`motion_sensor` — Onboard Motion Sensor¶

motion_sensor The main functionality and functions of the module

Description of onboard attitude sensor module：

As shown in the figure above, the direction of roll and pitch is based on the right hand screw rule. Haloboard horizontal roll and pitch of 0 °

roll - Scope: - 90 ° ~ 90 °

pitch - Scope: -180° ~ 180°

Function¶

motion_sensor.get_roll()¶: Gets the roll angle of the attitude angle, and the range of returned data is -90 ~ 90.

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

motion_sensor.get_yaw()¶: The yaw angle of the attitude angle is obtained, and the range of data returned is 0 ~ 360. Since there is no electronic compass, the yaw angle is actually just an integral of the z-axis angular velocity.It has accumulated errors.If you want to get real yaw angles, this API is not suitable.

motion_sensor.get_acceleration(axis)¶: For three axis acceleration value, the unit is m/s ^ 2, and parameters:

axis - String type, x, y, z represents the axis defined by the haloboard.

motion_sensor.get_gyroscope(axis)¶: Get three shaft angular velocity value, the unit is ° / SEC, parameters:

axis - String type, x, y, z represents the axis defined by the haloboard.

motion_sensor.get_rotation(axis)¶: Obtain the rotation angle of the haloboard on three axes, with the counterclockwise rotation as the positive direction, parameters:

axis - String type, x, y, z represents the axis defined by the haloboard.

motion_sensor.reset_rotation(axis = "all")¶: The current angle of rotation around three axes is 0. The get_rotation() function will start from 0, parameter:

axis - String type, x, y, z represents the axis defined by the haloboard, “all” represents all three axes and is the default value for this function.

motion_sensor.is_tilted_left()¶: Detect whether haloboard tilt to the left, threshold 15 °, the return value is a boolean value, “True” said haloboard tilt to the left, “False” said haloboard not tilt to the left.

motion_sensor.is_tilted_right()¶: Detect whether haloboard tilt to the right, threshold 15 °, the return value is a boolean value, “True” said haloboard tilt to the right, “False” said haloboard not tilt to the right.

motion_sensor.is_arrow_up()¶: Detect whether get arrow up state, threshold 15 °, the return value is a boolean value, which “True” arrow up, says “False” indicates no up arrow.

motion_sensor.is_arrow_down()¶: Detect whether get arrow down state, threshold 15 °, the return value is a boolean value, which “True” arrow down, says “False” indicates no down arrow.

motion_sensor.is_shaked()¶: Detect whether the haloboard is shaken, and the return value is boolean, where “True” means that the haloboard is shaken, and “False” means that the haloboard is not shaken.

motion_sensor.is_led_ring_up()¶: Detect whether the LED lamp ring is upwards and return a boolean value, where “True” means the lamp ring is upwards and “False” means the lamp ring is not upwards.

motion_sensor.is_led_ring_down()¶: Detect whether the LED lamp ring is downwards and return a boolean value, where “True” means the lamp ring is downwards and “False” means the lamp ring is not downwards.

motion_sensor.get_shake_strength()¶: If the haloboard is shaken, this function can obtain the strength of the shaking. The value range of the return value is 0 ~ 100. The larger the value is, the stronger the shaking will be.

Sample Code 1：¶

import haloboard
import time

while True:
    acceleration_x = haloboard.motion_sensor.get_acceleration("x")
    acceleration_y = haloboard.motion_sensor.get_acceleration("y")
    acceleration_z = haloboard.motion_sensor.get_acceleration("z")
    print("acceleration_x:", end = "")
    print(acceleration_x, end = "")
    print("   ,acceleration_y:", end = "")
    print(acceleration_y, end = "")
    print("   ,acceleration_z:", end = "")
    print(acceleration_z)
    time.sleep(0.05)

Sample Code 2：¶

import haloboard
import time

while True:
    roll = haloboard.motion_sensor.get_roll()
    pitch = haloboard.motion_sensor.get_pitch()
    yaw = haloboard.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 3：¶

import haloboard
import time

while True:
    gyroscope_x = haloboard.motion_sensor.get_gyroscope("x")
    gyroscope_y = haloboard.motion_sensor.get_gyroscope("y")
    gyroscope_z = haloboard.motion_sensor.get_gyroscope("z")
    print("gyroscope_x:", end = "")
    print(gyroscope_x, end = "")
    print("   ,gyroscope_y:", end = "")
    print(gyroscope_y, end = "")
    print("   ,gyroscope_z:", end = "")
    print(gyroscope_z)
    time.sleep(0.05)

Sample Code 4：¶

import haloboard
import time

while True:
    if haloboard.motion_sensor.is_tilted_left():
        print("tilted_left")
    if haloboard.motion_sensor.is_tilted_right():
        print("tilted_right")
    if haloboard.motion_sensor.is_arrow_up():
        print("arrow_up")
    if haloboard.motion_sensor.is_arrow_down():
        print("arrow_down")

Sample Code 5：¶

import haloboard
import time

while True:
    rotation_x = haloboard.motion_sensor.get_rotation("x")
    rotation_y = haloboard.motion_sensor.get_rotation("y")
    rotation_z = haloboard.motion_sensor.get_rotation("z")
    print("rotation_x:", end = "")
    print(rotation_x, end = "")
    print("   ,rotation_y:", end = "")
    print(rotation_y, end = "")
    print("   ,rotation_z:", end = "")
    print(rotation_z)
    time.sleep(0.05)

Sample Code 6：¶

import haloboard
import time

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

Sample Code 7：¶

import haloboard
import time

while True:
    if haloboard.motion_sensor.is_led_ring_up():
        print("led ring up")
    if haloboard.motion_sensor.is_led_ring_down():
        print("led ring down")

    time.sleep(0.3)

motion_sensor — Onboard Motion Sensor¶