imuvectornav

Documentation

Overview

Package imuvectornav implement vectornav imu

Index

• func NewVectorNav(ctx context.Context, deps registry.Dependencies, cfg config.Component, ...) (movementsensor.MovementSensor, error)
• type AttrConfig
  • func (cfg *AttrConfig) Validate(path string) error

Functions

func NewVectorNav

func NewVectorNav(
	ctx context.Context,
	deps registry.Dependencies,
	cfg config.Component,
	logger golog.Logger,
) (movementsensor.MovementSensor, error)

NewVectorNav connect and set up a vectornav IMU over SPI. Will also compensate for acceleration and delta velocity bias over one second so be sure the IMU is still when calling this function.

Types

type AttrConfig

type AttrConfig struct {
	Board string `json:"board"`
	SPI   string `json:"spi"`
	Speed *int   `json:"spi_baud_rate"`
	Pfreq *int   `json:"polling_freq_hz"`
	CSPin string `json:"cs_pin"`
}

AttrConfig is used for converting a vectornav IMU MovementSensor config attributes.

func (*AttrConfig) Validate

func (cfg *AttrConfig) Validate(path string) error

Validate ensures all parts of the config are valid.