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10. IMU Read

Through the 6-DOF IMU Module, PiDog can determine if it’s standing on a slope, or if it’s being picked up.

The 6-DOF IMU Module is equipped with a 3-axis accelerometer and a 3-axis gyroscope, allowing acceleration and angular velocity to be measured in three directions.

Note

Before using the module, make sure that it is correctly assembled. The label on the module will let you know if it is reversed.

You can read their acceleration with:

ax, ay, az = Pidog.accData

With the PiDog placed horizontally, the acceleration on the x-axis (ie ax) should be close to the acceleration of gravity (1g), with a value of -16384. The values of the y-axis and x-axis are close to 0.

Use the following way to read their angular velocity:

gx, gy, gz = my_dog.gyroData

In the case where PiDog is placed horizontally, all three values are close to 0.

Here are some examples of how 6-DOF Module is used:

  1. Read real-time acceleration, angular velocity

from pidog import Pidog
import time

my_dog = Pidog()

my_dog.do_action("pushup", step_count=10, speed=20)

while True:
    ax, ay, az = my_dog.accData
    gx, gy, gz = my_dog.gyroData
    print(f"accData: {ax/16384:.2f} g ,{ay/16384:.2f} g, {az/16384:.2f} g       gyroData: {gx} °/s, {gy} °/s, {gz} °/s")
    time.sleep(0.2)
    if my_dog.is_legs_done():
        break

my_dog.stop_and_lie()

my_dog.close()

  1. Calculate the lean angle of PiDog’s body.

from pidog import Pidog
import time
import math

my_dog = Pidog()

while True:
    ax, ay, az = my_dog.accData
    body_pitch = math.atan2(ay,ax)/math.pi*180%360-180
    print(f"Body Degree: {body_pitch:.2f} °" )
    time.sleep(0.2)

my_dog.close()

  1. While leaning, PiDog keeps its eyes level.

from pidog import Pidog
import time
import math

my_dog = Pidog()

while True:
    ax, ay, az = my_dog.accData
    body_pitch = math.atan2(ay,ax)/math.pi*180%360-180
    my_dog.head_move([[0, 0, 0]], pitch_comp=-body_pitch, speed=80)
    time.sleep(0.2)

my_dog.close()