..
 #############################################################
 # This file was automatically generated on 2015-05-08.      #
 #                                                           #
 # If you have a bugfix for this file and want to commit it, #
 # please fix the bug in the generator. You can find a link  #
 # to the generators git repository on tinkerforge.com       #
 #############################################################


:breadcrumbs: <a href="../../index.html">Home</a> / <a href="../../index.html#software-ruby">Software</a> / Ruby - IMU Brick

.. |device_identifier_constant| replace:: There is also a :ref:`constant <imu_brick_ruby_constants>` for the device identifier of this Brick.

.. _imu_brick_ruby:

Ruby - IMU Brick
================

This is the description of the :ref:`Ruby API bindings <api_bindings_ruby>` for the :ref:`IMU Brick <imu_brick>`. General information and technical
specifications for the IMU Brick are summarized in its :ref:`hardware description
<imu_brick_description>`.

An :ref:`installation guide <api_bindings_ruby_install>` for the Ruby API
bindings is part of their general description.

.. _imu_brick_ruby_examples:


Examples
--------

The example code below is `Public Domain (CC0 1.0)
<http://creativecommons.org/publicdomain/zero/1.0/>`__.

Simple
^^^^^^

`Download (example_simple.rb) <https://github.com/Tinkerforge/imu-brick/raw/master/software/examples/ruby/example_simple.rb>`__

.. literalinclude:: IMU_Brick_Ruby_example_simple.rb
 :language: ruby
 :linenos:
 :tab-width: 4

Callback
^^^^^^^^

`Download (example_callback.rb) <https://github.com/Tinkerforge/imu-brick/raw/master/software/examples/ruby/example_callback.rb>`__

.. literalinclude:: IMU_Brick_Ruby_example_callback.rb
 :language: ruby
 :linenos:
 :tab-width: 4

.. _imu_brick_ruby_api:

API
---

All methods listed below are thread-safe.




Basic Functions
^^^^^^^^^^^^^^^


.. rb:function:: BrickIMU::new(uid, ipcon) -> imu

 :param uid: str
 :param ipcon: IPConnection

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

 .. code-block:: ruby

    imu = BrickIMU.new 'YOUR_DEVICE_UID', ipcon

 This object can then be used after the IP Connection is connected
 (see examples :ref:`above <imu_brick_ruby_examples>`).


.. rb:function:: BrickIMU#get_orientation -> [int, int, int]


 Returns the current orientation (roll, pitch, yaw) of the IMU Brick as Euler
 angles in one-hundredth degree. Note that Euler angles always experience a
 `gimbal lock <http://en.wikipedia.org/wiki/Gimbal_lock>`__.
 
 We recommend that you use quaternions instead.
 
 The order to sequence in which the orientation values should be applied is 
 roll, yaw, pitch. 
 
 If you want to get the orientation periodically, it is recommended 
 to use the callback :rb:attr:`::CALLBACK_ORIENTATION <BrickIMU::CALLBACK_ORIENTATION>` and set the period with 
 :rb:func:`#set_orientation_period <BrickIMU#set_orientation_period>`.
 
 The returned array has the values ``roll``, ``pitch`` and ``yaw``.

.. rb:function:: BrickIMU#get_quaternion -> [float, float, float, float]


 Returns the current orientation (x, y, z, w) of the IMU as 
 `quaternions <http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation>`__.
 
 You can go from quaternions to Euler angles with the following formula::
 
  xAngle = atan2(2*y*w - 2*x*z, 1 - 2*y*y - 2*z*z)
  yAngle = atan2(2*x*w - 2*y*z, 1 - 2*x*x - 2*z*z)
  zAngle =  asin(2*x*y + 2*z*w)
 
 This process is not reversible, because of the 
 `gimbal lock <http://en.wikipedia.org/wiki/Gimbal_lock>`__.
 
