inherited from class lejos.hardware.sensor.BaseSensor
currentMode, modes

Fields inherited from class lejos.hardware.Device
closeList

Fields inherited from interface lejos.hardware.sensor.SensorConstants
BLACK, BLANK_INDEX, BLUE, BLUE_INDEX, BROWN, GREEN, GREEN_INDEX, MAX_TYPE, MIN_TYPE, MODE_RAW, NXT_ADC_RES, RED, RED_INDEX, TYPE_ANGLE, TYPE_COLORBLUE, TYPE_COLORFULL, TYPE_COLORGREEN, TYPE_COLORNONE, TYPE_COLORRED, TYPE_CUSTOM, TYPE_HIGHSPEED, TYPE_HIGHSPEED_9V, TYPE_HISPEED, TYPE_LIGHT_ACTIVE, TYPE_LIGHT_INACTIVE, TYPE_LOWSPEED, TYPE_LOWSPEED_9V, TYPE_NO_SENSOR, TYPE_REFLECTION, TYPE_SOUND_DB, TYPE_SOUND_DBA, TYPE_SWITCH, TYPE_TEMPERATURE, WHITE, YELLOW

Constructor Summary

Constructors
Constructor and Description
`MindsensorsAbsoluteIMU(I2CPort port)`
`MindsensorsAbsoluteIMU(I2CPort port, int address)`
`MindsensorsAbsoluteIMU(Port port)`
`MindsensorsAbsoluteIMU(Port port, int address)`

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`	`getAngleMode()` Return a SensorMode object that will provide angle data.
`SensorMode`	`getCompassMode()` Return a SensorMode object that will provide tilt compensated compass data .
`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`	`getRateMode()` Return a SensorMode object that will angular velocity data for the X, Y and Z axis.
`protected void`	`init()`
`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 lejos.hardware.sensor.I2CSensor
fetchString, getAddress, getData, getData, getPort, getProductID, getRetryCount, getVendorID, getVersion, sendData, sendData, sendData, setAddress, setRetryCount

Methods inherited from class lejos.hardware.sensor.BaseSensor
fetchSample, getAvailableModes, getCurrentMode, getMode, getMode, getModeCount, getName, sampleSize, setCurrentMode, setCurrentMode, setModes

Methods inherited from class lejos.hardware.Device
close, releaseOnClose

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

Methods inherited from interface lejos.hardware.sensor.SensorModes
getAvailableModes, getCurrentMode, getMode, getMode, getModeCount, setCurrentMode, setCurrentMode

Methods inherited from interface lejos.hardware.sensor.SensorMode
getName

Methods inherited from interface lejos.robotics.SampleProvider
fetchSample, sampleSize

- Field Detail
  - DEFAULT_I2C_ADDRESS
```
public static final int DEFAULT_I2C_ADDRESS
```
    The default I2C address of the sensor
    
    See Also:
    
    Constant Field Values
  - ACCEL_DATA
```
protected static final int ACCEL_DATA
```
    See Also:
    
    Constant Field Values
  - COMPASS_DATA
```
protected static final int COMPASS_DATA
```
    See Also:
    
    Constant Field Values
  - MAG_DATA
```
protected static final int MAG_DATA
```
    See Also:
    
    Constant Field Values
  - GYRO_DATA
```
protected static final int GYRO_DATA
```
    See Also:
    
    Constant Field Values
  - COMMAND
```
protected static final int COMMAND
```
    See Also:
    
    Constant Field Values
  - GYRO_FILTER
```
protected static final int GYRO_FILTER
```
    See Also:
    
    Constant Field Values
  - SENSITIVITY_BASE
```
protected static final byte SENSITIVITY_BASE
```
    See Also:
    
    Constant Field Values
  - START_CALIBRATION
```
protected static final byte START_CALIBRATION
```
    See Also:
    
    Constant Field Values
  - END_CALIBRATION
```
protected static final byte 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
  - accelMode
```
protected MindsensorsAbsoluteIMU.ShortSensorMode accelMode
```
  - magMode
```
protected MindsensorsAbsoluteIMU.ShortSensorMode magMode
```
  - gyroMode
```
protected MindsensorsAbsoluteIMU.ShortSensorMode gyroMode
```
  - compassMode
```
protected MindsensorsAbsoluteIMU.ShortSensorMode compassMode
```
  - angleMode
```
protected MindsensorsAbsoluteIMU.ShortSensorMode angleMode
```
- Constructor Detail
  - MindsensorsAbsoluteIMU
```
public MindsensorsAbsoluteIMU(I2CPort port,
                              int address)
```
  - MindsensorsAbsoluteIMU
```
public MindsensorsAbsoluteIMU(I2CPort port)
```
  - MindsensorsAbsoluteIMU
```
public MindsensorsAbsoluteIMU(Port port,
                              int address)
```
  - MindsensorsAbsoluteIMU
```
public MindsensorsAbsoluteIMU(Port port)
```
- Method Detail
  - init
```
protected void init()
```
  - 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
  - getAngleMode
```
public SensorMode getAngleMode()
```
    Return a SensorMode object that will provide angle data. The sample contains one element containing the bearing of the sensor relative to north expressed in degrees using a right hand coordinate system in the range of (-180 to 180). West being at 90 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
  - getRateMode
```
public SensorMode getRateMode()
```
    Return a SensorMode object that will angular velocity data for the X, Y and Z axis. The data is returned in units of degrees/s.
    
    Returns:
    
    a SensorMode object
  - 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 n’th 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.
    
    Specified by:
    
    startCalibration in interface Calibrate
  - stopCalibration
```
public void stopCalibration()
```
    Ends calibration sequence.
    
    Specified by:
    
    stopCalibration in interface Calibrate

Class MindsensorsAbsoluteIMU

Nested Class Summary

Field Summary

Fields inherited from class lejos.hardware.sensor.I2CSensor

Fields inherited from class lejos.hardware.sensor.BaseSensor

Fields inherited from class lejos.hardware.Device

Fields inherited from interface lejos.hardware.sensor.SensorConstants

Constructor Summary

Method Summary

Methods inherited from class lejos.hardware.sensor.I2CSensor

Methods inherited from class lejos.hardware.sensor.BaseSensor

Methods inherited from class lejos.hardware.Device

Methods inherited from class java.lang.Object

Methods inherited from interface lejos.hardware.sensor.SensorModes

Methods inherited from interface lejos.hardware.sensor.SensorMode

Methods inherited from interface lejos.robotics.SampleProvider

Field Detail

DEFAULT_I2C_ADDRESS

ACCEL_DATA

COMPASS_DATA

MAG_DATA

GYRO_DATA

COMMAND

GYRO_FILTER

SENSITIVITY_BASE

START_CALIBRATION

END_CALIBRATION

LOW

MEDIUM

HIGH

VERY_HIGH

accelMode

magMode

gyroMode

compassMode

angleMode

Constructor Detail

MindsensorsAbsoluteIMU

MindsensorsAbsoluteIMU

MindsensorsAbsoluteIMU

MindsensorsAbsoluteIMU

Method Detail

init

getCompassMode

getAngleMode

getAccelerationMode

getMagneticMode

getRateMode

setRange

setGyroFilter

startCalibration

stopCalibration