BRIX5

#include <Wire.h>

#include <Adafruit_Sensor.h>

#include <Adafruit_BNO055.h>

#include <utility/imumaths.h>

/* This driver uses the Adafruit unified sensor library (Adafruit_Sensor),

   which provides a common 'type' for sensor data and some helper functions.

   To use this driver you will also need to download the Adafruit_Sensor

   library and include it in your libraries folder.

   You should also assign a unique ID to this sensor for use with

   the Adafruit Sensor API so that you can identify this particular

   sensor in any data logs, etc.  To assign a unique ID, simply

   provide an appropriate value in the constructor below (12345

   is used by default in this example).

   Connections

   ===========

   Connect SCL to analog 5

   Connect SDA to analog 4

   Connect VDD to 3.3V DC

   Connect GROUND to common ground

   History

   =======

   2015/MAR/03  - First release (KTOWN)

*/

/* Set the delay between fresh samples */

#define BNO055_SAMPLERATE_DELAY_MS (500)

Adafruit_BNO055 bno = Adafruit_BNO055(55);

/**************************************************************************/

/*

    Displays some basic information on this sensor from the unified

    sensor API sensor_t type (see Adafruit_Sensor for more information)

*/

/**************************************************************************/

void displaySensorDetails(void)

{

  sensor_t sensor;

  bno.getSensor(&sensor);

  Serial.println("------------------------------------");

  Serial.print  ("Sensor:       "); Serial.println(sensor.name);

  Serial.print  ("Driver Ver:   "); Serial.println(sensor.version);

  Serial.print  ("Unique ID:    "); Serial.println(sensor.sensor_id);

  Serial.print  ("Max Value:    "); Serial.print(sensor.max_value); Serial.println(" xxx");

  Serial.print  ("Min Value:    "); Serial.print(sensor.min_value); Serial.println(" xxx");

  Serial.print  ("Resolution:   "); Serial.print(sensor.resolution); Serial.println(" xxx");  

  Serial.println("------------------------------------");

  Serial.println("");

  delay(500);

}

/**************************************************************************/

/*

    Arduino setup function (automatically called at startup)

*/

/**************************************************************************/

void setup(void) 

{

  Serial.begin(9600);

  Serial.println("Orientation Sensor Test"); Serial.println("");

  /* Initialise the sensor */

  if(!bno.begin())

  {

    /* There was a problem detecting the BNO055 ... check your connections */

    Serial.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!");

    while(1);

  }

  delay(1000);

  /* Display some basic information on this sensor */

  displaySensorDetails();

  /* Display system info (optional) */

  bno.displaySystemStatus();

  Serial.println("");

  /* Display chip revision details (optional) */

  bno.displayRevInfo();

  Serial.println("");

}

/**************************************************************************/

/*

    Arduino loop function, called once 'setup' is complete (your own code

    should go here)

*/

/**************************************************************************/

void loop(void) 

{

  // Possible vector values can be:

  // - VECTOR_ACCELEROMETER

  // - VECTOR_MAGNETOMETER

  // - VECTOR_GYROSCOPE

  // - VECTOR_EULER

  // - VECTOR_LINEARACCEL

  // - VECTOR_GRAVITY

  imu::Vector<3> euler = bno.getVector(Adafruit_BNO055::VECTOR_EULER);

  Serial.print("X: ");

  Serial.println((int)euler.x(), DEC);

  Serial.print("Y: ");

  Serial.println((int)euler.y(), DEC);

  Serial.print("Z: ");

  Serial.println((int)euler.z(), DEC);

  Serial.println("");

  imu::Quaternion quat = bno.getQuat();

  Serial.print("qW: ");

  Serial.println((int)quat.w(), DEC);

  Serial.print("qX: ");

  Serial.println((int)quat.x(), DEC);

  Serial.print("qY: ");

  Serial.println((int)quat.y(), DEC);

  Serial.print("qZ: ");

  Serial.println((int)quat.z(), DEC);

  Serial.println("");

  delay(BNO055_SAMPLERATE_DELAY_MS);

}