readAngularVelocity

Read one sample of angular velocity from sensor

Syntax

[gyroReadings,timestamp] = readAngularVelocity(sensorobj)

Description

[gyroReadings,timestamp] = readAngularVelocity(sensorobj) returns one sample of the angular velocity data on x, y, and z axes read from the sensor in units of rad/s along with the timestamp. Timestamp is optional.

Note

• The readAngularVelocity function is available for the LSM6DS3, LSM6DS3H, LSM6DSL, LSM6DSM, LSM6DSR, LSM6DSO, MPU6050, MPU9250, LSM9DS1, and ICM20948 sensors.

• To generate C/C++ code for this function, you must have an Embedded Coder^® license.

Examples

Read Angular Velocity

Create a connection from MATLAB^® to the Raspberry Pi^® hardware board.

mypi = raspi('raspberrypi-hysdu8X38o','rocky','bullwinkle')

mypi = 

  Raspi with Properties:

           DeviceAddress: 'raspberrypi-hysdu8X38o'
                    Port: 18734
               BoardName: 'Raspberry Pi 3 Model B+'
           AvailableLEDs: {'led0'}
    AvailableDigitalPins: [4,5,6,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27]
    AvailableSPIChannels: {‘CE0’,’CE1’}
       AvailableI2CBuses: {'i2c-1'}
             I2CBusSpeed: 100000
        AvailabelWebCams: mmal service 16.1 (platform:bcm2835-v4l2)

Create a sensor object on the I2C bus 'i2c-1' on addresses '0x6A' and '0x1C'.

Note

The sample code and output in this example is for mpu9250 object. If you are using another sensor that supports readAngularVelocity function, use the corresponding sensor object.

sensorobj = lsm9ds1(mypi,'Bus','i2c-1','I2CAddress',{'0x6A','0x1C'});

sensorobj = 

  lsm9ds1 with properties:

                         I2CAddress: 106 ("0x6A")
                                   : 28 ("0x1C")
                                Bus: i2c-1 

Return one sample of angular velocity data read from the sensor on the X, Y, and Z axes.

[gyroReadings,timestamp] = readAngularVelocity(sensor);

gyroReadings =

  data

    0.0057    0.0713    0.0050


timestamp = 

  datetime

   9-Dec-2020 16:13:01.801

Since the timestamp output is optional, you can obtain only the angular velocity data from the sensor.

[gyroReadings] = readAngularVelocity(sensor);

gyroReadings =

  data

    0.0057    0.0713    0.0050

Input Arguments

sensorobj — sensor object

sensor object

The sensor object.

Output Arguments

gyroReadings — Value read from the sensor

scalar

The angular velocity value on x, y, and z axes read from the sensor.

timestamp — Timestamp

datetime

The time at which MATLAB receives angular velocity data from the sensor, specified as a datetime.

Extended Capabilities

C/C++ Code Generation

Generate C and C++ code using MATLAB® Coder™.

• Timestamp value is always returned in seconds.

• When you create a sensor object and do not specify the I2C address in the name-value pair, the default I2C address is considered by the sensor.

• To generate C/C++ code for this function, you must have an Embedded Coder license. For more information on selecting the right product stack according to your development goals, see Product Stack for Raspberry Pi Blockset.

Version History

Introduced in R2021a