Easy IMU Version 2 (EIMU_V2) Arduino I2C Lib

This library helps communicate with the already setup Easy IMU with arduino microcontroller projects via I2C

you can use it in your Arduino-based robotics project (e.g Arduino UNO, Arduino NANO, Arduino MEGA, Esp32, etc.)

A simple way to get started is simply to try out and follow the example code

How to Use the Library

• Ensure you have the Easy IMU

• Download download the library by clicking on the green Code button above (or clone it)

  if you download it, extract it and change the folder name to epmc_arduino

• Move the downloaded library file to your Arduino library folder

  e.g on linux: ... home/Arduino/libraries/

  e.g on windows: ... Documents/Arduino/libraries/

  (or any where your arduino libraries are stored)

• restart your ArduinoIDE and navigate to examples and run the example code and see how to control the motors.

• you can copy this example code into your project and modify it to your taste.

Basic Library functions and usage

• connect to epmc_driver shield module

  EIMU eimu(i2c_address)

  .readQuat(float &w, float &x, float &y, float &z); .readRPY(float &x, float &y, float &z); .readAccGyro(float &ax, float &ay, float &az, float &gx, float &gy, float &gz);

  .readLinearAcc(float &x, float &y, float &z); .readGyro(float &x, float &y, float &z); .readMag(float &x, float &y, float &z);

  .readRPYVariance(float &x, float &y, float &z); .readAccVariance(float &x, float &y, float &z); .readGyroVariance(float &x, float &y, float &z);

  .setWorldFrameId(int); .getWorldFrameId(); .getFilterGain(); .clearDataBuffer();