Gyro Accel

The Gyroscope and Accelerometer module is a tiny device that combines two important sensors: a 3-axis accelerometer (measures linear motion) and a 3-axis gyroscope (measures rotation). It is widely used in robotics, drones, smartphones, and game controllers to detect motion and orientation.

---

Basic usage

---

GyroAccel(slot)

To create GyroAccel object call GyroAccel(slot).

You can choose any other slot (except "C", as it does not support I2C communication).

Args:

• slot (string | int | tuple) - slot label ("A", "B", "D", "E", "F", "G", "H"), pin port (0, 2 and etc.), tuple (0, Pin.OUT)

Returns: Return a class MPU6050 for slot. In old PiBody kits may be LSM6DS3 with deprecated functions.

from pibody import GyroAccel

imu = GyroAccel("A")

---

.read() -> (float, tuple, tuple)

Returns dictionary with the following key-values:

• temp (float) - temperature in ºC [-40, 85]
• accel (float, float, float) - acceleration in g [-2, 2] as a tuple (ax, ay, az)
• gyro (float, float, float) - angular speed in º/s [-250, 250] as a tuple (gx, gy, gz)

from pibody import GyroAccel
imu = GyroAccel('A')

data = imu.read()

print(data)

---

.read_accel() -> (float, float, float)

Returns acceleration in g [-2, 2].

from pibody import GyroAccel
imu = GyroAccel('A')

x, y, z = imu.read_accel()
print(x, y, z)

---

.read_gyro() -> (float, float, float)

Returns angular speed in º/s [-250, 250].

from pibody import GyroAccel
imu = GyroAccel('A')

x, y, z = imu.read_gyro()
print(x, y, z)

---

.read_temperature() -> float

Returns temperature in ºC [-40, 85].

from pibody import GyroAccel
imu = GyroAccel('A')

temp = imu.read_temperature()
print(temp)

---

Other Functions

---

.sleep()

Put the sensor into sleep mode.

imu.sleep()

---

.wake()

Wake the sensor from sleep mode.

imu.wake()

---

.add_tilt_listener(direction, callback)

Register a callback for a tilt direction.

Args:

• direction (string) - one of "forward", "backward", "left", "right"
• callback - zero-argument callable invoked when tilt is detected

Raises: - ValueError: If direction is not one of the four valid strings.

imu.add_tilt_listener('forward', cb)

---

.check_tilt()

Read accelerometer and fire any registered tilt callbacks.

Should be called periodically from the main loop.

from pibody import GyroAccel
from time import sleep

imu = GyroAccel('A')

forward = lambda: print('forward')
backward = lambda: print('backward')
left = lambda: print('left')
right = lambda: print('right')

imu.add_tilt_listener('forward', forward)
imu.add_tilt_listener('backward', backward)
imu.add_tilt_listener('left', left)
imu.add_tilt_listener('right', right)

while True:
    imu.check_tilt()
    sleep(0.1)