Pytrack
This chapter describes the various libraries which are designed for the Pytrack board. This includes details about the various methods and classes available for each of the Pytrack’s sensors.
3-Axis Accelerometer (LIS2HH12)
Pytrack has a 3-Axis Accelerometer that provides outputs for acceleration as well as roll, pitch and yaw.
Constructors
class LIS2HH12(pytrack = None, sda = 'P22', scl = 'P21')
Creates a LIS2HH12 object, that will return values for acceleration, roll, pitch and yaw. Constructor must be passed a Pytrack or I2C object to successfully construct.
Methods
LIS2HH12.acceleration()
Read the acceleration from the LIS2HH12. Returns a tuple with the 3 values of acceleration (G).
LIS2HH12.roll()
Read the current roll from the LIS2HH12. Returns a float in degrees in the range -180 to 180.
LIS2HH12.pitch()
Read the current pitch from the LIS2HH12. Returns a float in degrees in the range -90 to 90. Once the board tilts beyond this range the values will repeat. This is due to a lack of yaw measurement, making it not possible to know the exact orientation of the board.
GPS with GLONASS (Quectel L76-L GNSS)
Pytrack has a GPS (with GLONASS) that provides outputs longitude/latitude, speed and other information about the Pytrack's location.
Constructors
class L76GNSS(pytrack = None, sda = 'P22', scl = 'P21', timeout = None)
Creates a L76GNSS object, that will return values for longitude and latitude. Constructor must be passed a Pytrack or I2C object to successfully construct. Set the timeout to a time period (in seconds) for the GPS to search for a lock. If a lock is not found by the time the timeout has expired, the coordinates method will return (None, None).
Methods
L76GNSS.coordinates(debug = False)
Read the longitude and latitude from the L76GNSS. Returns a tuple with the longitude and latitude. With debug set to True the output from the GPS is verbose.
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