 It is also possible to calculate independent angles. You can calculate 
 yaw, pitch and roll in a right-handed vehicle coordinate system according to DIN70000
 with::
 
  yaw   =  atan2(2*x*y + 2*w*z, w*w + x*x - y*y - z*z)
  pitch = -asin(2*w*y - 2*x*z)
  roll  = -atan2(2*y*z + 2*w*x, -w*w + x*x + y*y - z*z))
 
 Converting the quaternions to an OpenGL transformation matrix is
 possible with the following formula::
 
  matrix = [[1 - 2*(y*y + z*z),     2*(x*y - w*z),     2*(x*z + w*y), 0],
            [    2*(x*y + w*z), 1 - 2*(x*x + z*z),     2*(y*z - w*x), 0],
            [    2*(x*z - w*y),     2*(y*z + w*x), 1 - 2*(x*x + y*y), 0],
            [                0,                 0,                 0, 1]]
 
 If you want to get the quaternions periodically, it is recommended 
 to use the callback :rb:attr:`::CALLBACK_QUATERNION <BrickIMU::CALLBACK_QUATERNION>` and set the period with 
 :rb:func:`#set_quaternion_period <BrickIMU#set_quaternion_period>`.
 
 The returned array has the values ``x``, ``y``, ``z`` and ``w``.

.. rb:function:: BrickIMU#leds_on -> nil


 Turns the orientation and direction LEDs of the IMU Brick on.
 
.. rb:function:: BrickIMU#leds_off -> nil


 Turns the orientation and direction LEDs of the IMU Brick off.
 
.. rb:function:: BrickIMU#are_leds_on -> bool


 Returns *true* if the orientation and direction LEDs of the IMU Brick
 are on, *false* otherwise.
 
.. rb:function:: BrickIMU#set_convergence_speed(speed) -> nil

 :param speed: int

 Sets the convergence speed of the IMU Brick in °/s. The convergence speed 
 determines how the different sensor measurements are fused.
 
 If the orientation of the IMU Brick is off by 10° and the convergence speed is 
 set to 20°/s, it will take 0.5s until the orientation is corrected. However,
 if the correct orientation is reached and the convergence speed is too high,
 the orientation will fluctuate with the fluctuations of the accelerometer and
 the magnetometer.
 
 If you set the convergence speed to 0, practically only the gyroscope is used
 to calculate the orientation. This gives very smooth movements, but errors of the
 gyroscope will not be corrected. If you set the convergence speed to something
 above 500, practically only the magnetometer and the accelerometer are used to
 calculate the orientation. In this case the movements are abrupt and the values
 will fluctuate, but there won't be any errors that accumulate over time.
 
 In an application with high angular velocities, we recommend a high convergence
 speed, so the errors of the gyroscope can be corrected fast. In applications with
 only slow movements we recommend a low convergence speed. You can change the
 convergence speed on the fly. So it is possible (and recommended) to increase 
 the convergence speed before an abrupt movement and decrease it afterwards 
 again.
 
 You might want to play around with the convergence speed in the Brick Viewer to
 get a feeling for a good value for your application.
 
 The default value is 30.
 
.. rb:function:: BrickIMU#get_convergence_speed -> int


 Returns the convergence speed as set by :rb:func:`#set_convergence_speed <BrickIMU#set_convergence_speed>`.
 


Advanced Functions
^^^^^^^^^^^^^^^^^^

.. rb:function:: BrickIMU#get_acceleration -> [int, int, int]

 
 Returns the calibrated acceleration from the accelerometer for the 
 x, y and z axis in mG (G/1000, 1G = 9.80605m/s²).
 
 If you want to get the acceleration periodically, it is recommended 
 to use the callback :rb:attr:`::CALLBACK_ACCELERATION <BrickIMU::CALLBACK_ACCELERATION>` and set the period with 
 :rb:func:`#set_acceleration_period <BrickIMU#set_acceleration_period>`.
 
 The returned array has the values ``x``, ``y`` and ``z``.

.. rb:function:: BrickIMU#get_magnetic_field -> [int, int, int]


 Returns the calibrated magnetic field from the magnetometer for the 
 x, y and z axis in mG (Milligauss or Nanotesla).
 
 If you want to get the magnetic field periodically, it is recommended 
 to use the callback :rb:attr:`::CALLBACK_MAGNETIC_FIELD <BrickIMU::CALLBACK_MAGNETIC_FIELD>` and set the period with 
 :rb:func:`#set_magnetic_field_period <BrickIMU#set_magnetic_field_period>`.
 
 The returned array has the values ``x``, ``y`` and ``z``.

