Package lejos.hardware.sensor

Class DexterIMUSensor

java.lang.Object

lejos.hardware.Device

lejos.hardware.sensor.BaseSensor

lejos.hardware.sensor.DexterIMUSensor

All Implemented Interfaces:

java.io.Closeable, java.lang.AutoCloseable, SensorMode, SensorModes, SampleProvider

public class DexterIMUSensor
extends BaseSensor
implements SensorModes

Dexter Industries dIMU Sensor
An accelerometer and gyroscope for the LEGO?? MINDSTORMS?? NXT and EV3.

Supported modes
Mode name	Description	unit(s)	Getter
Rate	The Rate mode measures the angular speed of the sensor over three axes	Degrees/second	getRateMode()
Acceleration	The Acceleration mode measures the linear acceleration of the sensor over three axes	Metres/second^2	getAccelerationMode()
Temperature	The Temperature mode measures the internal temperature of the sensors gyroscope IC	Degrees Celcius	getTemperatureMode()

Sensor configuration
The sensor cannot be configured directly. The internal update frequency of the sensor is adjusted automaticly to match the I2C port speed.

See Sensor datasheet See Sensor Product page See The leJOS sensor framework See leJOS conventions for SampleProviders

Author:

Aswin Bouwmeester

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
class	DexterIMUSensor.DexterIMUAccelerationSensor	Class to access the Acceleration sensor from Dexter Industries IMU the acceleration sensor is the Freescale MMA7455

Field Summary

Fields

Modifier and Type	Field	Description
protected int	Accel_I2C_address
protected int	Gyro_I2C_address

Fields inherited from class lejos.hardware.sensor.BaseSensor

currentMode, modes

Fields inherited from class lejos.hardware.Device

closeList

Constructor Summary

Constructors

Constructor	Description
DexterIMUSensor(I2CPort port)
DexterIMUSensor(Port port)

Method Summary

Modifier and Type	Method	Description
SampleProvider	getAccelerationMode()	Dexter Industries dIMU Sensor, Acceleration Mode The Acceleration mode measures the linear acceleration of the sensor over three axes
SampleProvider	getRateMode()	Dexter Industries dIMU Sensor, Rate Mode The Rate mode measures the angular speed of the sensor over three axes
SampleProvider	getTemperatureMode()	Dexter Industries dIMU Sensor, Temperature Mode The Temperature mode measures the internal temperature of the sensors gyroscope IC

Methods inherited from class lejos.hardware.sensor.BaseSensor

fetchSample, getAvailableModes, getCurrentMode, getMode, getMode, getModeCount, getName, sampleSize, setCurrentMode, setCurrentMode, setModes

Methods inherited from class lejos.hardware.Device

close, releaseOnClose

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface lejos.robotics.SampleProvider

fetchSample, sampleSize

Methods inherited from interface lejos.hardware.sensor.SensorMode

getName

Methods inherited from interface lejos.hardware.sensor.SensorModes

getAvailableModes, getCurrentMode, getMode, getMode, getModeCount, setCurrentMode, setCurrentMode

Field Detail

Accel_I2C_address

protected int Accel_I2C_address

Gyro_I2C_address

protected int Gyro_I2C_address

Constructor Detail

DexterIMUSensor

public DexterIMUSensor(I2CPort port)

DexterIMUSensor

public DexterIMUSensor(Port port)

Method Detail

getAccelerationMode

public SampleProvider getAccelerationMode()

Dexter Industries dIMU Sensor, Acceleration Mode
The Acceleration mode measures the linear acceleration of the sensor over three axes

Size and content of the sample
The sample contains three elements. Each element gives the linear acceleration (in metres/second^2) of the sensor over a single axis. The order of the axes in the sample is X, Y and Z.

Configuration
The sensor is configured for a dynamic range of -2G tot 2G and an internal update rate of 125 Hertz. Currently there are no configurable settings.

Returns:

A sampleProvider See leJOS conventions for SampleProviders See Freescale MMA7455L datasheet

getRateMode

public SampleProvider getRateMode()

Dexter Industries dIMU Sensor, Rate Mode
The Rate mode measures the angular speed of the sensor over three axes

Size and content of the sample
The sample contains three elements. Each element gives the angular speed (in degrees/second) of the sensor over a single axis. The order of the axes in the sample is X, Y and Z.

Configuration
The sensor is configured for a dynamic range from -2000 to 2000 degrees/second. The internal sample rate is 100 Hertz by default and 400 Hertz when the sensor port is configured for high speed. Currently there are no configurable settings.

Returns:

A sampleProvider See leJOS conventions for SampleProviders See ST L3G4200D datasheet

getTemperatureMode

public SampleProvider getTemperatureMode()

Dexter Industries dIMU Sensor, Temperature Mode
The Temperature mode measures the internal temperature of the sensors gyroscope IC

Size and content of the sample
The sample contains one elements providing the internal temperature (in gegrees Celcius) of the gyro sensors. Please note that the internal temperature of the sensor will exceed the temperature of the environment when the sensor is in use.

Configuration
The temperature range of the sensor is -40 to 85 degrees Celcius. The update rate is 1 Hertz. There are no configurable settings.

Returns:

A sampleProvider See leJOS conventions for SampleProviders See ST L3G4200D datasheet