imu-python 0.1.0

IMU sensor codes in Python for the exosuit

IMU Module for Python

This is the repository for imu sensor codes for the lower-limb exosuit.

Install

To install the library, run:

uv pip install imu-python

OR

uv pip install git+https://github.com/TUM-Aries-Lab/imu-module.git@<specific-tag>

Development

1. Install uv
2. git clone [e-mail]:TUM-Aries-Lab/imu-module.git
3. make init to create the virtual environment and install dependencies
4. make format to format the code and check for errors
5. make test to run the test suite
6. make clean to delete the temporary files and directories

Publishing

It's super easy to publish your own packages on PyPI. To build and publish this package, run:

1. Update the version number in pyproject.toml and imu_module/init.py
2. Commit your changes and add a git tag "<new.version.number>"
3. Push the tag git push --tag

The package can then be found at: https://pypi.org/project/imu-python

Module Usage

"""Basic docstring for my module."""
import time

from loguru import logger

from imu_python.definitions import IMUUpdateTime, I2CBusID
from imu_python.factory import IMUFactory


def main() -> None:
    """Run a simple demonstration."""
    sensor_managers = IMUFactory.detect_and_create(i2c_id=I2CBusID.bus_1)
    for manager in sensor_managers:
        manager.start()

    try:
        while True:
            for manager in sensor_managers:
                logger.info(manager.get_data())
            time.sleep(IMUUpdateTime.freq_hz)
            #Note: this read frequency is independent of IMUs actual hardware frequency
    except KeyboardInterrupt:
        for manager in sensor_managers:
            manager.stop()


if __name__ == "__main__":
    main()

Program Usage

To run the main pipeline for all connected sensors with optional flag -r to record data:

uv run python -m imu_python

To plot a recorded data file, replace filepath with a path to data file:

uv run python src/imu_python/data_handler/data_plotter.py -f "filepath"

To calibrate all connected sensors:

make calibrate

Structure

├── src
│   └── imu_python
│       ├── calibration
│       │   ├── calibration.py
│       │   ├── ellipsoid_fitting.py
│       │   ├── gain_calculator.py
│       │   └── mag_calibration.py
│       ├── data_handler
│       │   ├── data_plotter.py
│       │   ├── data_reader.py
│       │   └── data_writer.py
│       ├── __init__.py
│       ├── __main__.py
│       ├── base_classes.py
│       ├── definitions.py
│       ├── devices.py
│       ├── factory.py
│       ├── i2c_bus.py
│       ├── orientation_filters.py
│       ├── sensor_manager.py
│       ├── utils.py
│       └── wrapper.py
├── tests
│   ├── calibration
│   │   ├── calibration_test.py
│   │   └── gain_calculator_test.py
│   ├── data_handler
│   │   ├── reader_test.py
│   │   └── writer_test.py
│   ├── __init__.py
│   ├── base_classes_test.py
│   ├── conftest.py
│   ├── devices_test.py
│   ├── factory_test.py
│   ├── i2c_bus_test.py
│   ├── orientation_filter_test.py
│   ├── sensor_manager_test.py
│   ├── utils_test.py
│   └── wrapper_test.py
├── .dockerignore
├── .gitignore
├── .pre-commit-config.yaml
├── .python-version
├── CONTRIBUTING.md
├── Dockerfile
├── LICENSE
├── Makefile
├── README.md
├── pyproject.toml
├── repo_tree.py
└── uv.lock