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accelerometer

AccelerometerPeriod module-attribute #

AccelerometerPeriod = Union[
    Literal[1],
    Literal[2],
    Literal[5],
    Literal[10],
    Literal[20],
    Literal[80],
    Literal[160],
    Literal[640],
]

Het interval waarmee de accelerometer wordt uitgelezen is een geheel getal en drukt het aantal milliseconden uit. Er is een beperkt aantal geldige periodes: 1, 2, 5, 10, 20, 80, 160, 640

Warning

Dit zijn de geldige waarden volgens de specificatie, maar het lijkt erop dat dit niet klopt/werkt zoals ik verwacht TODO te onderzoeken

AccelerometerData dataclass #

De waarden van de 3 assen van een meting van de accelerometer, in milli-g. (met g de valversnelling op aarde)

Attributes:

  • x (int) –

    horizontaal (van links naar rechts)

  • y (int) –

    horizontaal (van achter naar voor)

  • z (int) –

    verticaal (van onder naar boven)

Source code in src/kaspersmicrobit/services/accelerometer.py 
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@dataclass
class AccelerometerData:
    """
    The values of the 3 axes of an accelerometer measurement, in milli-g. (with g the gravitational acceleration on Earth)

    Attributes:
        x (int): horizontal (left to right)
        y (int): horizontal (from back to front)
        z (int): vertical (from bottom to top)
    """
    x: int
    y: int
    z: int

    @staticmethod
    def from_bytes(values: ByteData):
        return AccelerometerData(
            int.from_bytes(values[0:2], "little", signed=True),
            int.from_bytes(values[2:4], "little", signed=True),
            int.from_bytes(values[4:6], "little", signed=True)
        )

AccelerometerService #

Deze klasse bevat de functies die je kan aanspreken in verband met de accelerometer van de micro:bit

De accelerometer meet kracht/versnelling langs 3 assen:

  • x: horizontaal (van links naar rechts)
  • y: horizontaal (van achter naar voor)
  • z: verticaal (van onder naar boven)

De waarden van x, y en z zijn integers en zijn waarden in milli-g, waarbij 1 g, dus 1000 milli-g gelijk is aan de valversnelling op aarde. In vrije val zullen de waarden langs de assen ongeveer 0 zijn:

AccelerometerData(x=0, y=0, z=0)

Wanneer de micro:bit recht voor je met de knoppen zichtbaar en de pins naar je toe ligt, dan zal een meting van de accelerometer (ongeveer) het volgende geven:

AccelerometerData(x=-50, y=-50, z=-1024)

dat z ongeveer -1000 (ipv 1000 zoals je misschien verwacht zou hebben) valt te verklaren door dat je de kracht meet die de micro:bit tegenhoudt (bvb wanneer je de micro:bit vasthoudt: de kracht die je arm uitoefent, en die de micro:bit weerhoudt van te vallen)

Kantel je de micro:bit vanuit deze startpositie naar je toe, dan stijgen y en z in waarde en blijft x ongeveer gelijk:

AccelerometerData(x=-28, y=972, z=-56)

Kantel je de micro:bit vanuit de startpositie van je weg, dan daalt y, en stijgt z in waarde en blijft x ongeveer gelijk:

AccelerometerData(x=-104, y=-960, z=124)

Kantel je de micro:bit vanuit de startpositie naar links dan daalt x, en stijgt z in waarde en blijft y ongeveer gelijk:

AccelerometerData(x=-1108, y=72, z=-160)

Kantel je de micro:bit vanuit de startpositie naar rechts dan stijgen x en z in waarde en blijft y ongeveer gelijk:

AccelerometerData(x=960, y=60, z=0)

Draai je de micro:bit helemaal ondersteboven dan stijgt z ongeveer tot 1000 en blijven x en y ongeveer gelijk:

AccelerometerData(x=-56, y=-36, z=1024)

Dit zijn alle mogelijkheden aangeboden door de accelerometer bluetooth service

Zie ook: https://lancaster-university.github.io/microbit-docs/ble/accelerometer-service/

Zie ook: https://lancaster-university.github.io/microbit-docs/ubit/accelerometer/

Source code in src/kaspersmicrobit/services/accelerometer.py 
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class AccelerometerService:
    """
    This class contains the functions that can be used related to the accelerometer of the micro:bit

    The accelerometer measures force/acceleration along 3 axes:

    - x: horizontal (from left to right)
    - y: horizontal (from back to front)
    - z: vertical (from bottom to top)

    The values of x, y and z are integers and are values in milli-g, where 1 g, so 1000 milli-g, is equal to the
    gravitational acceleration on earth. In free fall the values along the axes will be approximately 0:

        AccelerometerData(x=0, y=0, z=0)

