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@@ -131,6 +131,12 @@ class System:
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If you try to read or write data outside of the allowed range.
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"""
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def reset_storage(self) -> None:
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"""reset_storage()
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Resets all user settings to default values and erases user programs.
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"""
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class DCMotor:
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"""Generic class to control simple motors without rotation sensors, such
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@@ -1073,38 +1079,89 @@ class IMU(Accelerometer):
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@overload
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def settings(
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self,
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*,
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angular_velocity_threshold: float = None,
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acceleration_threshold: float = None,
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heading_correction: float = None,
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angular_velocity_bias: Tuple[float, float, float] = None,
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angular_velocity_scale: Tuple[float, float, float] = None,
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acceleration_correction: Tuple[float, float, float, float, float, float] = None,
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) -> None: ...
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@overload
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def settings(self) -> Tuple[float, float]: ...
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def settings(
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self,
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) -> Tuple[
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float,
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float,
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float,
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Tuple[float, float, float],
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Tuple[float, float, float],
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Tuple[float, float, float, float, float, float],
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]: ...
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def settings(self, *args):
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"""
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settings(angular_velocity_threshold, acceleration_threshold)
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settings() -> Tuple[float, float]
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settings(*, angular_velocity_threshold, acceleration_threshold, heading_correction, angular_velocity_bias, angular_velocity_scale, acceleration_correction)
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settings() -> Tuple
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Configures the IMU settings. If no arguments are given,
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this returns the current values.
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this returns the current values. Use keyword arguments for each value
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to ensure correct behavior because settings may be added or changed in
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future releases.
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These IMU settings are saved on the hub. They will keep their values
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until you change them again. The values will be reset to default values
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if you update the hub to a different firmware version or call the
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``hub.system.reset_storage`` method.
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The ``angular_velocity_threshold`` and ``acceleration_threshold``
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define when the hub is considered stationary. If all
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measurements stay below these thresholds for one second, the IMU
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will recalibrate itself.
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In a noisy room with high ambient vibrations (such as a
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competition hall), it is recommended to increase the thresholds
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will recalibrate itself. In a noisy room with high ambient vibrations (such as a
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competition hall), you can increase the thresholds
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slightly to give your robot the chance to calibrate.
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To verify that your settings are working as expected, test that
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the ``stationary()`` method gives ``False`` if your robot is moving,
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and ``True`` if it is sitting still for at least a second.
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and ``True`` if it is sitting still.
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The gyroscope measures how fast the hub rotates to estimate the total
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angle. Due to variations in the production process, each
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hub consistently reports a different value for a full rotation. For
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example, your hub might consistently report `357` degrees for every
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`360` degree turn. You can measure this value
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with ``hub.imu.rotation(-Axis.Z)`` and enter it as
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the ``heading_correction`` setting. Then, the ``hub.imu.heading()``
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method will take it into account going forward, correctly scaling it
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to 360 degrees for a full rotation.
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Arguments:
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angular_velocity_threshold (Number, deg/s): The threshold for
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angular velocity. The default value is 1.5 deg/s.
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acceleration_threshold (Number, mm/s²): The threshold for angular
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velocity. The default value is 250 mm/s².
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variations in the angular velocity below which the hub is
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considered stationary enough to calibrate.
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After a reset the value is 2 deg/s.
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acceleration_threshold (Number, mm/s²): The threshold for
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variations in acceleration below which the hub is considered
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stationary enough to calibrate. After a reset the value
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is 2500 mm/s².
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heading_correction (Number, deg): Number of degrees reported by
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``imu.rotation(-Axis.Z)`` for one full rotation of your robot.
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After a reset the value is 360 degrees.
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angular_velocity_bias (tuple, deg/s): Initial bias for angular
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velocity measurements along x, y, and z immediately after boot.
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After a reset the value is (0, 0, 0) deg/s.
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angular_velocity_scale (tuple, deg): Scale adjustment for x, y, and
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z rotation to account for manufacturing differences. After a reset the
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value is (360, 360, 360) deg/s. The correct values can be
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obtained using `hub.imu.rotation(Axis.X, calibrated=False)` and
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repeating it for each axis.
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acceleration_correction (tuple, mm/s²): Scale adjustment for x, y,
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and z gravity magnitude in both directions to account for
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manufacturing differences. After a reset the
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value is (9806.65, -9806.65, 9806.65, -9806.65, 9806.65, -9806.65) mm/s².
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The correct values can be
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obtained using `hub.imu.acceleration(Axis.X, calibrated=False)`
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and repeating it for all axes in both directions.
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"""
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def heading(self) -> float:
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@@ -1138,8 +1195,48 @@ class IMU(Accelerometer):
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Resets the accumulated heading angle of the robot.
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This cannot be called while a drive base is using the gyro to drive or
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hold position.
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Use :meth:`DriveBase.reset() <pybricks.robotics.DriveBase.reset>`
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instead, which will stop the robot and then set the new heading value.
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.. versionchanged:: 3.6 Resetting the angle while driving is not allowed.
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Arguments:
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angle (Number, deg): Value to which the heading should be reset.
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Raises:
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OSError:
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There is a drive base that is currently using the gyro.
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"""
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def update_heading_correction(self) -> None:
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"""update_heading_correction()
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Runs an interactive routine to automatically update the saved heading
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correction value. Follow the instructions in the output pane in
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Pybricks Code. The value will only be updated if this method completes
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successfully.
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The gyro sensor is _precise_, but not _accurate_ in knowing how much
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movement exactly means 360 degrees. This is different for every hub.
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This method helps you find a correction factor for your hub. This
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improves the values you get from the ``heading()``. And likewise, it
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improves ``DriveBase`` motion when you use ``use_gyro(True)``.
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The result is saved on the hub. It will remain unchanged until you run
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this method again. It is cleared when you update the firmware to a new
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version.
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So this method should be run as a one-off for your robot in a separate
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script. It should not be part of your day-to-day programs, because it
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take a few minutes to run.
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If your hub is mounted in a custom orientation and you specify your own
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``top_side`` and ``front_side`` axes, you should use the same axes when
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you run this update method. If you change your design later, be
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sure to run this routine again with the updated axes values.
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"""
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@overload
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@@ -1177,6 +1274,10 @@ class IMU(Accelerometer):
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The value starts counting from ``0`` when you initialize this class.
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This value is _not_ automatically adjusted to give an exact 360 value
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for a full turn. For an adjusted value, use the ``heading`` method.
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Arguments:
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axis (Axis): Axis along which the rotation should be measured.
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Returns:
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Laurens Valk