ID of sensors inside Technic Plus Hub

[ThinhNguyen168]

Hello,

Thank you for this great project. I have tried your example technic_4x4.py which works well for me. Do you know the ID of the sensors inside the Technic Plus Hub (which also include an IMU)? I would like to get access to the orientation of the hub. Look forward to hearing from you.

[BuongiornoTexas]

I'm not at this point yet, so I'm guessing the constants in https://github.com/virantha/bricknil/blob/master/bricknil/const.py aren't what you are looking for? In that case, the constants at the bottom of https://github.com/nathankellenicki/node-poweredup/blob/master/src/hubs/technicmediumhub.ts may be what you need?

[ThinhNguyen168]

Thank you very much. Now I can access to the voltage, current sensors and accelerometer of the hub. However the tilt sensor (port 99 according to https://github.com/nathankellenicki/node-poweredup/blob/master/src/hubs/technicmediumhub.ts) does not work. I don't know if the port 99 is incorrect or I don't have the right sensor id. Will continue investigating. Thank you again.

[ThinhNguyen168]

For those who want to use the sensor of Technic Plus Hub, you can add the following lines of code at the end of file \bricknil\sensor\sensor.py:

class AccelerometerSensor(Peripheral):
"""
Access the internal accelerometer of the PowerUp+ hub
- sense_acceleration_3_axis - raw accelerometer data. (3 x 2 bytes)

    Examples::

        # Basic use
        @attach(AccelerometerSensor, name='accelerometer', capabilities=['sense_acceleration_3_axis'])
"""
_sensor_id = 0x0039
capability = Enum("capability",{'sense_acceleration_3_axis': 0})

datasets = { 
             capability.sense_acceleration_3_axis: (3, 2),
            }

allowed_combo = [ ]

class GyroSensor(Peripheral):
"""
Access the internal gyroscope of the PowerUp+ hub
- sense_angular_velocity - 3x2 bytes of raw angular velocity data.

    Examples::

        # Basic use
        @attach(AccelerometerSensor, name='accelerometer', capabilities=['sense_acceleration_3_axis'])
"""
_sensor_id = 0x003A
capability = Enum("capability",{'sense_angular_velocity': 0})

datasets = { 
             capability.sense_angular_velocity: (3, 2),
            }

allowed_combo = [ ]

class TiltSensor(Peripheral):
"""
Access the internal tilt sensor in the Technic Plus hub

    - **sense_angle** - angles around Z, Y, X axes in degree (3x2 bytes).  Equal to 0 if hub is lying flat with button up and yaw angle is the same as starting.

    Examples::

        # Basic tilt sensor
        @attach(TiltSensor, name='tilt', capabilities=['sense_angle'])
"""
_sensor_id = 0x003B
capability = Enum("capability", {'sense_angle': 0})

datasets = { 
             capability.sense_angle: (3, 2),
            }

allowed_combo = [ ]