Python - Accelerometer Bricklet

This is the description of the Python API bindings for the Accelerometer Bricklet. General information and technical specifications for the Accelerometer Bricklet are summarized in its hardware description.

An installation guide for the Python API bindings is part of their general description.

Examples

The example code below is Public Domain (CC0 1.0).

Simple

Download (example_simple.py)

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#!/usr/bin/env python
# -*- coding: utf-8 -*-

HOST = "localhost"
PORT = 4223
UID = "XYZ" # Change XYZ to the UID of your Accelerometer Bricklet

from tinkerforge.ip_connection import IPConnection
from tinkerforge.bricklet_accelerometer import BrickletAccelerometer

if __name__ == "__main__":
    ipcon = IPConnection() # Create IP connection
    a = BrickletAccelerometer(UID, ipcon) # Create device object

    ipcon.connect(HOST, PORT) # Connect to brickd
    # Don't use device before ipcon is connected

    # Get current acceleration
    x, y, z = a.get_acceleration()

    print("Acceleration [X]: " + str(x/1000.0) + " g")
    print("Acceleration [Y]: " + str(y/1000.0) + " g")
    print("Acceleration [Z]: " + str(z/1000.0) + " g")

    raw_input("Press key to exit\n") # Use input() in Python 3
    ipcon.disconnect()

Callback

Download (example_callback.py)

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#!/usr/bin/env python
# -*- coding: utf-8 -*-

HOST = "localhost"
PORT = 4223
UID = "XYZ" # Change XYZ to the UID of your Accelerometer Bricklet

from tinkerforge.ip_connection import IPConnection
from tinkerforge.bricklet_accelerometer import BrickletAccelerometer

# Callback function for acceleration callback
def cb_acceleration(x, y, z):
    print("Acceleration [X]: " + str(x/1000.0) + " g")
    print("Acceleration [Y]: " + str(y/1000.0) + " g")
    print("Acceleration [Z]: " + str(z/1000.0) + " g")
    print("")

if __name__ == "__main__":
    ipcon = IPConnection() # Create IP connection
    a = BrickletAccelerometer(UID, ipcon) # Create device object

    ipcon.connect(HOST, PORT) # Connect to brickd
    # Don't use device before ipcon is connected

    # Register acceleration callback to function cb_acceleration
    a.register_callback(a.CALLBACK_ACCELERATION, cb_acceleration)

    # Set period for acceleration callback to 1s (1000ms)
    # Note: The acceleration callback is only called every second
    #       if the acceleration has changed since the last call!
    a.set_acceleration_callback_period(1000)

    raw_input("Press key to exit\n") # Use input() in Python 3
    ipcon.disconnect()

Threshold

Download (example_threshold.py)

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#!/usr/bin/env python
# -*- coding: utf-8 -*-

HOST = "localhost"
PORT = 4223
UID = "XYZ" # Change XYZ to the UID of your Accelerometer Bricklet

from tinkerforge.ip_connection import IPConnection
from tinkerforge.bricklet_accelerometer import BrickletAccelerometer

# Callback function for acceleration reached callback
def cb_acceleration_reached(x, y, z):
    print("Acceleration [X]: " + str(x/1000.0) + " g")
    print("Acceleration [Y]: " + str(y/1000.0) + " g")
    print("Acceleration [Z]: " + str(z/1000.0) + " g")
    print("")

if __name__ == "__main__":
    ipcon = IPConnection() # Create IP connection
    a = BrickletAccelerometer(UID, ipcon) # Create device object

    ipcon.connect(HOST, PORT) # Connect to brickd
    # Don't use device before ipcon is connected

    # Get threshold callbacks with a debounce time of 10 seconds (10000ms)
    a.set_debounce_period(10000)

    # Register acceleration reached callback to function cb_acceleration_reached
    a.register_callback(a.CALLBACK_ACCELERATION_REACHED, cb_acceleration_reached)

    # Configure threshold for acceleration "greater than 2 g, 2 g, 2 g"
    a.set_acceleration_callback_threshold(">", 2*1000, 0, 2*1000, 0, 2*1000, 0)

    raw_input("Press key to exit\n") # Use input() in Python 3
    ipcon.disconnect()

API

Generally, every function of the Python bindings can throw an tinkerforge.ip_connection.Error exception that has a value and a description property. value can have different values:

  • Error.TIMEOUT = -1
  • Error.NOT_ADDED = -6 (unused since Python bindings version 2.0.0)
  • Error.ALREADY_CONNECTED = -7
  • Error.NOT_CONNECTED = -8
  • Error.INVALID_PARAMETER = -9
  • Error.NOT_SUPPORTED = -10
  • Error.UNKNOWN_ERROR_CODE = -11
  • Error.STREAM_OUT_OF_SYNC = -12
  • Error.INVALID_UID = -13
  • Error.NON_ASCII_CHAR_IN_SECRET = -14

All functions listed below are thread-safe.

