hub.imu

Motion sensor: which way the hub is tilted and turned.

pitch, roll and yaw are angles in degrees, from -180 to 180:

Wait until calibrated is True before trusting the values. On some hubs yaw slowly drifts over time; call reset() to set it back to 0.

Attributes

`acceleration`	How hard the hub is being pushed (including gravity), in milli-g.
`calibrated`	`True` once the sensor is ready and its readings can be trusted.
`gyro_rate`	How fast the hub is spinning around each direction, in degrees per second.
`pitch`	Nose up (+) or down (-), in degrees.
`pitch_accel`	pitch measured only from gravity. Jumpy, but never drifts. Degrees.
`pitch_gyro`	pitch measured only from rotation. Smooth, but drifts over time. Degrees.
`roll`	Tilt to the side, in degrees.
`roll_accel`	roll measured only from gravity. Jumpy, but never drifts. Degrees.
`roll_gyro`	roll measured only from rotation. Smooth, but drifts over time. Degrees.
`yaw`	Which way the hub is facing, in degrees. Use `reset()` to set the current direction as 0.
`yaw_gyro`	yaw measured only from rotation. Smooth, but drifts over time. Degrees.

`reset`() → None	Set the current direction as yaw = 0.
`save_calibration`() → bool	Remember the current calibration, so it survives a restart.
`start_calibration`() → bool	Start calibrating the sensor more precisely.

hub.imu.reset() → None[source]

Set the current direction as yaw = 0.

On some hubs this also re-calibrates the sensor — keep the hub still for about 2 seconds afterwards.

hub.imu.save_calibration() → bool[source]

Remember the current calibration, so it survives a restart.

Call it once calibrated is True. Not every hub can store a calibration; on those this does nothing. Returns True on success.

hub.imu.start_calibration() → bool[source]

Start calibrating the sensor more precisely.

Move the hub in a figure-8, then put it down flat on each side for a few seconds. Returns True if calibration started.

hub.imu.acceleration: _vec3[source]

How hard the hub is being pushed (including gravity), in milli-g.

Lying still and flat, z is about 1000 (that’s gravity).

hub.imu.calibrated: bool[source]

True once the sensor is ready and its readings can be trusted.

Right after start-up (or after reset()) keep the hub still for about 2 seconds until this turns True.

hub.imu.gyro_rate: _vec3[source]: How fast the hub is spinning around each direction, in degrees per second.

hub.imu.pitch_accel: float[source]

pitch measured only from gravity. Jumpy, but never drifts. Degrees.

hub.imu.pitch_gyro: float[source]

pitch measured only from rotation. Smooth, but drifts over time. Degrees.

hub.imu.roll_accel: float[source]

roll measured only from gravity. Jumpy, but never drifts. Degrees.

hub.imu.roll_gyro: float[source]

roll measured only from rotation. Smooth, but drifts over time. Degrees.

hub.imu.yaw: float[source]: Which way the hub is facing, in degrees. Use reset() to set the current direction as 0.

hub.imu.yaw_gyro: float[source]

yaw measured only from rotation. Smooth, but drifts over time. Degrees.