.. rb:function:: BrickIMU#get_angular_velocity -> [int, int, int]


 Returns the calibrated angular velocity from the gyroscope for the 
 x, y and z axis in °/14.375s (you have to divide by 14.375 to
 get the value in °/s).
 
 If you want to get the angular velocity periodically, it is recommended 
 to use the callback :rb:attr:`::CALLBACK_ANGULAR_VELOCITY <BrickIMU::CALLBACK_ANGULAR_VELOCITY>` and set the period with 
 :rb:func:`#set_angular_velocity_period <BrickIMU#set_angular_velocity_period>`.
 
 The returned array has the values ``x``, ``y`` and ``z``.

.. rb:function:: BrickIMU#get_all_data -> [int, int, int, int, int, int, int, int, int, int]


 Returns the data from :rb:func:`#get_acceleration <BrickIMU#get_acceleration>`, :rb:func:`#get_magnetic_field <BrickIMU#get_magnetic_field>` 
 and :rb:func:`#get_angular_velocity <BrickIMU#get_angular_velocity>` as well as the temperature of the IMU Brick.
 
 The temperature is given in °C/100.
 
 If you want to get the data periodically, it is recommended 
 to use the callback :rb:attr:`::CALLBACK_ALL_DATA <BrickIMU::CALLBACK_ALL_DATA>` and set the period with 
 :rb:func:`#set_all_data_period <BrickIMU#set_all_data_period>`.
 
 The returned array has the values ``acc_x``, ``acc_y``, ``acc_z``, ``mag_x``, ``mag_y``, ``mag_z``, ``ang_x``, ``ang_y``, ``ang_z`` and ``temperature``.

.. rb:function:: BrickIMU#get_imu_temperature -> int


 Returns the temperature of the IMU Brick. The temperature is given in 
 °C/100.
 
.. rb:function:: BrickIMU#set_acceleration_range(range) -> nil

 :param range: int

 Not implemented yet.
 
.. rb:function:: BrickIMU#get_acceleration_range -> int


 Not implemented yet.
 
.. rb:function:: BrickIMU#set_magnetometer_range(range) -> nil

 :param range: int

 Not implemented yet.
 
.. rb:function:: BrickIMU#get_magnetometer_range -> int


 Not implemented yet.
 
.. rb:function:: BrickIMU#set_calibration(typ, data) -> nil

 :param typ: int
 :param data: [int, int, int, int, int, int, int, int, int, int]

 There are several different types that can be calibrated:
 
 .. csv-table::
  :header: "Type", "Description", "Values"
  :widths: 10, 30, 110
 
  "0",    "Accelerometer Gain", "``[mul x, mul y, mul z, div x, div y, div z, 0, 0, 0, 0]``"
  "1",    "Accelerometer Bias", "``[bias x, bias y, bias z, 0, 0, 0, 0, 0, 0, 0]``"
  "2",    "Magnetometer Gain",  "``[mul x, mul y, mul z, div x, div y, div z, 0, 0, 0, 0]``"
  "3",    "Magnetometer Bias",  "``[bias x, bias y, bias z, 0, 0, 0, 0, 0, 0, 0]``"
  "4",    "Gyroscope Gain",     "``[mul x, mul y, mul z, div x, div y, div z, 0, 0, 0, 0]``"
  "5",    "Gyroscope Bias",     "``[bias xl, bias yl, bias zl, temp l, bias xh, bias yh, bias zh, temp h, 0, 0]``"
 
 The calibration via gain and bias is done with the following formula::
 
  new_value = (bias + orig_value) * gain_mul / gain_div
 
 If you really want to write your own calibration software, please keep
 in mind that you first have to undo the old calibration (set bias to 0 and
 gain to 1/1) and that you have to average over several thousand values
 to obtain a usable result in the end.
 
 The gyroscope bias is highly dependent on the temperature, so you have to
 calibrate the bias two times with different temperatures. The values ``xl``,
 ``yl``, ``zl`` and ``temp l`` are the bias for ``x``, ``y``, ``z`` and the
 corresponding temperature for a low temperature. The values ``xh``, ``yh``,
 ``zh`` and ``temp h`` are the same for a high temperatures. The temperature
 difference should be at least 5°C. If you have a temperature where the
 IMU Brick is mostly used, you should use this temperature for one of the
 sampling points.
 
