`motion_sensor` — Onboard Motion Sensor¶

The main functionality and function of the motion_sensor module

Motion sensor description¶

As shown in the picture above, the direction of the roll and pitch are based on the right-handed screw rule.

Both roll and pitch are 0° when the Codey is horizontally placed.

Roll range: -90° ~ 90°

Pitch range: -180 ° ~ 180 °

Function¶

motion_sensor.get_roll()¶: Get the roll of the Euler angle, the returned data range is -90 ~ 90.

motion_sensor.get_pitch()¶: Get the pitch of the Euler angle, the returned data range is -180 ~ 180.

motion_sensor.get_yaw()¶: Get the yaw of the Euler angle, The returned data range is 0 ~ 360. Since the Codey onboard sensor is a six-axis sensor, there is no electronic compass. So in fact the yaw angle is just the integral of the Z-axis angular velocity. It has accumulated errors. If you want to get a true yaw angle, this API is not suitable for use.

motion_sensor.get_rotation(axis)¶

Get the angle at which the Codey rotates on the three axes, and the counterclockwise direction is the positive direction, parameter：

axis String type, with x, y, z representing the axis defined by Codey.

motion_sensor.reset_rotation(axis = "all")¶

The current angle of initial rotation around the three axes is 0, and the get_rotation() will start at 0, parameter:

axis string type, with x, y, z representing the axis defined by Codey, and all representing all three axes. This is also the default value for this function.

motion_sensor.is_shaked()¶: Check if the Codey is shaken, the return value is a Boolean value, where True means that Codey is shaken, and False means that Codey is not shaken.

motion_sensor.get_shake_strength()¶: If the Codey is shaken, this function can obtain the intensity of the shaking. The value of the return value range is 0 ~ 100. The larger the value, the greater the intensity of the shaking.

motion_sensor.is_tilted_left()¶: Check if Codey is tilted to the left, and the return value is a Boolean value, where True means that Codey is tilted to the left, and False means that Codey is not tilted to the left.

motion_sensor.is_tilted_right()¶: Check if Codey is tilted to the right, and the return value is a Boolean value, where True means that Codey is tilted to the right, and False means that Codey is not tilted to the right.

motion_sensor.is_ears_up()¶: Check if the ear of Codey is up, the return value is a Boolean value, where True means that the ear of Codey is facing up, and False means that the ear of Codey is not facing up.

motion_sensor.is_ears_down()¶: Check if the ear of Codey is down, the return value is a Boolean value, where True means that the ear of Codey is facing down, and False means that the ear of Codey is not facing down.

motion_sensor.is_display_up()¶: Check if the face panel of Codey is up, the return value is a Boolean value, where True means that the panel of Codey is facing up, and False means that the panel of Codey is not facing up.

motion_sensor.is_display_down()¶: Check if the face panel of Codey is down, the return value is a Boolean value, where True means that the panel of Codey is facing down, and False means that the panel of Codey is not facing down.

motion_sensor.is_upright()¶: Check if Codey is upright, the return value is a Boolean value, where True means that Codey is upright, and False means that Codey is not upright.

motion_sensor.get_acceleration(axis)¶

Get the acceleration values of the three axes in m/s^2, Parameters：

axis String type, with x, y, z representing the axis defined by Codey.

motion_sensor.get_gyroscope(axis)¶

Get the angular velocity values of the three axes in °/sec, Parameters：

axis String type, with x, y, z representing the axis defined by Codey。

Sample Code 1：¶

import codey
import time

while True:
    roll = codey.motion_sensor.get_roll()
    pitch = codey.motion_sensor.get_pitch()
    yaw = codey.motion_sensor.get_yaw()
    print("roll:", end = "")
    print(roll, end = "")
    print("   ,pitch:", end = "")
    print(pitch, end = "")
    print("   ,yaw:", end = "")
    print(yaw)
    time.sleep(0.05)

Sample Code 2：¶

import codey

while True:
    if codey.motion_sensor.is_shaked():
        print("shake_strength:", end = "")
        print(codey.motion_sensor.get_shake_strength())

Sample Code 3：¶

import codey

while True:
    if codey.motion_sensor.is_tilted_left():
        print("tilted_left")
    if codey.motion_sensor.is_tilted_right():
        print("tilted_right")
    if codey.motion_sensor.is_ears_up():
        print("ears_up")
    if codey.motion_sensor.is_ears_down():
        print("ears_down")
    if codey.motion_sensor.is_display_up():
        print("display_up")
    if codey.motion_sensor.is_display_down():
        print("display_down")
    if codey.motion_sensor.is_upright():
        print("upright")

motion_sensor — Onboard Motion Sensor¶