..
 #############################################################
 # This file was automatically generated on 2015-05-19.      #
 #                                                           #
 # 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       #
 #############################################################

:orphan:
:breadcrumbs: <a href="../../index.html">Home</a> / <a href="../../index.html#software-vbnet">Software</a> / Visual Basic .NET - IMU Brick 2.0

.. |device_identifier_constant| replace:: There is also a :ref:`constant <imu_v2_brick_vbnet_constants>` for the device identifier of this Brick.

.. _imu_v2_brick_vbnet:

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 :ref:`Visual Basic .NET API bindings <api_bindings_vbnet>` for the :ref:`IMU Brick 2.0 <imu_v2_brick>`. General information and technical
specifications for the IMU Brick 2.0 are summarized in its :ref:`hardware description
<imu_v2_brick_description>`.

An :ref:`installation guide <api_bindings_vbnet_install>` for the Visual Basic .NET API
bindings is part of their general description.

.. _imu_v2_brick_vbnet_examples:


Examples
--------

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

Callback
^^^^^^^^

`Download (ExampleCallback.vb) <https://github.com/Tinkerforge/imu-v2-brick/raw/master/software/examples/vbnet/ExampleCallback.vb>`__

.. literalinclude:: IMUV2_Brick_VBNET_ExampleCallback.vb
 :language: vbnet
 :linenos:
 :tab-width: 4

.. _imu_v2_brick_vbnet_api:

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
^^^^^^^^^^^^^^^


.. vbnet:function:: Class BrickIMUV2(ByVal uid As String, ByVal ipcon As IPConnection)

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

 .. code-block:: vbnet

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

 This object can then be used after the IP Connection is connected
 (see examples :ref:`above <imu_v2_brick_vbnet_examples>`).


.. vbnet:function:: 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 <http://en.wikipedia.org/wiki/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 :vbnet:func:`Orientation <BrickIMUV2.Orientation>` and set the period with 
 :vbnet:func:`SetOrientationPeriod() <BrickIMUV2.SetOrientationPeriod>`.
 
.. vbnet:function:: 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 :vbnet:func:`GetGravityVector() <BrickIMUV2.GetGravityVector>`.
 
 If you want to get the linear acceleration periodically, it is recommended 
 to use the callback :vbnet:func:`LinearAcceleration <BrickIMUV2.LinearAcceleration>` and set the period with 
 :vbnet:func:`SetLinearAccelerationPeriod() <BrickIMUV2.SetLinearAccelerationPeriod>`.
 
.. vbnet:function:: 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 :vbnet:func:`GetLinearAcceleration() <BrickIMUV2.GetLinearAcceleration>`.
 
 If you want to get the gravity vector periodically, it is recommended 
 to use the callback :vbnet:func:`GravityVector <BrickIMUV2.GravityVector>` and set the period with 
 :vbnet:func:`SetGravityVectorPeriod() <BrickIMUV2.SetGravityVectorPeriod>`.
 
.. vbnet:function:: 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 <http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation>`__.
 
 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 :vbnet:func:`Quaternion <BrickIMUV2.Quaternion>` and set the period with 
 :vbnet:func:`SetQuaternionPeriod() <BrickIMUV2.SetQuaternionPeriod>`.
 
.. vbnet:function:: 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 :vbnet:func:`GetAcceleration() <BrickIMUV2.GetAcceleration>`)
 * magnetic field in 1/16 µT (see :vbnet:func:`GetMagneticField() <BrickIMUV2.GetMagneticField>`)
 * angular velocity in 1/16 °/s (see :vbnet:func:`GetAngularVelocity() <BrickIMUV2.GetAngularVelocity>`)
 * Euler angles in 1/16 ° (see :vbnet:func:`GetOrientation() <BrickIMUV2.GetOrientation>`)
 * quaternion 1/16383 (see :vbnet:func:`GetQuaternion() <BrickIMUV2.GetQuaternion>`)
 * linear acceleration 1/100 m/s² (see :vbnet:func:`GetLinearAcceleration() <BrickIMUV2.GetLinearAcceleration>`)
 * gravity vector 1/100 m/s² (see :vbnet:func:`GetGravityVector() <BrickIMUV2.GetGravityVector>`)
 * temperature in 1 °C (see :vbnet:func:`GetTemperature() <BrickIMUV2.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 :vbnet:func:`AllData <BrickIMUV2.AllData>` and set the period with 
 :vbnet:func:`SetAllDataPeriod() <BrickIMUV2.SetAllDataPeriod>`.
 
.. vbnet:function:: Sub BrickIMUV2.LedsOn()

 Turns the orientation and direction LEDs of the IMU Brick on.
 