Basic Functions

BrickletAccelerometer(uid, ipcon)
Parameters:
  • uid – Type: str
  • ipcon – Type: IPConnection
Returns:
  • accelerometer – Type: BrickletAccelerometer

Creates an object with the unique device ID uid:

accelerometer = BrickletAccelerometer("YOUR_DEVICE_UID", ipcon)

This object can then be used after the IP Connection is connected (see examples above).

BrickletAccelerometer.get_acceleration()
Return Object:
  • x – Type: int, Unit: 1/1000 gₙ, Range: ?
  • y – Type: int, Unit: 1/1000 gₙ, Range: ?
  • z – Type: int, Unit: 1/1000 gₙ, Range: ?

Returns the acceleration in x, y and z direction. The values are given in gₙ/1000 (1gₙ = 9.80665m/s²). The range is configured with set_configuration().

If you want to get the acceleration periodically, it is recommended to use the CALLBACK_ACCELERATION callback and set the period with set_acceleration_callback_period().

BrickletAccelerometer.get_temperature()
Returns:
  • temperature – Type: int, Unit: 1 °C, Range: [-103 to 152]

Returns the temperature of the accelerometer.

BrickletAccelerometer.led_on()
Returns:
  • None

Enables the LED on the Bricklet.

BrickletAccelerometer.led_off()
Returns:
  • None

Disables the LED on the Bricklet.

BrickletAccelerometer.is_led_on()
Returns:
  • on – Type: bool, Default: False

Returns true if the LED is enabled, false otherwise.

Advanced Functions

BrickletAccelerometer.set_configuration(data_rate, full_scale, filter_bandwidth)
Parameters:
  • data_rate – Type: int, Range: See constants, Default: 6
  • full_scale – Type: int, Range: See constants, Default: 1
  • filter_bandwidth – Type: int, Range: See constants, Default: 2
Returns:
  • None

Configures the data rate, full scale range and filter bandwidth. Possible values are:

  • Data rate of 0Hz to 1600Hz.
  • Full scale range of ±2gₙ up to ±16gₙ.
  • Filter bandwidth between 50Hz and 800Hz.

Decreasing data rate or full scale range will also decrease the noise on the data.

The following constants are available for this function:

For data_rate:

  • BrickletAccelerometer.DATA_RATE_OFF = 0
  • BrickletAccelerometer.DATA_RATE_3HZ = 1
  • BrickletAccelerometer.DATA_RATE_6HZ = 2
  • BrickletAccelerometer.DATA_RATE_12HZ = 3
  • BrickletAccelerometer.DATA_RATE_25HZ = 4
  • BrickletAccelerometer.DATA_RATE_50HZ = 5
  • BrickletAccelerometer.DATA_RATE_100HZ = 6
  • BrickletAccelerometer.DATA_RATE_400HZ = 7
  • BrickletAccelerometer.DATA_RATE_800HZ = 8
  • BrickletAccelerometer.DATA_RATE_1600HZ = 9

For full_scale:

  • BrickletAccelerometer.FULL_SCALE_2G = 0
  • BrickletAccelerometer.FULL_SCALE_4G = 1
  • BrickletAccelerometer.FULL_SCALE_6G = 2
  • BrickletAccelerometer.FULL_SCALE_8G = 3
  • BrickletAccelerometer.FULL_SCALE_16G = 4

For filter_bandwidth:

  • BrickletAccelerometer.FILTER_BANDWIDTH_800HZ = 0
  • BrickletAccelerometer.FILTER_BANDWIDTH_400HZ = 1
  • BrickletAccelerometer.FILTER_BANDWIDTH_200HZ = 2
  • BrickletAccelerometer.FILTER_BANDWIDTH_50HZ = 3
BrickletAccelerometer.get_configuration()
Return Object:
  • data_rate – Type: int, Range: See constants, Default: 6
  • full_scale – Type: int, Range: See constants, Default: 1
  • filter_bandwidth – Type: int, Range: See constants, Default: 2

Returns the configuration as set by set_configuration().

