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readAngularVelocity

Read one sample of angular velocity from sensor

Since R2021a

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Add-On Required: This feature requires the MATLAB Support Package for Raspberry Pi Hardware add-on.

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.

Examples

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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

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The sensor object.

Output Arguments

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

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

Extended Capabilities

Version History

Introduced in R2021a