pybricks._common.IMU: Change settings setter.

CHANGELOG.md

@@ -11,7 +11,7 @@
 - Documented ``Motor.model``. This can be used to view the estimated motor
   state and change its settings.
 - Added `rotation`, `orientation`, `ready`, `stationary`
-  and `set_stationary_thresholds`  methods to `IMU` class.
+  and `settings`  methods to `IMU` class.
 
 ### Changed
 - Change implementation status of `IMU.heading` and `IMU.reset_heading`. They

doc/main/hubs/essentialhub.rst

@@ -29,8 +29,6 @@ Essential Hub
 
     .. automethod:: pybricks.hubs::EssentialHub.imu.stationary
 
-    .. automethod:: pybricks.hubs::EssentialHub.imu.set_stationary_thresholds
-
     .. automethod:: pybricks.hubs::EssentialHub.imu.up
 
     .. automethod:: pybricks.hubs::EssentialHub.imu.tilt
@@ -47,6 +45,8 @@ Essential Hub
 
     .. automethod:: pybricks.hubs::EssentialHub.imu.orientation
 
+    .. automethod:: pybricks.hubs::EssentialHub.imu.settings
+
     .. rubric:: Using the battery
 
     .. automethod:: pybricks.hubs::EssentialHub.battery.voltage

doc/main/hubs/primehub.rst

@@ -63,8 +63,6 @@ Prime Hub / Inventor Hub
 
     .. automethod:: pybricks.hubs::PrimeHub.imu.stationary
 
-    .. automethod:: pybricks.hubs::PrimeHub.imu.set_stationary_thresholds
-
     .. automethod:: pybricks.hubs::PrimeHub.imu.up
 
     .. automethod:: pybricks.hubs::PrimeHub.imu.tilt
@@ -81,6 +79,8 @@ Prime Hub / Inventor Hub
 
     .. automethod:: pybricks.hubs::PrimeHub.imu.orientation
 
+    .. automethod:: pybricks.hubs::PrimeHub.imu.settings
+
     .. rubric:: Using the speaker
 
     .. automethod:: pybricks.hubs::PrimeHub.speaker.volume

doc/main/hubs/technichub.rst

@@ -25,8 +25,6 @@ Technic Hub
 
     .. automethod:: pybricks.hubs::TechnicHub.imu.stationary
 
-    .. automethod:: pybricks.hubs::TechnicHub.imu.set_stationary_thresholds
-
     .. automethod:: pybricks.hubs::TechnicHub.imu.up
 
     .. automethod:: pybricks.hubs::TechnicHub.imu.tilt
@@ -43,6 +41,8 @@ Technic Hub
 
     .. automethod:: pybricks.hubs::TechnicHub.imu.orientation
 
+    .. automethod:: pybricks.hubs::TechnicHub.imu.settings
+
     .. rubric:: Using the battery
 
     .. automethod:: pybricks.hubs::TechnicHub.battery.voltage

jedi/tests/test_complete_essential_hub.py

@@ -83,7 +83,7 @@ def test_hub_dot_imu_dot():
         "ready",
         "reset_heading",
         "rotation",
-        "set_stationary_thresholds",
+        "settings",
         "stationary",
         "tilt",
         "up",

jedi/tests/test_complete_prime_hub.py

@@ -101,7 +101,7 @@ def test_hub_dot_imu_dot():
         "ready",
         "reset_heading",
         "rotation",
-        "set_stationary_thresholds",
+        "settings",
         "stationary",
         "tilt",
         "up",

jedi/tests/test_complete_technic_hub.py

@@ -71,7 +71,7 @@ def test_hub_dot_imu_dot():
         "ready",
         "reset_heading",
         "rotation",
-        "set_stationary_thresholds",
+        "settings",
         "stationary",
         "tilt",
         "up",

src/pybricks/_common.py

@@ -1012,27 +1012,42 @@ class IMU(Accelerometer):
             moving.
         """
 
-    def set_stationary_thresholds(
-        self, angular_velocity: float, acceleration: float
+    @overload
+    def settings(
+        self,
+        angular_velocity_threshold: float = None,
+        acceleration_threshold: float = None,
     ) -> None:
-        """set_stationary_thresholds(angular_velocity, acceleration)
+        ...
 
-        When the angular velocity and acceleration measurements are below the
-        given threshold values for at least one second, the sensor is
-        considered stationary. This is when the sensor recalibrates itself.
+    @overload
+    def settings(self) -> Tuple[float, float]:
+        ...
 
-        If you are in a noisy room with high ambient vibrations (such as a
-        robot competition hall), it is recommended to increase these values
-        slightly to give your robot the chance to calibrate properly.
+    def settings(self, *args):
+        """
+        settings(angular_velocity_threshold, acceleration_threshold)
+        settings() -> Tuple[float, float]
 
-        To verify that your settings are working, test that
+        Configures the IMU settings. If no arguments are given,
+        this returns the current values.
+
+        The ``angular_velocity_threshold`` and ``acceleration_threshold``
+        define when the hub is considered stationary. If all
+        measurements stay below these thresholds for one second, the IMU
+        will recalibrate itself.
+
+        In a noisy room with high ambient vibrations (such as a
+        competition hall), it is recommended to increase the thresholds
+        slightly to give your robot the chance to calibrate.
+        To verify that your settings are working as expected, test that
         the ``stationary()`` method gives ``False`` if your robot is moving,
         and ``True`` if it is sitting still for at least a second.
 
         Arguments:
-            angular_velocity (Number, deg/s): The threshold for angular
-                velocity. The default value is 1.5 deg/s.
-            acceleration (Number, mm/s²): The threshold for angular
+            angular_velocity_threshold (Number, deg/s): The threshold for
+                angular velocity. The default value is 1.5 deg/s.
+            acceleration_threshold (Number, mm/s²): The threshold for angular
                 velocity. The default value is 250 mm/s².
         """