The following constants are available for this function:

For data_rate:

  • BrickletAccelerometer.DATA_RATE_OFF = 0
  • BrickletAccelerometer.DATA_RATE_3HZ = 1
  • BrickletAccelerometer.DATA_RATE_6HZ = 2
  • BrickletAccelerometer.DATA_RATE_12HZ = 3
  • BrickletAccelerometer.DATA_RATE_25HZ = 4
  • BrickletAccelerometer.DATA_RATE_50HZ = 5
  • BrickletAccelerometer.DATA_RATE_100HZ = 6
  • BrickletAccelerometer.DATA_RATE_400HZ = 7
  • BrickletAccelerometer.DATA_RATE_800HZ = 8
  • BrickletAccelerometer.DATA_RATE_1600HZ = 9

For full_scale:

  • BrickletAccelerometer.FULL_SCALE_2G = 0
  • BrickletAccelerometer.FULL_SCALE_4G = 1
  • BrickletAccelerometer.FULL_SCALE_6G = 2
  • BrickletAccelerometer.FULL_SCALE_8G = 3
  • BrickletAccelerometer.FULL_SCALE_16G = 4

For filter_bandwidth:

  • BrickletAccelerometer.FILTER_BANDWIDTH_800HZ = 0
  • BrickletAccelerometer.FILTER_BANDWIDTH_400HZ = 1
  • BrickletAccelerometer.FILTER_BANDWIDTH_200HZ = 2
  • BrickletAccelerometer.FILTER_BANDWIDTH_50HZ = 3
BrickletAccelerometer.get_identity()
Return Object:
  • uid – Type: str, Length: up to 8
  • connected_uid – Type: str, Length: up to 8
  • position – Type: chr, Range: ["a" to "h", "i", "z"]
  • hardware_version – Type: [int, ...], Length: 3
    • 0: major – Type: int, Range: [0 to 255]
    • 1: minor – Type: int, Range: [0 to 255]
    • 2: revision – Type: int, Range: [0 to 255]
  • firmware_version – Type: [int, ...], Length: 3
    • 0: major – Type: int, Range: [0 to 255]
    • 1: minor – Type: int, Range: [0 to 255]
    • 2: revision – Type: int, Range: [0 to 255]
  • device_identifier – Type: int, Range: [0 to 216 - 1]

Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.

The position can be 'a', 'b', 'c', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port). The Raspberry Pi HAT (Zero) Brick is always at position 'i' and the Bricklet connected to an Isolator Bricklet is always as position 'z'.

The device identifier numbers can be found here. There is also a constant for the device identifier of this Bricklet.

Callback Configuration Functions

BrickletAccelerometer.register_callback(callback_id, function)
Parameters:
  • callback_id – Type: int
  • function – Type: callable
Returns:
  • None

Registers the given function with the given callback_id.

The available callback IDs with corresponding function signatures are listed below.

BrickletAccelerometer.set_acceleration_callback_period(period)
Parameters:
  • period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
Returns:
  • None

Sets the period with which the CALLBACK_ACCELERATION callback is triggered periodically. A value of 0 turns the callback off.

The CALLBACK_ACCELERATION callback is only triggered if the acceleration has changed since the last triggering.

BrickletAccelerometer.get_acceleration_callback_period()
Returns:
  • period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by set_acceleration_callback_period().

BrickletAccelerometer.set_acceleration_callback_threshold(option, min_x, max_x, min_y, max_y, min_z, max_z)
Parameters:
  • option – Type: chr, Range: See constants, Default: "x"
  • min_x – Type: int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0
  • max_x – Type: int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0
  • min_y – Type: int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0
  • max_y – Type: int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0
  • min_z – Type: int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0
  • max_z – Type: int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0
Returns:
  • None

Sets the thresholds for the CALLBACK_ACCELERATION_REACHED callback.

The following options are possible:

Option Description
'x' Callback is turned off
'o' Callback is triggered when the acceleration is outside the min and max values
'i' Callback is triggered when the acceleration is inside the min and max values
'<' Callback is triggered when the acceleration is smaller than the min value (max is ignored)
'>' Callback is triggered when the acceleration is greater than the min value (max is ignored)

The following constants are available for this function:

For option:

  • BrickletAccelerometer.THRESHOLD_OPTION_OFF = "x"
  • BrickletAccelerometer.THRESHOLD_OPTION_OUTSIDE = "o"
  • BrickletAccelerometer.THRESHOLD_OPTION_INSIDE = "i"
  • BrickletAccelerometer.THRESHOLD_OPTION_SMALLER = "<"
  • BrickletAccelerometer.THRESHOLD_OPTION_GREATER = ">"
BrickletAccelerometer.get_acceleration_callback_threshold()
Return Object:
  • option – Type: chr, Range: See constants, Default: "x"
  • min_x – Type: int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0
  • max_x – Type: int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0
  • min_y – Type: int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0
  • max_y – Type: int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0
  • min_z – Type: int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0
  • max_z – Type: int, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0

Returns the threshold as set by set_acceleration_callback_threshold().

The following constants are available for this function:

For option:

  • BrickletAccelerometer.THRESHOLD_OPTION_OFF = "x"
  • BrickletAccelerometer.THRESHOLD_OPTION_OUTSIDE = "o"
  • BrickletAccelerometer.THRESHOLD_OPTION_INSIDE = "i"
  • BrickletAccelerometer.THRESHOLD_OPTION_SMALLER = "<"
  • BrickletAccelerometer.THRESHOLD_OPTION_GREATER = ">"
BrickletAccelerometer.set_debounce_period(debounce)
Parameters:
  • debounce – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100
Returns:
  • None

Sets the period with which the threshold callback

is triggered, if the threshold

keeps being reached.