.. vbnet:function:: Sub BrickIMUV2.LedsOff()

 Turns the orientation and direction LEDs of the IMU Brick off.
 
.. vbnet:function:: Function BrickIMUV2.AreLedsOn() As Boolean

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


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

.. vbnet:function:: 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 :vbnet:func:`Acceleration <BrickIMUV2.Acceleration>` and set the period with 
 :vbnet:func:`SetAccelerationPeriod() <BrickIMUV2.SetAccelerationPeriod>`.
 
.. vbnet:function:: 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 :vbnet:func:`MagneticField <BrickIMUV2.MagneticField>` and set the period with 
 :vbnet:func:`SetMagneticFieldPeriod() <BrickIMUV2.SetMagneticFieldPeriod>`.
 
.. vbnet:function:: 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 :vbnet:func:`AngularVelocity <BrickIMUV2.AngularVelocity>` and set the period with 
 :vbnet:func:`SetAngularVelocityPeriod() <BrickIMUV2.SetAngularVelocityPeriod>`.
 
.. vbnet:function:: 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
 
.. vbnet:function:: 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.
 
.. vbnet:function:: 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.
 
.. vbnet:function:: 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
 :vbnet:func:`SetResponseExpected() <BrickIMUV2.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 :vbnet:func:`SetResponseExpected() <BrickIMUV2.SetResponseExpected>`
 for the list of function ID constants available for this function.
 
.. vbnet: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
 
.. vbnet:function:: Sub BrickIMUV2.SetResponseExpectedAll(ByVal responseExpected As Boolean)

 Changes the response expected flag for all setter and callback configuration
 functions of this device at once.
 
.. vbnet:function:: 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.
 
.. vbnet:function:: 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.
 
.. vbnet:function:: Function BrickIMUV2.IsStatusLEDEnabled() As Boolean

 Returns *true* if the status LED is enabled, *false* otherwise.
 
.. vbnet:function:: 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.
 
.. vbnet:function:: 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.
 
.. vbnet:function:: 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!
 
.. vbnet:function:: 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 :ref:`here <device_identifier>`.
 |device_identifier_constant|
 


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



.. vbnet:function:: Sub BrickIMUV2.SetAccelerationPeriod(ByVal period As Long)

 Sets the period in ms with which the :vbnet:func:`Acceleration <BrickIMUV2.Acceleration>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
 The default value is 0.
 
.. vbnet:function:: Function BrickIMUV2.GetAccelerationPeriod() As Long

 Returns the period as set by :vbnet:func:`SetAccelerationPeriod() <BrickIMUV2.SetAccelerationPeriod>`.
 
.. vbnet:function:: Sub BrickIMUV2.SetMagneticFieldPeriod(ByVal period As Long)

 Sets the period in ms with which the :vbnet:func:`MagneticField <BrickIMUV2.MagneticField>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. vbnet:function:: Function BrickIMUV2.GetMagneticFieldPeriod() As Long

 Returns the period as set by :vbnet:func:`SetMagneticFieldPeriod() <BrickIMUV2.SetMagneticFieldPeriod>`.
 
.. vbnet:function:: Sub BrickIMUV2.SetAngularVelocityPeriod(ByVal period As Long)

 Sets the period in ms with which the :vbnet:func:`AngularVelocity <BrickIMUV2.AngularVelocity>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. vbnet:function:: Function BrickIMUV2.GetAngularVelocityPeriod() As Long

 Returns the period as set by :vbnet:func:`SetAngularVelocityPeriod() <BrickIMUV2.SetAngularVelocityPeriod>`.
 
.. vbnet:function:: Sub BrickIMUV2.SetTemperaturePeriod(ByVal period As Long)

 Sets the period in ms with which the :vbnet:func:`Temperature <BrickIMUV2.Temperature>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. vbnet:function:: Function BrickIMUV2.GetTemperaturePeriod() As Long

 Returns the period as set by :vbnet:func:`SetTemperaturePeriod() <BrickIMUV2.SetTemperaturePeriod>`.
 
.. vbnet:function:: Sub BrickIMUV2.SetOrientationPeriod(ByVal period As Long)

 Sets the period in ms with which the :vbnet:func:`Orientation <BrickIMUV2.Orientation>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. vbnet:function:: Function BrickIMUV2.GetOrientationPeriod() As Long

 Returns the period as set by :vbnet:func:`SetOrientationPeriod() <BrickIMUV2.SetOrientationPeriod>`.
 
