(IMUActuatorController)=
# Gyroscope-Controlled Actuation
This example uses the gyroscope data from an IMU to control the rotation of an actuator. In this example, you can see how to configure and enable your actuators, and use sensor data from the IMU devices to control it in a loop.

## Demo Video
::::{youtube} 32EFzvbPxJw
::::

## Code
```python
#/usr/bin/env python3
"""
This script will match the actuator output shaft position to 
a MicroStrain IMU's Euler angle (x) using a PD controller.
"""

from epicallypowerful.actuation import ActuatorGroup
from epicallypowerful.actuation.cubemars import CubeMars
from epicallypowerful.toolbox import TimedLoop
from epicallypowerful.sensing import MicroStrainIMUs


##################################################################
# SET CLOCK SPECIFICATIONS
##################################################################

# Set control loop frequency
OPERATING_FREQ = 200 # [Hz]
clocking_loop = TimedLoop(rate=OPERATING_FREQ)

##################################################################
# SET UP MICROSTRAIN IMUS
##################################################################

# Set MicroStrain IMU IDs
microstrain_imu_id = input(
    "\nEnter the last six digits of the MicroStrain IMU's serial number (e.g. 154136): "
)
microstrain_imu_id = [str(microstrain_imu_id)]

# Change IMU operation options (each one has a default)
MICROSTRAIN_IMU_FREQ = OPERATING_FREQ # Set collection rate of IMUs
TARE_ON_STARTUP = False # Zero orientation on startup?

# Instantiate instance of MicroStrain IMU manager
microstrain_imus = MicroStrainIMUs(
    imu_ids=microstrain_imu_id,
    rate=MICROSTRAIN_IMU_FREQ,
    tare_on_startup=TARE_ON_STARTUP,
    verbose=False,
)

##################################################################
# INITIALIZE ACTUATOR
##################################################################

# Determine number of connected actuators. This assumes a uniform actuator type (i.e. all are AK80-9)
actuator_type = input(
    "\nSpecify actuator type (see actuation.motor_data for possible types): "
)

# Get actuator IDs
actuator_id = input("Specify actuator id: ")
actuator_id = int(actuator_id)
initialization_dict = {actuator_id:actuator_type}

# Initialize actuator object from dictionary
actuators = ActuatorGroup.from_dict(initialization_dict)

##################################################################
# SET CONTROLLER PARAMETERS (PLAY AROUND WITH THESE!)
##################################################################

GAIN_KP = 0.25 # proportional gain
GAIN_KD = 0.01 # derivative gain
gyro_current = 0 # initialize, will change in loop
prev_error = 0 # initialize, will change in loop

##################################################################
# MAIN OPERATING LOOP
##################################################################

# Zero actuator encoder
actuators.zero_encoder(actuator_id)
print("\n")

# Run control loop at set frequency
while clocking_loop():
    print('\033[A\033[A\033[A')
    print(f'| Actuator | Torque [Nm] | IMU Addr. | Gyro (x) [rad/s] |')

    # Get data from actuator
    act_data = actuators.get_data(actuator_id)

    # Get MicroStrain IMU gyroscope values
    imu_data = microstrain_imus.get_data(microstrain_imu_id[0])
    prev_error = gyro_current
    gyro_current = imu_data.gyro_x
    gyrodot_current = (gyro_current - prev_error) / (1 / OPERATING_FREQ)

    # Update torques
    torque_desired = GAIN_KP*gyro_current + GAIN_KD*gyrodot_current
    actuators.set_torque(can_id=actuator_id, torque=torque_desired)

    # Print out updated results
    print(f'| {int(actuator_id):^8} | {act_data.current_torque:^11.2f} | {microstrain_imu_id[0]:^9} | {imu_data.gyro_x:^16.2f} |')
```
::::{button-link} https://github.com/gatech-epic-power/epically-powerful/blob/main/examples/imu_actuator_controller.py
    :expand:
    :color: primary
    :shadow:
    **Code is available here**
::::