..
 #############################################################
 # 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-labview">Software</a> / LabVIEW - IMU Brick

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

.. _imu_brick_labview:

LabVIEW - IMU Brick
===================

This is the description of the :ref:`LabVIEW API bindings <api_bindings_labview>` 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_labview_install>` for the LabVIEW API
bindings is part of their general description.

.. _imu_brick_labview_examples:


Examples
--------

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

Callback
^^^^^^^^

`Download (Example Callback.vi) <https://github.com/Tinkerforge/imu-brick/raw/master/software/examples/labview/Example%20Callback.vi>`__, `Download (Example Callback - Quaternion Callback.vi) <https://github.com/Tinkerforge/imu-brick/raw/master/software/examples/labview/Example%20Callback%20-%20Quaternion%20Callback.vi>`__

.. raw:: html

   <div class="horizontal-image-scroll">

.. image:: /Images/Screenshots/LabVIEW/IMU_Brick_LabVIEW_Example_Callback.vi.png
 :scale: 100 %
 :alt: LabVIEW Callback Example
 :align: center

.. raw:: html

   </div>

.. _imu_brick_labview_api:

API
---

Generally, every method of the LabVIEW bindings that outputs a value can
report a ``Tinkerforge.TimeoutException``. This error gets reported if the
device did not respond. If a cable based connection is used, it is
unlikely that this exception gets thrown (assuming nobody plugs the
device out). However, if a wireless connection is used, timeouts will occur
if the distance to the device gets too big.

The namespace for all Brick/Bricklet bindings and the IPConnection is
``Tinkerforge.*``.




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


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

 :input uid: String
 :input ipcon: .NET Refnum (IPConnection)
 :output imu: .NET Refnum (BrickIMU)

 Creates an object with the unique device ID ``uid``.
 This object can then be used after the IP Connection is connected
 (see examples :ref:`above <imu_brick_labview_examples>`).


.. labview:function:: BrickIMU.GetOrientation() -> roll, pitch, yaw


 :output roll: Int16
 :output pitch: Int16
 :output yaw: Int16

 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 :labview:func:`Orientation <BrickIMU.Orientation>` and set the period with 
 :labview:func:`SetOrientationPeriod() <BrickIMU.SetOrientationPeriod>`.
 
.. labview:function:: BrickIMU.GetQuaternion() -> x, y, z, w


 :output x: Single
 :output y: Single
 :output z: Single
 :output w: Single

 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 :labview:func:`Quaternion <BrickIMU.Quaternion>` and set the period with 
 :labview:func:`SetQuaternionPeriod() <BrickIMU.SetQuaternionPeriod>`.
 
.. labview:function:: BrickIMU.LedsOn()


 Turns the orientation and direction LEDs of the IMU Brick on.
 
.. labview:function:: BrickIMU.LedsOff()


 Turns the orientation and direction LEDs of the IMU Brick off.
 
.. labview:function:: BrickIMU.AreLedsOn() -> leds


 :output leds: Boolean

 Returns *true* if the orientation and direction LEDs of the IMU Brick
 are on, *false* otherwise.
 
.. labview:function:: BrickIMU.SetConvergenceSpeed(speed)

 :input speed: Int32

 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.
 
.. labview:function:: BrickIMU.GetConvergenceSpeed() -> speed


 :output speed: Int32

 Returns the convergence speed as set by :labview:func:`SetConvergenceSpeed() <BrickIMU.SetConvergenceSpeed>`.
 


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

.. labview:function:: BrickIMU.GetAcceleration() -> x, y, z


 :output x: Int16
 :output y: Int16
 :output z: Int16
 
 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 :labview:func:`Acceleration <BrickIMU.Acceleration>` and set the period with 
 :labview:func:`SetAccelerationPeriod() <BrickIMU.SetAccelerationPeriod>`.
 
.. labview:function:: BrickIMU.GetMagneticField() -> x, y, z


 :output x: Int16
 :output y: Int16
 :output z: Int16

 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 :labview:func:`MagneticField <BrickIMU.MagneticField>` and set the period with 
 :labview:func:`SetMagneticFieldPeriod() <BrickIMU.SetMagneticFieldPeriod>`.
 
.. labview:function:: BrickIMU.GetAngularVelocity() -> x, y, z


 :output x: Int16
 :output y: Int16
 :output z: Int16

 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 :labview:func:`AngularVelocity <BrickIMU.AngularVelocity>` and set the period with 
 :labview:func:`SetAngularVelocityPeriod() <BrickIMU.SetAngularVelocityPeriod>`.
 