    When the micro:bit is directly in front of you with the buttons visible and the pins facing you,
    then a reading from the accelerometer will give (approximately) the following:

        AccelerometerData(x=-50, y=-50, z=-1024)

    That z is approximately -1000 (instead of 1000 as you might have expected) can be explained by measuring the force
    that stops the micro:bit (e.g. when you hold the micro:bit: the force that your arm exerts, and that
    prevents the micro:bit from falling)

    If you tilt the micro:bit towards you from this starting position,
    then y and z increase in value and x remains approximately the same:

        AccelerometerData(x=-28, y=972, z=-56)

    If you tilt the micro:bit away from you from the starting position,
    then y decreases, z increases in value and x remains approximately the same:

        AccelerometerData(x=-104, y=-960, z=124)

    Tilt the micro:bit from the starting position to the left
    then x decreases, z increases in value and y remains approximately the same:

        AccelerometerData(x=-1108, y=72, z=-160)

    Tilt the micro:bit from the starting position to the right
    then x and z increase in value and y remains approximately the same:

        AccelerometerData(x=960, y=60, z=0)

    Turn the micro:bit completely upside down
    then z increases approximately to 1000 and x and y remain approximately the same:

        AccelerometerData(x=-56, y=-36, z=1024)

    These are all options offered by the accelerometer Bluetooth service

    See Also: https://lancaster-university.github.io/microbit-docs/ble/accelerometer-service/

    See Also: https://lancaster-university.github.io/microbit-docs/ubit/accelerometer/
    """
    def __init__(self, device: BluetoothDevice):
        self._device = device

    def is_available(self) -> bool:
        """
        Checks whether the accelerometer Bluetooth service is found on the connected micro:bit.

        Returns:
            true if the accelerometer was found, false if not.
        """
        return self._device.is_service_available(Service.ACCELEROMETER)

    def notify(self, callback: Callable[[AccelerometerData], None]):
        """
        You can call this method when you want to be notified of new accelerometer data. How often you
        receive new data depends on the accelerometer period

        Args:
            callback (Callable[[AccelerometerData], None]): a function that is called when there is new data
                from the accelerometer. The new AccelerometerData is passed as an argument to this function

        Raises:
            errors.BluetoothServiceNotFound: When the accelerometer service is not active on the micro:bit
            errors.BluetoothCharacteristicNotFound: When the accelerometer service is running but there was no way to
                activate accelerometer data notifications (normally does not occur)
        """
        self._device.notify(Service.ACCELEROMETER, Characteristic.ACCELEROMETER_DATA,
                            lambda sender, data: callback(AccelerometerData.from_bytes(data)))

    def read(self) -> AccelerometerData:
        """
        Reads the accelerometer data.

        Returns:
            The accelerometer data (x, y and z)

        Raises:
            errors.BluetoothServiceNotFound: When the accelerometer service is not active on the micro:bit
            errors.BluetoothCharacteristicNotFound: When the accelerometer service is running but there was no way to
                read accelerometer data (normally does not occur)
        """
        return AccelerometerData.from_bytes(self._device.read(Service.ACCELEROMETER, Characteristic.ACCELEROMETER_DATA))

    def set_period(self, period: AccelerometerPeriod):
        """
        Sets the interval at which the accelerometer takes measurements (in milliseconds).

        Args:
            period (AccelerometerPeriod): the interval at which the accelerometer takes measurements,
                valid values are: 1, 2, 5, 10, 20, 80, 160, 640

        Raises:
            errors.BluetoothServiceNotFound: When the accelerometer service is not active on the micro:bit
            errors.BluetoothCharacteristicNotFound: When the accelerometer service is running but there was no way to
                change accelerometer period (normally does not occur)

        Warning:
            These are the valid values according to the specification, but it seems that this does not work as I expect
            TODO to investigate
        """
        self._device.write(Service.ACCELEROMETER, Characteristic.ACCELEROMETER_PERIOD, period.to_bytes(2, "little"))

    def read_period(self) -> int:
        """
        Returns the interval at which the accelerometer takes measurements

        Returns:
            The interval in milliseconds

        Raises:
            errors.BluetoothServiceNotFound: When the accelerometer service is not active on the micro:bit
            errors.BluetoothCharacteristicNotFound: When the accelerometer service is running but there was no way to
                accelerometer period to be read (normally does not occur)
        """
        return int.from_bytes(self._device.read(Service.ACCELEROMETER, Characteristic.ACCELEROMETER_PERIOD)[0:2], "little")

is_available #

is_available() -> bool

Kijkt na of de accelerometer bluetooth service gevonden wordt op de geconnecteerde micro:bit.

Returns:

  • bool –

    true als de accelerometer gevonden werd, false indien niet.

