roboskin.sensor package¶
Submodules¶
roboskin.sensor.adxl335 module¶
roboskin.sensor.flexiforce module¶
roboskin.sensor.lsm6ds3 module¶
This code is heavily inspired by this wonderful GitHub repo: https://github.com/CRImier/python-lsm6ds3 Thanks Homie! Datasheet Link: https://cdn.sparkfun.com/assets/learn_tutorials/4/1/6/DM00133076.pdf
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class
roboskin.sensor.lsm6ds3.LSM6DS3_IMU(raspi_bus_number=1, i2c_address='0x6b')[source]¶ Bases:
roboskin.sensor.sensor.SensorThis is the Python Class for LSM6DS3. This includes all subroutines including calibration to handle everything related to the device.
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is_lsm6ds3()[source]¶ This function will detect if the accelerometer is LSM6DS3 or not
- Returns
True if the detected accelerometer is LSM6DS3, otherwise false
- Return type
Bool
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read()[source]¶ Reads the sensor values and continuously streams them back to the function whoever called it. This is the function you need to put while(True) loop for continuous acquisition of accelerometer values. :returns: List of floats with Acceleration values and angular velocity values in G in the form of
[ax, ay, az, gx, gy, gz] respective directions
- Return type
list
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read_raw_accelX()[source]¶ Read a raw acceleration value for x axis
- Returns
accelX
- Return type
float
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read_raw_accelY()[source]¶ Read a raw acceleration value for y axis
- Returns
accelY
- Return type
float
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read_raw_accelZ()[source]¶ Read a raw acceleration value for z axis
- Returns
accelZ
- Return type
float
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read_raw_accels()[source]¶ Read raw acceleration values for all axis
- Returns
accels
- Return type
List[float]
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read_raw_gyroX()[source]¶ Read a raw angular velocity value for x axis
- Returns
gyroX
- Return type
float
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read_raw_gyroY()[source]¶ Read a raw angular velocity value for y axis
- Returns
gyroY
- Return type
float
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roboskin.sensor.sensor module¶
Generic Sensor Module
roboskin.sensor.utils module¶
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roboskin.sensor.utils.make_16bit_value(vh, vl)[source]¶ The acceleration is usually from 2 Byte sized registers. We obtain acceleration value in 2’s complement form So first we obtain both MSByte as well as LSByte, combine them both, and convert them into 2’s complement form :param vh: The MSByte :type vh: int :param vl: The LSByte :type vl: int
- Returns
Acceleration Value in G
- Return type
float
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roboskin.sensor.utils.twos_comp(val, num_of_bits)[source]¶ compute the 2’s complement of int value val. Reference: https://en.wikipedia.org/wiki/Two%27s_complement :param val: The original value, which we have to convert to 2’s complement :type val: int :param num_of_bits: # of bits, this is particularly important because if you don’t know bit size, you dont what’s the
MS Bit, and entire thing can go wrong. Fortunately our both Accelerometer registers combined are of 16 bit length. So that’s what we will pass
- Returns
Two’s complement value of passed value
- Return type
int
roboskin.sensor.vl53l1x module¶
This is a python class for VL53L1X Proximity Sensor Datasheet Link: https://www.st.com/resource/en/datasheet/vl53l1x.pdf This library heavily uses VL53L1X pip application: pip install VL53L1X
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class
roboskin.sensor.vl53l1x.VL53L1X_ProximitySensor(raspi_bus_number=1, i2c_address=41, range_value=0, timing_budget=33000, inter_measurement_period=33)[source]¶ Bases:
roboskin.sensor.sensor.SensorCode for VL53L1X distance sensor class.
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calibrate()[source]¶ This is the calibration function. # TODO: Decide whether you have to implement it or not :returns: :rtype: None
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read()[source]¶ Reads the sensor values and continuously streams them back to the function whoever called it. This is the function you need to put while(True) loop for continuous acquisition of accelerometer values. :returns: Continuous stream of floats from the proximity sensor :rtype: float
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Module contents¶
Init for our Sensors.