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pybricks._common.IMU: Change settings setter.

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This commit is contained in:
Laurens Valk
2023-04-21 10:42:30 +02:00
committed by laurensvalk
parent bb37b94f5e
commit b311c54261
8 changed files with 38 additions and 23 deletions
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src/pybricks/_common.py
+28 -13
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@@ -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.
"""