imu.py

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

HOST = "localhost"
PORT = 4223
UID = "a4JritAp6Go" # Change to your UID

from tinkerforge.ip_connection import IPConnection
from tinkerforge.brick_imu import IMU

imu = IMU(UID) # Create device object

# Quaternion callback
def quaternion_cb(x, y, z, w):
    print("x: " + str(x) + "\ny: " + str(y) + "\nz: " + str(z) + "\nw: " + str(w) + "\n")

if __name__ == "__main__":
	ipcon = IPConnection(HOST, PORT) # Create IPconnection to brickd
	ipcon.add_device(imu) # Add device to IP connection
	# Don't use device before it is added to a connection

	# Set period for quaternion callback to 1s
	imu.set_quaternion_period(100)

	# Register quaternion callback
	imu.register_callback(imu.CALLBACK_QUATERNION, quaternion_cb)
	
	imu.leds_off() # Turn LEDs off.

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