If you're planning on using an IMU on a non-default I2C port, you can specify the port in the constructor of your IMU, for example:
You can also use Hybrid IMU's, which means you can add any supported magnetometer to any supported IMU by using theIMU_HYBRID class as follows:
AccelData Contains all three axis of Accelerometer data, these are namedaccelX,accelY andaccelZ
GyroData Contains all three axis of Gyroscope data, these are namedgyroX,gyroY andgyroZ
MagData Contains all three axis of Magnetometer data, these are namedmagX,magY andmagZ
Quaternion Contains Quaternion data, the components are namedqW,qX,qY andqZ
CalData Contains a boolean component namedvalid that must be set totrue if the data is valid, it contains float array namedaccelBias for accelerometer biases, one namedgyroBias for gyroscope bias, one namedmagBias for magnetometer biases and one namedmagScale for magnetometer scaling.
init Takes in acalData function and an optionalbyte address, this function initializes the IMU, it defaults to the maximum ranges allowed by the IMU. This function will return a 0 if initialization was successful and a negative number if it failed to connect to the IMU. if no address is provided, the default for the selected IMU will be used.
update Reads new IMU data if available.
getAccel Takes in a pointer toAccelData and copies new accelerometer data to it, should be called after update.
getGyro Takes in a pointer toGyroData and copies new gyroscope data to it, should be called after update.
getMag Takes in a pointer toMagData and copies new magnetometer data to it, should be called after update. Will only return new magnetometer data if the IMU has a magnetometer.
getQuat Takes in a pointer to aQuaternion and copies new quaternion data to it, should be called after update. Will only return new Quaternion data if the IMU has a Quaternion output.
getTemp Returns temperature float data in °C, should be called after update, isn't very accurate.
setGyroRange Takes in an integer with the dps range wanted, (for example 2000 for ±2000dps), returns 0 if successful, returns -1 if the input range is not valid.
setAccelRange Takes in an integer with the dps range wanted, (for example 8 for ±8g), returns 0 if successful, returns -1 if the input range is not valid.
setIMUGeometry Takes in an integer with the wanted geometry index, rotates IMU measurements to match vr headset IMU mount. (see chart below).
calibrateAccelGyro Takes in a pointer to calibration data and runs a Accelerometer and Gyroscope calibration, storing the new accelerometer and gyroscope calibration data in it. the IMU should be kept completely still and level during this.
calibrateMag Takes in a pointer to Calibration data and runs a Accelerometer and Gyroscope calibration, storing the new accelerometer and gyroscope calibration data in it. the IMU should be moved in a figure eight pattern while calibrating, calibration takes around 15 seconds.
hasMagnetometer Returns true if the IMU has a magnetometer.
hasTemperature Returns true if the IMU has a thermometer.
hasQuatOutput Returns true if the IMU has a direct quaternion output.
IMUName Returns a string containing the IMU's name.
IMUType Returns a string containing the IMU's type.
IMUManufacturer Returns a string containing the IMU's manufacturer.