 .. note::
  We highly recommend that you use the Brick Viewer to calibrate your
  IMU Brick.
 
 The following constants are available for this function:
 
 * BrickIMU::CALIBRATION_TYPE_ACCELEROMETER_GAIN = 0
 * BrickIMU::CALIBRATION_TYPE_ACCELEROMETER_BIAS = 1
 * BrickIMU::CALIBRATION_TYPE_MAGNETOMETER_GAIN = 2
 * BrickIMU::CALIBRATION_TYPE_MAGNETOMETER_BIAS = 3
 * BrickIMU::CALIBRATION_TYPE_GYROSCOPE_GAIN = 4
 * BrickIMU::CALIBRATION_TYPE_GYROSCOPE_BIAS = 5
 
.. rb:function:: BrickIMU#get_calibration(typ) -> [int, int, int, int, int, int, int, int, int, int]

 :param typ: int

 Returns the calibration for a given type as set by :rb:func:`#set_calibration <BrickIMU#set_calibration>`.
 
 The following constants are available for this function:
 
 * BrickIMU::CALIBRATION_TYPE_ACCELEROMETER_GAIN = 0
 * BrickIMU::CALIBRATION_TYPE_ACCELEROMETER_BIAS = 1
 * BrickIMU::CALIBRATION_TYPE_MAGNETOMETER_GAIN = 2
 * BrickIMU::CALIBRATION_TYPE_MAGNETOMETER_BIAS = 3
 * BrickIMU::CALIBRATION_TYPE_GYROSCOPE_GAIN = 4
 * BrickIMU::CALIBRATION_TYPE_GYROSCOPE_BIAS = 5
 
.. rb:function:: BrickIMU#orientation_calculation_on -> nil


 Turns the orientation calculation of the IMU Brick on.
 
 As default the calculation is on.
 
 .. versionadded:: 2.0.2~(Firmware)
 
.. rb:function:: BrickIMU#orientation_calculation_off -> nil


 Turns the orientation calculation of the IMU Brick off.
 
 If the calculation is off, :rb:func:`#get_orientation <BrickIMU#get_orientation>` will return
 the last calculated value until the calculation is turned on again.
 
 The trigonometric functions that are needed to calculate the orientation 
 are very expensive. We recommend to turn the orientation calculation
 off if the orientation is not needed, to free calculation time for the
 sensor fusion algorithm.
 
 As default the calculation is on.
 
 .. versionadded:: 2.0.2~(Firmware)
 
.. rb:function:: BrickIMU#is_orientation_calculation_on -> bool


 Returns *true* if the orientation calculation of the IMU Brick
 is on, *false* otherwise.
 
 .. versionadded:: 2.0.2~(Firmware)
 
.. rb:function:: BrickIMU#get_api_version -> [int, int, int]


 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.
 
.. rb:function:: BrickIMU#get_response_expected(function_id) -> bool

 :param function_id: int

 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
 :rb:func:`#set_response_expected <BrickIMU#set_response_expected>`. 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 :rb:func:`#set_response_expected <BrickIMU#set_response_expected>`
 for the list of function ID constants available for this function.
 
.. rb:function:: BrickIMU#set_response_expected(function_id, response_expected) -> nil

 :param function_id: int
 :param response_expected: bool

 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:
 
 * BrickIMU::FUNCTION_LEDS_ON = 8
 * BrickIMU::FUNCTION_LEDS_OFF = 9
 * BrickIMU::FUNCTION_SET_ACCELERATION_RANGE = 11
 * BrickIMU::FUNCTION_SET_MAGNETOMETER_RANGE = 13
 * BrickIMU::FUNCTION_SET_CONVERGENCE_SPEED = 15
 * BrickIMU::FUNCTION_SET_CALIBRATION = 17
 * BrickIMU::FUNCTION_SET_ACCELERATION_PERIOD = 19
 * BrickIMU::FUNCTION_SET_MAGNETIC_FIELD_PERIOD = 21
 * BrickIMU::FUNCTION_SET_ANGULAR_VELOCITY_PERIOD = 23
 * BrickIMU::FUNCTION_SET_ALL_DATA_PERIOD = 25
 * BrickIMU::FUNCTION_SET_ORIENTATION_PERIOD = 27
 * BrickIMU::FUNCTION_SET_QUATERNION_PERIOD = 29
 * BrickIMU::FUNCTION_ORIENTATION_CALCULATION_ON = 37
 * BrickIMU::FUNCTION_ORIENTATION_CALCULATION_OFF = 38
 * BrickIMU::FUNCTION_ENABLE_STATUS_LED = 238
 * BrickIMU::FUNCTION_DISABLE_STATUS_LED = 239
 * BrickIMU::FUNCTION_RESET = 243
 
