Visual Basic .NET - IMU Brick 2.0 – Tinkerforge

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# Visual Basic .NET - IMU Brick 2.0

Note

This Brick is currently in the prototype stage and the software/hardware as well as the documentation is in an incomplete state.

This is the description of the Visual Basic .NET API bindings for the IMU Brick 2.0. General information and technical specifications for the IMU Brick 2.0 are summarized in its hardware description.

An installation guide for the Visual Basic .NET API bindings is part of their general description.

## Examples

The example code below is Public Domain (CC0 1.0).

## API

Since Visual Basic .NET does not support multiple return values directly, we use the `ByRef` keyword to return multiple values from a function.

All functions and procedures listed below are thread-safe.

### Basic Functions

Class `BrickIMUV2`(ByVal uid As String, ByVal ipcon As IPConnection)

  Creates an object with the unique device ID `uid`:

      Dim imuV2 As New BrickIMUV2("YOUR_DEVICE_UID", ipcon)

  This object can then be used after the IP Connection is connected (see examples above).

Sub `BrickIMUV2.``GetAllData`(ByRef acceleration() As Short, ByRef magneticField() As Short, ByRef angularVelocity() As Short, ByRef eulerAngle() As Short, ByRef quaternion() As Short, ByRef linearAcceleration() As Short, ByRef gravityVector() As Short, ByRef temperature As Short, ByRef calibrationStatus As Byte)

  Return all of the available data of the IMU Brick.

  - acceleration in 1/100 m/s² (see `GetAcceleration()`)
  - magnetic field in 1/16 µT (see `GetMagneticField()`)
  - angular velocity in 1/16 °/s (see `GetAngularVelocity()`)
  - Euler angles in 1/16 ° (see `GetOrientation()`)
  - quaternion 1/16383 (see `GetQuaternion()`)
  - linear acceleration 1/100 m/s² (see `GetLinearAcceleration()`)
  - gravity vector 1/100 m/s² (see `GetGravityVector()`)
  - temperature in 1 °C (see `GetTemperature()`)
  - calibration status (see below)

  The calibration status consists of four pairs of two bits. Each pair of bits represents the status of the current calibration.

  - bit 0-1: Magnetometer
  - bit 2-3: Accelerometer
  - bit 4-5: Gyroscope
  - bit 6-7: System

  A value of 0 means for "not calibrated" and a value of 3 means "fully calibrated". In your program you should always be able to ignore the calibration status, it is used by the calibration window of the Brick Viewer and it can be ignored after the first calibration. See the documentation in the calibration window for more information regarding the calibration of the IMU Brick.

  If you want to get the data periodically, it is recommended to use the callback `AllData` and set the period with `SetAllDataPeriod()`.

Sub `BrickIMUV2.``LedsOn`()

  Turns the orientation and direction LEDs of the IMU Brick on.

Sub `BrickIMUV2.``LedsOff`()

  Turns the orientation and direction LEDs of the IMU Brick off.

Function `BrickIMUV2.``AreLedsOn`() As Boolean

  Returns true if the orientation and direction LEDs of the IMU Brick are on, false otherwise.

### Advanced Functions

Sub `BrickIMUV2.``GetAcceleration`(ByRef x As Short, ByRef y As Short, ByRef z As Short)

  Returns the calibrated acceleration from the accelerometer for the x, y and z axis in 1/100 m/s².

  If you want to get the acceleration periodically, it is recommended to use the callback `Acceleration` and set the period with `SetAccelerationPeriod()`.

Sub `BrickIMUV2.``GetMagneticField`(ByRef x As Short, ByRef y As Short, ByRef z As Short)

  Returns the calibrated magnetic field from the magnetometer for the x, y and z axis in 1/16 µT (Microtesla).

  If you want to get the magnetic field periodically, it is recommended to use the callback `MagneticField` and set the period with `SetMagneticFieldPeriod()`.

Sub `BrickIMUV2.``GetAngularVelocity`(ByRef x As Short, ByRef y As Short, ByRef z As Short)

  Returns the calibrated angular velocity from the gyroscope for the x, y and z axis in 1/16 °/s.

  If you want to get the angular velocity periodically, it is recommended to use the callback `AngularVelocity` and set the period with `SetAngularVelocityPeriod()`.

Function `BrickIMUV2.``GetTemperature`() As Short

  Returns the temperature of the IMU Brick. The temperature is given in °C. The temperature is measured in the core of the BNO055 IC, it is not the ambient temperature

Sub `BrickIMUV2.``GetOrientation`(ByRef heading As Short, ByRef roll As Short, ByRef pitch As Short)

  Returns the current orientation (heading, roll, pitch) of the IMU Brick as Euler angles in 1/16 degree. Note that Euler angles always experience a gimbal lock.

