examples/pup: add imu tilt examples

doc/api/hubs/primehub.rst

@@ -174,3 +174,25 @@ Detecting button presses
 
 .. literalinclude::
     ../../../examples/pup/hub_primehub/button_main.py
+
+IMU examples
+---------------
+
+Testing which way is up
+********************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/imu_up.py
+
+
+Reading the tilt value
+********************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/imu_tilt.py
+
+Reading the tilt value with custom hub orientation
+**************************************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/imu_tilt_blast.py

doc/api/hubs/technichub.rst

@@ -63,3 +63,25 @@ Creating light animations
 
 .. literalinclude::
     ../../../examples/pup/hub_technichub/light_animate.py
+
+IMU examples
+---------------
+
+Testing which way is up
+********************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_technichub/imu_up.py
+
+
+Reading the tilt value
+********************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_technichub/imu_tilt.py
+
+Reading the tilt value with custom hub orientation
+**************************************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_technichub/imu_tilt_blast.py

examples/pup/hub_primehub/imu_tilt.py

@@ -0,0 +1,13 @@
+from pybricks.hubs import PrimeHub
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = PrimeHub()
+
+while True:
+    # Read the tilt values.
+    pitch, roll = hub.imu.tilt()
+
+    # Print the result.
+    print(pitch, roll)
+    wait(200)

examples/pup/hub_primehub/imu_tilt_blast.py

@@ -0,0 +1,17 @@
+from pybricks.hubs import PrimeHub
+from pybricks.tools import wait
+from pybricks.geometry import Axis
+
+# Initialize the hub. In this case, specify that the hub is mounted with the
+# top side facing forward and the front side facing to the right.
+# For example, this is how the hub is mounted in BLAST in the 51515 set.
+hub = PrimeHub(top_side=Axis.X, front_side=-Axis.Y)
+
+while True:
+    # Read the tilt values. Now, the values are 0 when BLAST stands upright.
+    # Leaning forward gives positive pitch. Leaning right gives positive roll.
+    pitch, roll = hub.imu.tilt()
+
+    # Print the result.
+    print(pitch, roll)
+    wait(200)

examples/pup/hub_shared/imu_tilt.py

@@ -0,0 +1,14 @@
+# ExampleHub = TechnicHub PrimeHub
+from pybricks.hubs import ExampleHub
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = ExampleHub()
+
+while True:
+    # Read the tilt values.
+    pitch, roll = hub.imu.tilt()
+
+    # Print the result.
+    print(pitch, roll)
+    wait(200)

examples/pup/hub_shared/imu_tilt_blast.py

@@ -0,0 +1,18 @@
+# ExampleHub = TechnicHub PrimeHub
+from pybricks.hubs import ExampleHub
+from pybricks.tools import wait
+from pybricks.geometry import Axis
+
+# Initialize the hub. In this case, specify that the hub is mounted with the
+# top side facing forward and the front side facing to the right.
+# For example, this is how the hub is mounted in BLAST in the 51515 set.
+hub = ExampleHub(top_side=Axis.X, front_side=-Axis.Y)
+
+while True:
+    # Read the tilt values. Now, the values are 0 when BLAST stands upright.
+    # Leaning forward gives positive pitch. Leaning right gives positive roll.
+    pitch, roll = hub.imu.tilt()
+
+    # Print the result.
+    print(pitch, roll)
+    wait(200)

examples/pup/hub_technichub/imu_tilt.py

@@ -0,0 +1,13 @@
+from pybricks.hubs import TechnicHub
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = TechnicHub()
+
+while True:
+    # Read the tilt values.
+    pitch, roll = hub.imu.tilt()
+
+    # Print the result.
+    print(pitch, roll)
+    wait(200)

examples/pup/hub_technichub/imu_tilt_blast.py

@@ -0,0 +1,17 @@
+from pybricks.hubs import TechnicHub
+from pybricks.tools import wait
+from pybricks.geometry import Axis
+
+# Initialize the hub. In this case, specify that the hub is mounted with the
+# top side facing forward and the front side facing to the right.
+# For example, this is how the hub is mounted in BLAST in the 51515 set.
+hub = TechnicHub(top_side=Axis.X, front_side=-Axis.Y)
+
+while True:
+    # Read the tilt values. Now, the values are 0 when BLAST stands upright.
+    # Leaning forward gives positive pitch. Leaning right gives positive roll.
+    pitch, roll = hub.imu.tilt()
+
+    # Print the result.
+    print(pitch, roll)
+    wait(200)