.. rb:function:: BrickIMU#set_response_expected_all(response_expected) -> nil

 :param response_expected: bool

 Changes the response expected flag for all setter and callback configuration
 functions of this device at once.
 
.. rb:function:: BrickIMU#enable_status_led -> nil


 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.
 
 .. versionadded:: 2.3.1~(Firmware)
 
.. rb:function:: BrickIMU#disable_status_led -> nil


 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.
 
 .. versionadded:: 2.3.1~(Firmware)
 
.. rb:function:: BrickIMU#is_status_led_enabled -> bool


 Returns *true* if the status LED is enabled, *false* otherwise.
 
 .. versionadded:: 2.3.1~(Firmware)
 
.. rb:function:: BrickIMU#get_protocol1_bricklet_name(port) -> [int, [int, int, int], str]

 :param port: str

 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.
 
 The returned array has the values ``protocol_version``, ``firmware_version`` and ``name``.

.. rb:function:: BrickIMU#get_chip_temperature -> int


 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.
 
.. rb:function:: BrickIMU#reset -> nil


 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!
 
.. rb:function:: BrickIMU#get_identity -> [str, str, str, [int, int, int], [int, int, int], int]


 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 :ref:`here <device_identifier>`.
 |device_identifier_constant|
 
 The returned array has the values ``uid``, ``connected_uid``, ``position``, ``hardware_version``, ``firmware_version`` and ``device_identifier``.



Callback Configuration Functions
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^


.. rb:function:: BrickIMU#register_callback(id) { |param [, ...]| block } -> nil

 :param id: int

 Registers a callback with ID *id* to the given block. The available
 IDs with corresponding function signatures are listed
 :ref:`below <imu_brick_ruby_callbacks>`.


.. rb:function:: BrickIMU#set_acceleration_period(period) -> nil

 :param period: int

 Sets the period in ms with which the :rb:attr:`::CALLBACK_ACCELERATION <BrickIMU::CALLBACK_ACCELERATION>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
 The default value is 0.
 
.. rb:function:: BrickIMU#get_acceleration_period -> int


 Returns the period as set by :rb:func:`#set_acceleration_period <BrickIMU#set_acceleration_period>`.
 
.. rb:function:: BrickIMU#set_magnetic_field_period(period) -> nil

 :param period: int

 Sets the period in ms with which the :rb:attr:`::CALLBACK_MAGNETIC_FIELD <BrickIMU::CALLBACK_MAGNETIC_FIELD>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. rb:function:: BrickIMU#get_magnetic_field_period -> int


 Returns the period as set by :rb:func:`#set_magnetic_field_period <BrickIMU#set_magnetic_field_period>`.
 
.. rb:function:: BrickIMU#set_angular_velocity_period(period) -> nil

 :param period: int

 Sets the period in ms with which the :rb:attr:`::CALLBACK_ANGULAR_VELOCITY <BrickIMU::CALLBACK_ANGULAR_VELOCITY>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. rb:function:: BrickIMU#get_angular_velocity_period -> int


 Returns the period as set by :rb:func:`#set_angular_velocity_period <BrickIMU#set_angular_velocity_period>`.
 
.. rb:function:: BrickIMU#set_all_data_period(period) -> nil

 :param period: int

 Sets the period in ms with which the :rb:attr:`::CALLBACK_ALL_DATA <BrickIMU::CALLBACK_ALL_DATA>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. rb:function:: BrickIMU#get_all_data_period -> int


 Returns the period as set by :rb:func:`#set_all_data_period <BrickIMU#set_all_data_period>`.
 