.. vbnet:function:: Sub BrickIMUV2.SetLinearAccelerationPeriod(ByVal period As Long)

 Sets the period in ms with which the :vbnet:func:`LinearAcceleration <BrickIMUV2.LinearAcceleration>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. vbnet:function:: Function BrickIMUV2.GetLinearAccelerationPeriod() As Long

 Returns the period as set by :vbnet:func:`SetLinearAccelerationPeriod() <BrickIMUV2.SetLinearAccelerationPeriod>`.
 
.. vbnet:function:: Sub BrickIMUV2.SetGravityVectorPeriod(ByVal period As Long)

 Sets the period in ms with which the :vbnet:func:`GravityVector <BrickIMUV2.GravityVector>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. vbnet:function:: Function BrickIMUV2.GetGravityVectorPeriod() As Long

 Returns the period as set by :vbnet:func:`SetGravityVectorPeriod() <BrickIMUV2.SetGravityVectorPeriod>`.
 
.. vbnet:function:: Sub BrickIMUV2.SetQuaternionPeriod(ByVal period As Long)

 Sets the period in ms with which the :vbnet:func:`Quaternion <BrickIMUV2.Quaternion>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. vbnet:function:: Function BrickIMUV2.GetQuaternionPeriod() As Long

 Returns the period as set by :vbnet:func:`SetQuaternionPeriod() <BrickIMUV2.SetQuaternionPeriod>`.
 
.. vbnet:function:: Sub BrickIMUV2.SetAllDataPeriod(ByVal period As Long)

 Sets the period in ms with which the :vbnet:func:`AllData <BrickIMUV2.AllData>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. vbnet:function:: Function BrickIMUV2.GetAllDataPeriod() As Long

 Returns the period as set by :vbnet:func:`SetAllDataPeriod() <BrickIMUV2.SetAllDataPeriod>`.
 


.. _imu_v2_brick_vbnet_callbacks:

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:

 .. code-block:: vbnet

    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.


.. vbnet:function:: 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
 :vbnet:func:`SetAccelerationPeriod() <BrickIMUV2.SetAccelerationPeriod>`. The parameters are the acceleration
 for the x, y and z axis.
 

.. vbnet:function:: 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
 :vbnet:func:`SetMagneticFieldPeriod() <BrickIMUV2.SetMagneticFieldPeriod>`. The parameters are the magnetic field
 for the x, y and z axis.
 

.. vbnet:function:: 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
 :vbnet:func:`SetAngularVelocityPeriod() <BrickIMUV2.SetAngularVelocityPeriod>`. The parameters are the angular velocity
 for the x, y and z axis.
 

.. vbnet:function:: Event BrickIMUV2.Temperature(ByVal sender As BrickIMUV2, ByVal temperature As Short)


 This callback is triggered periodically with the period that is set by
 :vbnet:func:`SetTemperaturePeriod() <BrickIMUV2.SetTemperaturePeriod>`. The parameter is the temperature.
 

.. vbnet:function:: 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
 :vbnet:func:`SetLinearAccelerationPeriod() <BrickIMUV2.SetLinearAccelerationPeriod>`. The parameters are the 
 linear acceleration for the x, y and z axis.
 

.. vbnet:function:: 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
 :vbnet:func:`SetGravityVectorPeriod() <BrickIMUV2.SetGravityVectorPeriod>`. The parameters gravity vector
 for the x, y and z axis.
 

.. vbnet:function:: 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
 :vbnet:func:`SetOrientationPeriod() <BrickIMUV2.SetOrientationPeriod>`. The parameters are the orientation
 (heading (yaw), roll, pitch) of the IMU Brick in Euler angles. See
 :vbnet:func:`GetOrientation() <BrickIMUV2.GetOrientation>` for details.
 

.. vbnet:function:: 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
 :vbnet:func:`SetQuaternionPeriod() <BrickIMUV2.SetQuaternionPeriod>`. The parameters are the orientation
 (x, y, z, w) of the IMU Brick in quaternions. See :vbnet:func:`GetQuaternion() <BrickIMUV2.GetQuaternion>`
 for details.
 

.. vbnet:function:: 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
 :vbnet:func:`SetAllDataPeriod() <BrickIMUV2.SetAllDataPeriod>`. The parameters are as for :vbnet:func:`GetAllData() <BrickIMUV2.GetAllData>`.
 


.. _imu_v2_brick_vbnet_constants:

Constants
^^^^^^^^^

.. vbnet:attribute:: Const BrickIMUV2.DEVICE_IDENTIFIER

 This constant is used to identify a IMU Brick 2.0.

 The :vbnet:func:`GetIdentity() <BrickIMUV2.GetIdentity>` function and the
 :vbnet:func:`EnumerateCallback <IPConnection.EnumerateCallback>`
 callback of the IP Connection have a ``deviceIdentifier`` parameter to specify
 the Brick's or Bricklet's type.

