philsuth / um7

Python library to interface with CH Robotics UM7 IMU

UM7

Python library to interface with CH Robotics / Redshift Labs UM7 IMU

Provides a class UM7 with the following methods:

• readreg(start, length=0) to read register values
• writereg(start, length=0, data=None) to write to registers
• readpacket() to read and parse incoming packet data from the serial port
• catchsample() to read and parse incoming data and update the internal state accoringly
• catchallsamples(wanted_state, timeout) wait at most timeout seconds for new data listed in wanted_state

usage example:

import um7

u = um7.UM7('um7', '/dev/ttyS0', ['health', 'pitch', 'roll', 'yaw'])
print('GET_FW_REVISION=' + u.get_fw_revision())
u.zero_gyros()

u.catchallsamples(['pitch', 'roll', 'yaw'], 0.5)
print('{0[health]:010b} {0[pitch]:8.2f} {0[roll]:8.2f} {0[yaw]:8.2f}'.format(u.state))