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Add IMU_ADDRESS configuration #1064

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Nov 26, 2022
Merged

Add IMU_ADDRESS configuration #1064

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1 change: 1 addition & 0 deletions donkeycar/templates/cfg_complete.py
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Original file line number Diff line number Diff line change
Expand Up @@ -444,6 +444,7 @@
#IMU
HAVE_IMU = False #when true, this add a Mpu6050 part and records the data. Can be used with a
IMU_SENSOR = 'mpu6050' # (mpu6050|mpu9250)
IMU_ADDRESS = 0x68 # if AD0 pin is pulled high them address is 0x69, otherwise it is 0x68
IMU_DLP_CONFIG = 0 # Digital Lowpass Filter setting (0:250Hz, 1:184Hz, 2:92Hz, 3:41Hz, 4:20Hz, 5:10Hz, 6:5Hz)

#SOMBRERO
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1 change: 1 addition & 0 deletions donkeycar/templates/cfg_path_follow.py
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Expand Up @@ -411,6 +411,7 @@
# IMU for imu model
HAVE_IMU = False #when true, this add a Mpu6050 part and records the data. Can be used with a
IMU_SENSOR = 'mpu6050' # (mpu6050|mpu9250)
IMU_ADDRESS = 0x68 # if AD0 pin is pulled high them address is 0x69, otherwise it is 0x68
IMU_DLP_CONFIG = 0 # Digital Lowpass Filter setting (0:250Hz, 1:184Hz, 2:92Hz, 3:41Hz, 4:20Hz, 5:10Hz, 6:5Hz)


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21 changes: 16 additions & 5 deletions donkeycar/templates/complete.py
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Expand Up @@ -260,11 +260,8 @@ def show_record_count_status():
s = Sombrero()

#IMU
if cfg.HAVE_IMU:
from donkeycar.parts.imu import IMU
imu = IMU(sensor=cfg.IMU_SENSOR, dlp_setting=cfg.IMU_DLP_CONFIG)
V.add(imu, outputs=['imu/acl_x', 'imu/acl_y', 'imu/acl_z',
'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z'], threaded=True)
add_imu(V, cfg)


# Use the FPV preview, which will show the cropped image output, or the full frame.
if cfg.USE_FPV:
Expand Down Expand Up @@ -802,6 +799,20 @@ def add_odometry(V, cfg):
else:
print("No supported encoder found")

#
# IMU setup
#
def add_imu(V, cfg):
imu = None
if cfg.HAVE_IMU:
from donkeycar.parts.imu import IMU

imu = IMU(sensor=cfg.IMU_SENSOR, addr=cfg.IMU_ADDRESS,
dlp_setting=cfg.IMU_DLP_CONFIG)
V.add(imu, outputs=['imu/acl_x', 'imu/acl_y', 'imu/acl_z',
'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z'], threaded=True)
return imu


#
# Drive train setup
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10 changes: 9 additions & 1 deletion donkeycar/templates/path_follow.py
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Expand Up @@ -62,7 +62,7 @@
from donkeycar.parts.transform import PIDController
from donkeycar.parts.kinematics import TwoWheelSteeringThrottle
from donkeycar.templates.complete import add_odometry, add_camera, \
add_user_controller, add_drivetrain, add_simulator
add_user_controller, add_drivetrain, add_simulator, add_imu
from donkeycar.parts.logger import LoggerPart
from donkeycar.parts.transform import Lambda
from donkeycar.parts.explode import ExplodeDict
Expand Down Expand Up @@ -106,6 +106,14 @@ def drive(cfg, use_joystick=False, camera_type='single'):
#
add_simulator(V, cfg)

#
# IMU
#
add_imu(V, cfg)

#
# odometry/tachometer/speed control
#
if cfg.HAVE_ODOM:
#
# setup encoders, odometry and pose estimation
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