From 55d7a8a25431f7788a62c9632c1ae4001a15f698 Mon Sep 17 00:00:00 2001
From: Laurens Valk <laurens@pybricks.com>
Date: Wed, 20 Jan 2021 16:02:36 +0100
Subject: [PATCH] examples/pup: acceleration and angular velocity

---
 doc/api/hubs/primehub.rst                     | 14 +++++++++-
 doc/api/hubs/technichub.rst                   | 26 ++++++++++++++-----
 examples/pup/hub_primehub/imu_read_scalar.py  | 20 ++++++++++++++
 examples/pup/hub_primehub/imu_read_vector.py  | 14 ++++++++++
 examples/pup/hub_shared/imu_read_scalar.py    | 21 +++++++++++++++
 examples/pup/hub_shared/imu_read_vector.py    | 15 +++++++++++
 .../pup/hub_technichub/imu_read_scalar.py     | 20 ++++++++++++++
 .../pup/hub_technichub/imu_read_vector.py     | 14 ++++++++++
 8 files changed, 136 insertions(+), 8 deletions(-)
 create mode 100644 examples/pup/hub_primehub/imu_read_scalar.py
 create mode 100644 examples/pup/hub_primehub/imu_read_vector.py
 create mode 100644 examples/pup/hub_shared/imu_read_scalar.py
 create mode 100644 examples/pup/hub_shared/imu_read_vector.py
 create mode 100644 examples/pup/hub_technichub/imu_read_scalar.py
 create mode 100644 examples/pup/hub_technichub/imu_read_vector.py

diff --git a/doc/api/hubs/primehub.rst b/doc/api/hubs/primehub.rst
index 2daa786..8df35c3 100644
--- a/doc/api/hubs/primehub.rst
+++ b/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
diff --git a/doc/api/hubs/technichub.rst b/doc/api/hubs/technichub.rst
index 35ab0b0..22d0383 100644
--- a/doc/api/hubs/technichub.rst
+++ b/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
diff --git a/examples/pup/hub_primehub/imu_read_scalar.py b/examples/pup/hub_primehub/imu_read_scalar.py
new file mode 100644
index 0000000..18e558c
--- /dev/null
+++ b/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)
diff --git a/examples/pup/hub_primehub/imu_read_vector.py b/examples/pup/hub_primehub/imu_read_vector.py
new file mode 100644
index 0000000..ffa4bdf
--- /dev/null
+++ b/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)
diff --git a/examples/pup/hub_shared/imu_read_scalar.py b/examples/pup/hub_shared/imu_read_scalar.py
new file mode 100644
index 0000000..d3b69a8
--- /dev/null
+++ b/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)
diff --git a/examples/pup/hub_shared/imu_read_vector.py b/examples/pup/hub_shared/imu_read_vector.py
new file mode 100644
index 0000000..74a92e4
--- /dev/null
+++ b/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)
diff --git a/examples/pup/hub_technichub/imu_read_scalar.py b/examples/pup/hub_technichub/imu_read_scalar.py
new file mode 100644
index 0000000..8d1334b
--- /dev/null
+++ b/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)
diff --git a/examples/pup/hub_technichub/imu_read_vector.py b/examples/pup/hub_technichub/imu_read_vector.py
new file mode 100644
index 0000000..c53dc3e
--- /dev/null
+++ b/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)