IMUController module

class IMUController.TaskAcquirePositionGenFun(left_mot_omega, right_mot_omega, x_position, y_position, blue_button)

Bases: object

calc_x_pos()

Calculates the new x position based upon the change in time, yaw, and velocity of romi

Once the new x position is calculated, it is stored into the attribute self.x_pos

calc_y_pos()

Calculates the new y position based upon the change in time, yaw, and velocity of Romi

Once the new y position is calculated, it is stored into the attribute self.y_pos

run()

Generator function to continuously determine the position of the Romi as it traverses the track.

Pressing the blue button toggles if data gets collected by this task.

velocity_calc()

Determines the velocity of the Romi based upon the angular velocity of the two wheels.

yaw_calc()

Determines the current yaw of the robot relative to the starting position.