  We recommend that you use quaternions instead.

  The rotation angle has the following ranges:

  - heading: 0° to 360°
  - roll: -90° to +90°
  - pitch: -180° to +180°

  If you want to get the orientation periodically, it is recommended to use the callback `Orientation` and set the period with `SetOrientationPeriod()`.

Sub `BrickIMUV2.``GetLinearAcceleration`(ByRef x As Short, ByRef y As Short, ByRef z As Short)

  Returns the linear acceleration of the IMU Brick for the x, y and z axis in 1/100 m/s².

  The linear acceleration is the acceleration in each of the three axis of the IMU Brick with the influences of gravity removed.

  It is also possible to get the gravity vector with the influence of linear acceleration removed, see `GetGravityVector()`.

  If you want to get the linear acceleration periodically, it is recommended to use the callback `LinearAcceleration` and set the period with `SetLinearAccelerationPeriod()`.

Sub `BrickIMUV2.``GetGravityVector`(ByRef x As Short, ByRef y As Short, ByRef z As Short)

  Returns the current gravity vector of the IMU Brick for the x, y and z axis in 1/100 m/s².

  The gravity vector is the acceleration that occurs due to gravity. Influences of additional linear acceleration are removed.

  It is also possible to get the linear acceleration with the influence of gravity removed, see `GetLinearAcceleration()`.

  If you want to get the gravity vector periodically, it is recommended to use the callback `GravityVector` and set the period with `SetGravityVectorPeriod()`.

Sub `BrickIMUV2.``GetQuaternion`(ByRef w As Short, ByRef x As Short, ByRef y As Short, ByRef z As Short)

  Returns the current orientation (w, x, y, z) of the IMU Brick as quaternions.

  You have to divide the returns values by 16383 (14 bit) to get the usual range of -1.0 to +1.0 for quaternions.

  If you want to get the quaternions periodically, it is recommended to use the callback `Quaternion` and set the period with `SetQuaternionPeriod()`.

Function `BrickIMUV2.``SaveCalibration`() As Boolean

  A call of this function saves the current calibration to be used as a starting point for the next restart of continuous calibration of the IMU Brick.

  A return value of true means that the calibration could be used and false means that it could not be used (this happens if the calibration status is not "fully calibrated").

  This function is used by the calibration window of the Brick Viewer, you should not need to call it in your program.

Function `BrickIMUV2.``GetAPIVersion`() As Byte()

  Returns the version of the API definition (major, minor, revision) implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

Function `BrickIMUV2.``GetResponseExpected`(ByVal functionId As Byte) As Boolean

  Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

  For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by `SetResponseExpected()`. For setter functions it is disabled by default and can be enabled.

  Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is send and errors are silently ignored, because they cannot be detected.

  See `SetResponseExpected()` for the list of function ID constants available for this function.

Sub `BrickIMUV2.``SetResponseExpected`(ByVal functionId As Byte, ByVal responseExpected As Boolean)

  Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and callback configuration functions (default value: true). For getter functions it is always enabled and callbacks it is always disabled.

  Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is send and errors are silently ignored, because they cannot be detected.

  The following function ID constants are available for this function:

  - BrickIMUV2.FUNCTION_LEDS_ON = 10
  - BrickIMUV2.FUNCTION_LEDS_OFF = 11
  - BrickIMUV2.FUNCTION_SET_ACCELERATION_PERIOD = 14
  - BrickIMUV2.FUNCTION_SET_MAGNETIC_FIELD_PERIOD = 16
  - BrickIMUV2.FUNCTION_SET_ANGULAR_VELOCITY_PERIOD = 18
  - BrickIMUV2.FUNCTION_SET_TEMPERATURE_PERIOD = 20
  - BrickIMUV2.FUNCTION_SET_ORIENTATION_PERIOD = 22
  - BrickIMUV2.FUNCTION_SET_LINEAR_ACCELERATION_PERIOD = 24
  - BrickIMUV2.FUNCTION_SET_GRAVITY_VECTOR_PERIOD = 26
  - BrickIMUV2.FUNCTION_SET_QUATERNION_PERIOD = 28
  - BrickIMUV2.FUNCTION_SET_ALL_DATA_PERIOD = 30
  - BrickIMUV2.FUNCTION_ENABLE_STATUS_LED = 238
  - BrickIMUV2.FUNCTION_DISABLE_STATUS_LED = 239
  - BrickIMUV2.FUNCTION_RESET = 243

Sub `BrickIMUV2.``SetResponseExpectedAll`(ByVal responseExpected As Boolean)

  Changes the response expected flag for all setter and callback configuration functions of this device at once.