BrickletAccelerometer.get_debounce_period()
Returns:
  • debounce – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100

Returns the debounce period as set by set_debounce_period().

Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the register_callback() function of the device object. The first parameter is the callback ID and the second parameter the callback function:

def my_callback(param):
    print(param)

accelerometer.register_callback(BrickletAccelerometer.CALLBACK_EXAMPLE, my_callback)

The available constants with inherent number and type of parameters are described below.

Note

Using callbacks for recurring events is always preferred compared to using getters. It will use less USB bandwidth and the latency will be a lot better, since there is no round trip time.

BrickletAccelerometer.CALLBACK_ACCELERATION
Callback Parameters:
  • x – Type: int, Unit: 1/1000 gₙ, Range: ?
  • y – Type: int, Unit: 1/1000 gₙ, Range: ?
  • z – Type: int, Unit: 1/1000 gₙ, Range: ?

This callback is triggered periodically with the period that is set by set_acceleration_callback_period(). The parameters are the X, Y and Z acceleration. The range is configured with set_configuration().

The CALLBACK_ACCELERATION callback is only triggered if the acceleration has changed since the last triggering.

BrickletAccelerometer.CALLBACK_ACCELERATION_REACHED
Callback Parameters:
  • x – Type: int, Unit: 1/1000 gₙ, Range: ?
  • y – Type: int, Unit: 1/1000 gₙ, Range: ?
  • z – Type: int, Unit: 1/1000 gₙ, Range: ?

This callback is triggered when the threshold as set by set_acceleration_callback_threshold() is reached. The parameters are the X, Y and Z acceleration. The range is configured with set_configuration().

If the threshold keeps being reached, the callback is triggered periodically with the period as set by set_debounce_period().

Virtual Functions

Virtual functions don't communicate with the device itself, but operate only on the API bindings device object. They can be called without the corresponding IP Connection object being connected.

BrickletAccelerometer.get_api_version()
Return Object:
  • api_version – Type: [int, ...], Length: 3
    • 0: major – Type: int, Range: [0 to 255]
    • 1: minor – Type: int, Range: [0 to 255]
    • 2: revision – Type: int, Range: [0 to 255]

Returns the version of the API definition implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

BrickletAccelerometer.get_response_expected(function_id)
Parameters:
  • function_id – Type: int, Range: See constants
Returns:
  • response_expected – Type: bool

Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by set_response_expected(). For setter functions it is disabled by default and can be enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is send and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For function_id:

  • BrickletAccelerometer.FUNCTION_SET_ACCELERATION_CALLBACK_PERIOD = 2
  • BrickletAccelerometer.FUNCTION_SET_ACCELERATION_CALLBACK_THRESHOLD = 4
  • BrickletAccelerometer.FUNCTION_SET_DEBOUNCE_PERIOD = 6
  • BrickletAccelerometer.FUNCTION_SET_CONFIGURATION = 9
  • BrickletAccelerometer.FUNCTION_LED_ON = 11
  • BrickletAccelerometer.FUNCTION_LED_OFF = 12
BrickletAccelerometer.set_response_expected(function_id, response_expected)
Parameters:
  • function_id – Type: int, Range: See constants
  • response_expected – Type: bool
Returns:
  • None

Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and callback configuration functions (default value: true). For getter functions it is always enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is send and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For function_id:

  • BrickletAccelerometer.FUNCTION_SET_ACCELERATION_CALLBACK_PERIOD = 2
  • BrickletAccelerometer.FUNCTION_SET_ACCELERATION_CALLBACK_THRESHOLD = 4
  • BrickletAccelerometer.FUNCTION_SET_DEBOUNCE_PERIOD = 6
  • BrickletAccelerometer.FUNCTION_SET_CONFIGURATION = 9
  • BrickletAccelerometer.FUNCTION_LED_ON = 11
  • BrickletAccelerometer.FUNCTION_LED_OFF = 12
BrickletAccelerometer.set_response_expected_all(response_expected)
Parameters:
  • response_expected – Type: bool
Returns:
  • None

Changes the response expected flag for all setter and callback configuration functions of this device at once.

Constants

BrickletAccelerometer.DEVICE_IDENTIFIER

This constant is used to identify a Accelerometer Bricklet.

The get_identity() function and the IPConnection.CALLBACK_ENUMERATE callback of the IP Connection have a device_identifier parameter to specify the Brick's or Bricklet's type.

BrickletAccelerometer.DEVICE_DISPLAY_NAME

This constant represents the human readable name of a Accelerometer Bricklet.