Source code in src/kaspersmicrobit/services/accelerometer.py 
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def is_available(self) -> bool:
    """
    Checks whether the accelerometer Bluetooth service is found on the connected micro:bit.

    Returns:
        true if the accelerometer was found, false if not.
    """
    return self._device.is_service_available(Service.ACCELEROMETER)

notify #

notify(callback: Callable[[AccelerometerData], None])

Deze methode kan je oproepen wanneer je verwittigd wil worden van nieuwe accelerometer gegevens. Hoe vaak je nieuwe gegevens ontvangt hangt af van de accelerometer periode

Parameters:

  • callback (Callable[[AccelerometerData], None]) –

    een functie die wordt opgeroepen wanneer er nieuwe gegevens zijn van de accelerometer. De nieuwe AccelerometerData worden meegegeven als argument aan deze functie

Raises:

  • BluetoothServiceNotFound –

    Wanneer de accelerometer service niet actief is op de micro:bit

  • BluetoothCharacteristicNotFound –

    Wanneer de accelerometer service actief is, maar er geen manier was om de accelerometer data notificaties te activeren (komt normaal gezien niet voor)

Source code in src/kaspersmicrobit/services/accelerometer.py 
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def notify(self, callback: Callable[[AccelerometerData], None]):
    """
    You can call this method when you want to be notified of new accelerometer data. How often you
    receive new data depends on the accelerometer period

    Args:
        callback (Callable[[AccelerometerData], None]): a function that is called when there is new data
            from the accelerometer. The new AccelerometerData is passed as an argument to this function

    Raises:
        errors.BluetoothServiceNotFound: When the accelerometer service is not active on the micro:bit
        errors.BluetoothCharacteristicNotFound: When the accelerometer service is running but there was no way to
            activate accelerometer data notifications (normally does not occur)
    """
    self._device.notify(Service.ACCELEROMETER, Characteristic.ACCELEROMETER_DATA,
                        lambda sender, data: callback(AccelerometerData.from_bytes(data)))

read #

read() -> AccelerometerData

Geeft de gegevens van de accelerometer.

Returns:

Raises:

Source code in src/kaspersmicrobit/services/accelerometer.py 
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def read(self) -> AccelerometerData:
    """
    Reads the accelerometer data.

    Returns:
        The accelerometer data (x, y and z)

    Raises:
        errors.BluetoothServiceNotFound: When the accelerometer service is not active on the micro:bit
        errors.BluetoothCharacteristicNotFound: When the accelerometer service is running but there was no way to
            read accelerometer data (normally does not occur)
    """
    return AccelerometerData.from_bytes(self._device.read(Service.ACCELEROMETER, Characteristic.ACCELEROMETER_DATA))

set_period #

set_period(period: AccelerometerPeriod)

Stelt het interval in waarmee de accelerometer metingen doet (in milliseconden).

Parameters:

  • period (AccelerometerPeriod) –

    het interval waarop de accelerometer metingen doet, geldige waarden zijn: 1, 2, 5, 10, 20, 80, 160, 640

Raises:

Warning

Dit zijn de geldige waarden volgens de specificatie, maar het lijkt erop dat dit niet klopt/werkt zoals ik verwacht TODO te onderzoeken

Source code in src/kaspersmicrobit/services/accelerometer.py 
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def set_period(self, period: AccelerometerPeriod):
    """
    Sets the interval at which the accelerometer takes measurements (in milliseconds).

    Args:
        period (AccelerometerPeriod): the interval at which the accelerometer takes measurements,
            valid values are: 1, 2, 5, 10, 20, 80, 160, 640

    Raises:
        errors.BluetoothServiceNotFound: When the accelerometer service is not active on the micro:bit
        errors.BluetoothCharacteristicNotFound: When the accelerometer service is running but there was no way to
            change accelerometer period (normally does not occur)

    Warning:
        These are the valid values according to the specification, but it seems that this does not work as I expect
        TODO to investigate
    """
    self._device.write(Service.ACCELEROMETER, Characteristic.ACCELEROMETER_PERIOD, period.to_bytes(2, "little"))

read_period #

read_period() -> int

Geeft het interval terug waarmee de accelerometer metingen doet

Returns:

  • int –

    Het interval in milliseconden

Raises:

Source code in src/kaspersmicrobit/services/accelerometer.py 
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def read_period(self) -> int:
    """
    Returns the interval at which the accelerometer takes measurements

    Returns:
        The interval in milliseconds

    Raises:
        errors.BluetoothServiceNotFound: When the accelerometer service is not active on the micro:bit
        errors.BluetoothCharacteristicNotFound: When the accelerometer service is running but there was no way to
            accelerometer period to be read (normally does not occur)
    """
    return int.from_bytes(self._device.read(Service.ACCELEROMETER, Characteristic.ACCELEROMETER_PERIOD)[0:2], "little")