Sub `BrickIMUV2.``EnableStatusLED`()

  Enables the status LED.

  The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.

  The default state is enabled.

Sub `BrickIMUV2.``DisableStatusLED`()

  Disables the status LED.

  The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.

  The default state is enabled.

Function `BrickIMUV2.``IsStatusLEDEnabled`() As Boolean

  Returns true if the status LED is enabled, false otherwise.

Sub `BrickIMUV2.``GetProtocol1BrickletName`(ByVal port As Char, ByRef protocolVersion As Byte, ByRef firmwareVersion() As Byte, ByRef name As String)

  Returns the firmware and protocol version and the name of the Bricklet for a given port.

  This functions sole purpose is to allow automatic flashing of v1.x.y Bricklet plugins.

Function `BrickIMUV2.``GetChipTemperature`() As Short

  Returns the temperature in °C/10 as measured inside the microcontroller. The value returned is not the ambient temperature!

  The temperature is only proportional to the real temperature and it has an accuracy of +-15%. Practically it is only useful as an indicator for temperature changes.

Sub `BrickIMUV2.``Reset`()

  Calling this function will reset the Brick. Calling this function on a Brick inside of a stack will reset the whole stack.

  After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!

Sub `BrickIMUV2.``GetIdentity`(ByRef uid As String, ByRef connectedUid As String, ByRef position As Char, ByRef hardwareVersion() As Byte, ByRef firmwareVersion() As Byte, ByRef deviceIdentifier As Integer)

  Returns the UID, the UID where the Brick is connected to, the position, the hardware and firmware version as well as the device identifier.

  The position can be '0'-'8' (stack position).

  The device identifier numbers can be found here. There is also a constant for the device identifier of this Brick.

### Callback Configuration Functions

Sub `BrickIMUV2.``SetAccelerationPeriod`(ByVal period As Long)

  Sets the period in ms with which the `Acceleration` callback is triggered periodically. A value of 0 turns the callback off.

  The default value is 0.

Function `BrickIMUV2.``GetAccelerationPeriod`() As Long

  Returns the period as set by `SetAccelerationPeriod()`.

Sub `BrickIMUV2.``SetMagneticFieldPeriod`(ByVal period As Long)

  Sets the period in ms with which the `MagneticField` callback is triggered periodically. A value of 0 turns the callback off.

Function `BrickIMUV2.``GetMagneticFieldPeriod`() As Long

  Returns the period as set by `SetMagneticFieldPeriod()`.

Sub `BrickIMUV2.``SetAngularVelocityPeriod`(ByVal period As Long)

  Sets the period in ms with which the `AngularVelocity` callback is triggered periodically. A value of 0 turns the callback off.

Function `BrickIMUV2.``GetAngularVelocityPeriod`() As Long

  Returns the period as set by `SetAngularVelocityPeriod()`.

Sub `BrickIMUV2.``SetTemperaturePeriod`(ByVal period As Long)

  Sets the period in ms with which the `Temperature` callback is triggered periodically. A value of 0 turns the callback off.

Function `BrickIMUV2.``GetTemperaturePeriod`() As Long

  Returns the period as set by `SetTemperaturePeriod()`.

Sub `BrickIMUV2.``SetOrientationPeriod`(ByVal period As Long)

  Sets the period in ms with which the `Orientation` callback is triggered periodically. A value of 0 turns the callback off.

Function `BrickIMUV2.``GetOrientationPeriod`() As Long

  Returns the period as set by `SetOrientationPeriod()`.

Sub `BrickIMUV2.``SetLinearAccelerationPeriod`(ByVal period As Long)

  Sets the period in ms with which the `LinearAcceleration` callback is triggered periodically. A value of 0 turns the callback off.

Function `BrickIMUV2.``GetLinearAccelerationPeriod`() As Long

  Returns the period as set by `SetLinearAccelerationPeriod()`.

Sub `BrickIMUV2.``SetGravityVectorPeriod`(ByVal period As Long)

  Sets the period in ms with which the `GravityVector` callback is triggered periodically. A value of 0 turns the callback off.

Function `BrickIMUV2.``GetGravityVectorPeriod`() As Long

  Returns the period as set by `SetGravityVectorPeriod()`.