.. rb:function:: BrickIMU#set_orientation_period(period) -> nil

 :param period: int

 Sets the period in ms with which the :rb:attr:`::CALLBACK_ORIENTATION <BrickIMU::CALLBACK_ORIENTATION>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. rb:function:: BrickIMU#get_orientation_period -> int


 Returns the period as set by :rb:func:`#set_orientation_period <BrickIMU#set_orientation_period>`.
 
.. rb:function:: BrickIMU#set_quaternion_period(period) -> nil

 :param period: int

 Sets the period in ms with which the :rb:attr:`::CALLBACK_QUATERNION <BrickIMU::CALLBACK_QUATERNION>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. rb:function:: BrickIMU#get_quaternion_period -> int


 Returns the period as set by :rb:func:`#set_quaternion_period <BrickIMU#set_quaternion_period>`.
 


.. _imu_brick_ruby_callbacks:

Callbacks
^^^^^^^^^

Callbacks can be registered to receive time critical or recurring data from
the device. The registration is done with the
:rb:func:`#register_callback <BrickIMU#register_callback>` function of
the device object. The first parameter is the callback ID and the second
parameter is a block:

.. code-block:: ruby

    imu.register_callback BrickIMU::CALLBACK_EXAMPLE, do |param|
      puts "#{param}"
    end

The available constants with inherent number and 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.

.. rb:attribute:: BrickIMU::CALLBACK_ACCELERATION

 :param x: int
 :param y: int
 :param z: int


 This callback is triggered periodically with the period that is set by
 :rb:func:`#set_acceleration_period <BrickIMU#set_acceleration_period>`. The parameters are the acceleration
 for the x, y and z axis.
 
.. rb:attribute:: BrickIMU::CALLBACK_MAGNETIC_FIELD

 :param x: int
 :param y: int
 :param z: int


 This callback is triggered periodically with the period that is set by
 :rb:func:`#set_magnetic_field_period <BrickIMU#set_magnetic_field_period>`. The parameters are the magnetic field
 for the x, y and z axis.
 
.. rb:attribute:: BrickIMU::CALLBACK_ANGULAR_VELOCITY

 :param x: int
 :param y: int
 :param z: int


 This callback is triggered periodically with the period that is set by
 :rb:func:`#set_angular_velocity_period <BrickIMU#set_angular_velocity_period>`. The parameters are the angular velocity
 for the x, y and z axis.
 
.. rb:attribute:: BrickIMU::CALLBACK_ALL_DATA

 :param acc_x: int
 :param acc_y: int
 :param acc_z: int
 :param mag_x: int
 :param mag_y: int
 :param mag_z: int
 :param ang_x: int
 :param ang_y: int
 :param ang_z: int
 :param temperature: int


 This callback is triggered periodically with the period that is set by
 :rb:func:`#set_all_data_period <BrickIMU#set_all_data_period>`. The parameters are the acceleration,
 the magnetic field and the angular velocity for the x, y and z axis as
 well as the temperature of the IMU Brick.
 
.. rb:attribute:: BrickIMU::CALLBACK_ORIENTATION

 :param roll: int
 :param pitch: int
 :param yaw: int


 This callback is triggered periodically with the period that is set by
 :rb:func:`#set_orientation_period <BrickIMU#set_orientation_period>`. The parameters are the orientation
 (roll, pitch and yaw) of the IMU Brick in Euler angles. See
 :rb:func:`#get_orientation <BrickIMU#get_orientation>` for details.
 
.. rb:attribute:: BrickIMU::CALLBACK_QUATERNION

 :param x: float
 :param y: float
 :param z: float
 :param w: float


 This callback is triggered periodically with the period that is set by
 :rb:func:`#set_quaternion_period <BrickIMU#set_quaternion_period>`. The parameters are the orientation
 (x, y, z, w) of the IMU Brick in quaternions. See :rb:func:`#get_quaternion <BrickIMU#get_quaternion>`
 for details.
 


.. _imu_brick_ruby_constants:

Constants
^^^^^^^^^

.. rb:attribute:: BrickIMU::DEVICE_IDENTIFIER

 This constant is used to identify a IMU Brick.

 The :rb:func:`#get_identity() <BrickIMU#get_identity>` function and the
 :rb:attr:`::CALLBACK_ENUMERATE <IPConnection::CALLBACK_ENUMERATE>`
 callback of the IP Connection have a ``device_identifier`` parameter to specify
 the Brick's or Bricklet's type.

