IMU Module for Python

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

Install

To install the library run: d

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 [email protected]: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 imu_python.definitions import IMUUpdateTime
from imu_python.factory import IMUFactory


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

    try:
        while True:
            for manager in sensor_managers:
                manager.get_data()
            time.sleep(IMUUpdateTime.freq_hz)
    except KeyboardInterrupt:
        for manager in sensor_managers:
            manager.stop()


if __name__ == "__main__":
    main()

Program Usage

uv run python -m imu_python

Structure

├── src
│   └── imu_python
│       ├── data_handler
│       │   ├── __init__.py
│       │   ├── data_reader.py
│       │   └── data_writer.py
│       ├── __init__.py
│       ├── __main__.py
│       ├── base_classes.py
│       ├── definitions.py
│       ├── devices.py
│       ├── factory.py
│       ├── i2c_bus.py
│       ├── orientation_filter.py
│       ├── sensor_manager.py
│       ├── utils.py
│       └── wrapper.py
├── tests
│   ├── __init__.py
│   ├── base_classes_test.py
│   ├── conftest.py
│   ├── devices_test.py
│   ├── factory_test.py
│   ├── i2c_bus_test.py
│   ├── orientation_filter_test.py
│   ├── reader_writer_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