.. labview:function:: BrickIMU.GetAllData() -> accX, accY, accZ, magX, magY, magZ, angX, angY, angZ, temperature


 :output accX: Int16
 :output accY: Int16
 :output accZ: Int16
 :output magX: Int16
 :output magY: Int16
 :output magZ: Int16
 :output angX: Int16
 :output angY: Int16
 :output angZ: Int16
 :output temperature: Int16

 Returns the data from :labview:func:`GetAcceleration() <BrickIMU.GetAcceleration>`, :labview:func:`GetMagneticField() <BrickIMU.GetMagneticField>` 
 and :labview:func:`GetAngularVelocity() <BrickIMU.GetAngularVelocity>` 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 :labview:func:`AllData <BrickIMU.AllData>` and set the period with 
 :labview:func:`SetAllDataPeriod() <BrickIMU.SetAllDataPeriod>`.
 
.. labview:function:: BrickIMU.GetIMUTemperature() -> temperature


 :output temperature: Int16

 Returns the temperature of the IMU Brick. The temperature is given in 
 °C/100.
 
.. labview:function:: BrickIMU.SetAccelerationRange(range)

 :input range: Byte

 Not implemented yet.
 
.. labview:function:: BrickIMU.GetAccelerationRange() -> range


 :output range: Byte

 Not implemented yet.
 
.. labview:function:: BrickIMU.SetMagnetometerRange(range)

 :input range: Byte

 Not implemented yet.
 
.. labview:function:: BrickIMU.GetMagnetometerRange() -> range


 :output range: Byte

 Not implemented yet.
 
.. labview:function:: BrickIMU.SetCalibration(typ, data)

 :input typ: Byte
 :input data: Int16[10]

 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
 
.. labview:function:: BrickIMU.GetCalibration(typ) -> data

 :input typ: Byte

 :output data: Int16[10]

 Returns the calibration for a given type as set by :labview:func:`SetCalibration() <BrickIMU.SetCalibration>`.
 
 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
 
.. labview:function:: BrickIMU.OrientationCalculationOn()


 Turns the orientation calculation of the IMU Brick on.
 
 As default the calculation is on.
 
 .. versionadded:: 2.0.2~(Firmware)
 
.. labview:function:: BrickIMU.OrientationCalculationOff()


 Turns the orientation calculation of the IMU Brick off.
 
 If the calculation is off, :labview:func:`GetOrientation() <BrickIMU.GetOrientation>` 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)
 
.. labview:function:: BrickIMU.IsOrientationCalculationOn() -> orientationCalculationOn


 :output orientationCalculationOn: Boolean

 Returns *true* if the orientation calculation of the IMU Brick
 is on, *false* otherwise.
 
 .. versionadded:: 2.0.2~(Firmware)
 
.. labview:function:: BrickIMU.GetAPIVersion() -> apiVersion


 :output apiVersion: Byte[3]

 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.
 
.. labview:function:: BrickIMU.GetResponseExpected(functionId) -> responseExpected

 :input functionId: Byte

 :output responseExpected: 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
 :labview:func:`SetResponseExpected() <BrickIMU.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 :labview:func:`SetResponseExpected() <BrickIMU.SetResponseExpected>`
 for the list of function ID constants available for this function.
 
.. labview:function:: BrickIMU.SetResponseExpected(functionId, responseExpected)

 :input functionId: Byte
 :input responseExpected: 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:
 
 * 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
 
.. labview:function:: BrickIMU.SetResponseExpectedAll(responseExpected)

 :input responseExpected: Boolean

 Changes the response expected flag for all setter and callback configuration
 functions of this device at once.
 
.. labview:function:: BrickIMU.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.
 
 .. versionadded:: 2.3.1~(Firmware)
 
.. labview:function:: BrickIMU.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.
 
 .. versionadded:: 2.3.1~(Firmware)
 
.. labview:function:: BrickIMU.IsStatusLEDEnabled() -> enabled


 :output enabled: Boolean

 Returns *true* if the status LED is enabled, *false* otherwise.
 
 .. versionadded:: 2.3.1~(Firmware)
 
.. labview:function:: BrickIMU.GetProtocol1BrickletName(port) -> protocolVersion, firmwareVersion, name

 :input port: Char

 :output protocolVersion: Byte
 :output firmwareVersion: Byte[3]
 :output name: 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.
 
.. labview:function:: BrickIMU.GetChipTemperature() -> temperature


 :output temperature: Int16

 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.
 
.. labview:function:: BrickIMU.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!
 
.. labview:function:: BrickIMU.GetIdentity() -> uid, connectedUid, position, hardwareVersion, firmwareVersion, deviceIdentifier


 :output uid: String
 :output connectedUid: String
 :output position: Char
 :output hardwareVersion: Byte[3]
 :output firmwareVersion: Byte[3]
 :output deviceIdentifier: Int32

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



.. labview:function:: BrickIMU.SetAccelerationPeriod(period)

 :input period: Int64

 Sets the period in ms with which the :labview:func:`Acceleration <BrickIMU.Acceleration>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
 The default value is 0.
 
