examples/pup: acceleration and angular velocity

doc/api/hubs/primehub.rst

@@ -191,8 +191,20 @@ Reading the tilt value
 .. literalinclude::
     ../../../examples/pup/hub_primehub/imu_tilt.py
 
-Reading the tilt value with custom hub orientation
+Using a custom hub orientation
 **************************************************
 
 .. literalinclude::
     ../../../examples/pup/hub_primehub/imu_tilt_blast.py
+
+Reading acceleration and angular velocity vectors
+**************************************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/imu_read_vector.py
+
+Reading acceleration and angular velocity on one axis
+*****************************************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/imu_read_scalar.py

doc/api/hubs/technichub.rst

@@ -19,17 +19,17 @@ Technic Hub
 
     .. rubric:: Using the IMU
 
-    .. automethod:: pybricks.hubs::PrimeHub.imu.up
+    .. automethod:: pybricks.hubs::TechnicHub.imu.up
 
-    .. automethod:: pybricks.hubs::PrimeHub.imu.tilt
+    .. automethod:: pybricks.hubs::TechnicHub.imu.tilt
 
-    .. automethod:: pybricks.hubs::PrimeHub.imu.acceleration
+    .. automethod:: pybricks.hubs::TechnicHub.imu.acceleration
 
-    .. automethod:: pybricks.hubs::PrimeHub.imu.angular_velocity
+    .. automethod:: pybricks.hubs::TechnicHub.imu.angular_velocity
 
-    .. automethod:: pybricks.hubs::PrimeHub.imu.heading
+    .. automethod:: pybricks.hubs::TechnicHub.imu.heading
 
-    .. automethod:: pybricks.hubs::PrimeHub.imu.reset_heading
+    .. automethod:: pybricks.hubs::TechnicHub.imu.reset_heading
 
     .. rubric:: Using the battery
 
@@ -80,8 +80,20 @@ Reading the tilt value
 .. literalinclude::
     ../../../examples/pup/hub_technichub/imu_tilt.py
 
-Reading the tilt value with custom hub orientation
+Using a custom hub orientation
 **************************************************
 
 .. literalinclude::
     ../../../examples/pup/hub_technichub/imu_tilt_blast.py
+
+Reading acceleration and angular velocity vectors
+**************************************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_technichub/imu_read_vector.py
+
+Reading acceleration and angular velocity on one axis
+*****************************************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_technichub/imu_read_scalar.py

examples/pup/hub_primehub/imu_read_scalar.py

@@ -0,0 +1,20 @@
+from pybricks.hubs import PrimeHub
+from pybricks.tools import wait
+from pybricks.geometry import Axis
+
+# Initialize the hub.
+hub = PrimeHub()
+
+# Get the acceleration or angular_velocity along a single axis.
+# If you need only one value, this is more memory efficient.
+while True:
+
+    # Read the forward acceleration.
+    forward_acceleration = hub.imu.acceleration(Axis.X)
+
+    # Read the yaw rate.
+    yaw_rate = hub.imu.angular_velocity(Axis.Z)
+
+    # Print the yaw rate.
+    print(yaw_rate)
+    wait(100)

examples/pup/hub_primehub/imu_read_vector.py

@@ -0,0 +1,14 @@
+from pybricks.hubs import PrimeHub
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = PrimeHub()
+
+# Get the acceleration vector.
+print(hub.imu.acceleration())
+
+# Get the angular velocity vector.
+print(hub.imu.angular_velocity())
+
+# Wait so we can see what we printed
+wait(5000)

examples/pup/hub_shared/imu_read_scalar.py

@@ -0,0 +1,21 @@
+# ExampleHub = TechnicHub PrimeHub
+from pybricks.hubs import ExampleHub
+from pybricks.tools import wait
+from pybricks.geometry import Axis
+
+# Initialize the hub.
+hub = ExampleHub()
+
+# Get the acceleration or angular_velocity along a single axis.
+# If you need only one value, this is more memory efficient.
+while True:
+
+    # Read the forward acceleration.
+    forward_acceleration = hub.imu.acceleration(Axis.X)
+
+    # Read the yaw rate.
+    yaw_rate = hub.imu.angular_velocity(Axis.Z)
+
+    # Print the yaw rate.
+    print(yaw_rate)
+    wait(100)

examples/pup/hub_shared/imu_read_vector.py

@@ -0,0 +1,15 @@
+# ExampleHub = TechnicHub PrimeHub
+from pybricks.hubs import ExampleHub
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = ExampleHub()
+
+# Get the acceleration vector.
+print(hub.imu.acceleration())
+
+# Get the angular velocity vector.
+print(hub.imu.angular_velocity())
+
+# Wait so we can see what we printed
+wait(5000)

examples/pup/hub_technichub/imu_read_scalar.py

@@ -0,0 +1,20 @@
+from pybricks.hubs import TechnicHub
+from pybricks.tools import wait
+from pybricks.geometry import Axis
+
+# Initialize the hub.
+hub = TechnicHub()
+
+# Get the acceleration or angular_velocity along a single axis.
+# If you need only one value, this is more memory efficient.
+while True:
+
+    # Read the forward acceleration.
+    forward_acceleration = hub.imu.acceleration(Axis.X)
+
+    # Read the yaw rate.
+    yaw_rate = hub.imu.angular_velocity(Axis.Z)
+
+    # Print the yaw rate.
+    print(yaw_rate)
+    wait(100)

examples/pup/hub_technichub/imu_read_vector.py

@@ -0,0 +1,14 @@
+from pybricks.hubs import TechnicHub
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = TechnicHub()
+
+# Get the acceleration vector.
+print(hub.imu.acceleration())
+
+# Get the angular velocity vector.
+print(hub.imu.angular_velocity())
+
+# Wait so we can see what we printed
+wait(5000)