pybricks.common.IMU: pass axes from hub

When initializing the hub, the user can specify its orientation by saying along which axes the top and front sides point.
pybricks · Jan 5, 2021 · da9bd26 · da9bd26
1 parent 2d3410a
commit da9bd26
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Showing 4 changed files with 18 additions and 4 deletions.
diff --git a/pybricks/common.h b/pybricks/common.h
@@ -88,7 +88,7 @@ const mp_obj_type_t pb_type_Speaker;
 
 #if PYBRICKS_PY_COMMON_IMU
 
-mp_obj_t pb_type_IMU_obj_new(void);
+mp_obj_t pb_type_IMU_obj_new(mp_obj_t top_side_axis, mp_obj_t front_side_axis);
 
 #endif // PYBRICKS_PY_COMMON_IMU
 

diff --git a/pybricks/common/pb_type_imu.c b/pybricks/common/pb_type_imu.c
@@ -99,7 +99,7 @@ STATIC const mp_obj_type_t pb_type_IMU = {
 STATIC common_IMU_obj_t singleton_obj;
 
 // pybricks._common.IMU.__init__
-mp_obj_t pb_type_IMU_obj_new(void) {
+mp_obj_t pb_type_IMU_obj_new(mp_obj_t top_side_axis, mp_obj_t front_side_axis) {
 
     // Get singleton instance
     common_IMU_obj_t *self = &singleton_obj;

diff --git a/pybricks/hubs/pb_type_primehub.c b/pybricks/hubs/pb_type_primehub.c
@@ -15,7 +15,10 @@
 #include "py/runtime.h"
 #include "py/obj.h"
 
+#include <pybricks/util_mp/pb_kwarg_helper.h>
+
 #include <pybricks/common.h>
+#include <pybricks/geometry.h>
 #include <pybricks/hubs.h>
 
 typedef struct _hubs_PrimeHub_obj_t {
@@ -34,11 +37,15 @@ static const pb_obj_enum_member_t *primehub_buttons[] = {
 };
 
 STATIC mp_obj_t hubs_PrimeHub_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
+    PB_PARSE_ARGS_CLASS(n_args, n_kw, args,
+        PB_ARG_DEFAULT_OBJ(top_side, pb_Axis_Z_obj),
+        PB_ARG_DEFAULT_OBJ(front_side, pb_Axis_X_obj));
+
     hubs_PrimeHub_obj_t *self = m_new_obj(hubs_PrimeHub_obj_t);
     self->base.type = (mp_obj_type_t *)type;
     self->buttons = pb_type_Keypad_obj_new(PBIO_ARRAY_SIZE(primehub_buttons), primehub_buttons);
     self->display = pb_type_Lightmatrix_obj_new(pbsys_hub_light_matrix);
-    self->imu = pb_type_IMU_obj_new();
+    self->imu = pb_type_IMU_obj_new(top_side_in, front_side_in);
     self->light = common_ColorLight_internal_obj_new(pbsys_status_light);
     self->speaker = mp_call_function_0(MP_OBJ_FROM_PTR(&pb_type_Speaker));
     return MP_OBJ_FROM_PTR(self);

diff --git a/pybricks/hubs/pb_type_technichub.c b/pybricks/hubs/pb_type_technichub.c
@@ -8,7 +8,10 @@
 #include <pbdrv/reset.h>
 #include <pbsys/light.h>
 
+#include <pybricks/util_mp/pb_kwarg_helper.h>
+
 #include <pybricks/common.h>
+#include <pybricks/geometry.h>
 #include <pybricks/hubs.h>
 
 typedef struct _hubs_TechnicHub_obj_t {
@@ -18,9 +21,13 @@ typedef struct _hubs_TechnicHub_obj_t {
 } hubs_TechnicHub_obj_t;
 
 STATIC mp_obj_t hubs_TechnicHub_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
+    PB_PARSE_ARGS_CLASS(n_args, n_kw, args,
+        PB_ARG_DEFAULT_OBJ(top_side, pb_Axis_Z_obj),
+        PB_ARG_DEFAULT_OBJ(front_side, pb_Axis_X_obj));
+
     hubs_TechnicHub_obj_t *self = m_new_obj(hubs_TechnicHub_obj_t);
     self->base.type = (mp_obj_type_t *)type;
-    self->imu = pb_type_IMU_obj_new();
+    self->imu = pb_type_IMU_obj_new(top_side_in, front_side_in);
     self->light = common_ColorLight_internal_obj_new(pbsys_status_light);
     return MP_OBJ_FROM_PTR(self);
 }