Sub `BrickIMUV2.``SetQuaternionPeriod`(ByVal period As Long)

  Sets the period in ms with which the `Quaternion` callback is triggered periodically. A value of 0 turns the callback off.

Function `BrickIMUV2.``GetQuaternionPeriod`() As Long

  Returns the period as set by `SetQuaternionPeriod()`.

Sub `BrickIMUV2.``SetAllDataPeriod`(ByVal period As Long)

  Sets the period in ms with which the `AllData` callback is triggered periodically. A value of 0 turns the callback off.

Function `BrickIMUV2.``GetAllDataPeriod`() As Long

  Returns the period as set by `SetAllDataPeriod()`.

### Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done by assigning a procedure to an callback property of the device object:

>     Sub Callback(ByVal sender As BrickIMUV2, ByVal value As Short)
>         Console.WriteLine("Value: {0}", value)
>     End Sub

>     AddHandler imuV2.Example, AddressOf Callback

The available callback property and their type of parameters are described below.

Note

Using callbacks for recurring events is always preferred compared to using getters. It will use less USB bandwidth and the latency will be a lot better, since there is no round trip time.

Event `BrickIMUV2.``Acceleration`(ByVal sender As BrickIMUV2, ByVal x As Short, ByVal y As Short, ByVal z As Short)

  This callback is triggered periodically with the period that is set by `SetAccelerationPeriod()`. The parameters are the acceleration for the x, y and z axis.

Event `BrickIMUV2.``MagneticField`(ByVal sender As BrickIMUV2, ByVal x As Short, ByVal y As Short, ByVal z As Short)

  This callback is triggered periodically with the period that is set by `SetMagneticFieldPeriod()`. The parameters are the magnetic field for the x, y and z axis.

Event `BrickIMUV2.``AngularVelocity`(ByVal sender As BrickIMUV2, ByVal x As Short, ByVal y As Short, ByVal z As Short)

  This callback is triggered periodically with the period that is set by `SetAngularVelocityPeriod()`. The parameters are the angular velocity for the x, y and z axis.

Event `BrickIMUV2.``Temperature`(ByVal sender As BrickIMUV2, ByVal temperature As Short)

  This callback is triggered periodically with the period that is set by `SetTemperaturePeriod()`. The parameter is the temperature.

Event `BrickIMUV2.``LinearAcceleration`(ByVal sender As BrickIMUV2, ByVal x As Short, ByVal y As Short, ByVal z As Short)

  This callback is triggered periodically with the period that is set by `SetLinearAccelerationPeriod()`. The parameters are the linear acceleration for the x, y and z axis.

Event `BrickIMUV2.``GravityVector`(ByVal sender As BrickIMUV2, ByVal x As Short, ByVal y As Short, ByVal z As Short)

  This callback is triggered periodically with the period that is set by `SetGravityVectorPeriod()`. The parameters gravity vector for the x, y and z axis.

Event `BrickIMUV2.``Orientation`(ByVal sender As BrickIMUV2, ByVal heading As Short, ByVal roll As Short, ByVal pitch As Short)

  This callback is triggered periodically with the period that is set by `SetOrientationPeriod()`. The parameters are the orientation (heading (yaw), roll, pitch) of the IMU Brick in Euler angles. See `GetOrientation()` for details.

Event `BrickIMUV2.``Quaternion`(ByVal sender As BrickIMUV2, ByVal w As Short, ByVal x As Short, ByVal y As Short, ByVal z As Short)

  This callback is triggered periodically with the period that is set by `SetQuaternionPeriod()`. The parameters are the orientation (x, y, z, w) of the IMU Brick in quaternions. See `GetQuaternion()` for details.

Event `BrickIMUV2.``AllData`(ByVal sender As BrickIMUV2, ByVal acceleration() As Short, ByVal magneticField() As Short, ByVal angularVelocity() As Short, ByVal eulerAngle() As Short, ByVal quaternion() As Short, ByVal linearAcceleration() As Short, ByVal gravityVector() As Short, ByVal temperature As Short, ByVal calibrationStatus As Byte)

  This callback is triggered periodically with the period that is set by `SetAllDataPeriod()`. The parameters are as for `GetAllData()`.

### Constants

Const `BrickIMUV2.``DEVICE_IDENTIFIER`

  This constant is used to identify a IMU Brick 2.0.

  The `GetIdentity()` function and the `EnumerateCallback` callback of the IP Connection have a `deviceIdentifier` parameter to specify the Brick's or Bricklet's type.

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