.. labview:function:: BrickIMU.GetAccelerationPeriod() -> period


 :output period: Int64

 Returns the period as set by :labview:func:`SetAccelerationPeriod() <BrickIMU.SetAccelerationPeriod>`.
 
.. labview:function:: BrickIMU.SetMagneticFieldPeriod(period)

 :input period: Int64

 Sets the period in ms with which the :labview:func:`MagneticField <BrickIMU.MagneticField>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. labview:function:: BrickIMU.GetMagneticFieldPeriod() -> period


 :output period: Int64

 Returns the period as set by :labview:func:`SetMagneticFieldPeriod() <BrickIMU.SetMagneticFieldPeriod>`.
 
.. labview:function:: BrickIMU.SetAngularVelocityPeriod(period)

 :input period: Int64

 Sets the period in ms with which the :labview:func:`AngularVelocity <BrickIMU.AngularVelocity>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. labview:function:: BrickIMU.GetAngularVelocityPeriod() -> period


 :output period: Int64

 Returns the period as set by :labview:func:`SetAngularVelocityPeriod() <BrickIMU.SetAngularVelocityPeriod>`.
 
.. labview:function:: BrickIMU.SetAllDataPeriod(period)

 :input period: Int64

 Sets the period in ms with which the :labview:func:`AllData <BrickIMU.AllData>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. labview:function:: BrickIMU.GetAllDataPeriod() -> period


 :output period: Int64

 Returns the period as set by :labview:func:`SetAllDataPeriod() <BrickIMU.SetAllDataPeriod>`.
 
.. labview:function:: BrickIMU.SetOrientationPeriod(period)

 :input period: Int64

 Sets the period in ms with which the :labview:func:`Orientation <BrickIMU.Orientation>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. labview:function:: BrickIMU.GetOrientationPeriod() -> period


 :output period: Int64

 Returns the period as set by :labview:func:`SetOrientationPeriod() <BrickIMU.SetOrientationPeriod>`.
 
.. labview:function:: BrickIMU.SetQuaternionPeriod(period)

 :input period: Int64

 Sets the period in ms with which the :labview:func:`Quaternion <BrickIMU.Quaternion>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. labview:function:: BrickIMU.GetQuaternionPeriod() -> period


 :output period: Int64

 Returns the period as set by :labview:func:`SetQuaternionPeriod() <BrickIMU.SetQuaternionPeriod>`.
 


.. _imu_brick_labview_callbacks:

Callbacks
^^^^^^^^^

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


.. labview:function:: event BrickIMU.Acceleration(sender, x, y, z)

 :input sender: .NET Refnum (BrickIMU)
 :input x: Int16
 :input y: Int16
 :input z: Int16

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

.. labview:function:: event BrickIMU.MagneticField(sender, x, y, z)

 :input sender: .NET Refnum (BrickIMU)
 :input x: Int16
 :input y: Int16
 :input z: Int16

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

.. labview:function:: event BrickIMU.AngularVelocity(sender, x, y, z)

 :input sender: .NET Refnum (BrickIMU)
 :input x: Int16
 :input y: Int16
 :input z: Int16

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

.. labview:function:: event BrickIMU.AllData(sender, accX, accY, accZ, magX, magY, magZ, angX, angY, angZ, temperature)

 :input sender: .NET Refnum (BrickIMU)
 :input accX: Int16
 :input accY: Int16
 :input accZ: Int16
 :input magX: Int16
 :input magY: Int16
 :input magZ: Int16
 :input angX: Int16
 :input angY: Int16
 :input angZ: Int16
 :input temperature: Int16

 This callback is triggered periodically with the period that is set by
 :labview:func:`SetAllDataPeriod() <BrickIMU.SetAllDataPeriod>`. 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.
 

.. labview:function:: event BrickIMU.Orientation(sender, roll, pitch, yaw)

 :input sender: .NET Refnum (BrickIMU)
 :input roll: Int16
 :input pitch: Int16
 :input yaw: Int16

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

.. labview:function:: event BrickIMU.Quaternion(sender, x, y, z, w)

 :input sender: .NET Refnum (BrickIMU)
 :input x: Single
 :input y: Single
 :input z: Single
 :input w: Single

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


.. _imu_brick_labview_constants:

Constants
^^^^^^^^^

.. labview:symbol:: BrickIMU.DEVICE_IDENTIFIER

 This constant is used to identify a IMU Brick.

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

