Revision c82fdc7d
examples/bunny/bunny.ino | ||
---|---|---|
1 |
#include <Wire.h> |
|
2 |
#include <Adafruit_Sensor.h> |
|
3 |
#include <Adafruit_BNO055.h> |
|
4 |
#include <utility/imumaths.h> |
|
5 |
|
|
6 |
/* This driver uses the Adafruit unified sensor library (Adafruit_Sensor), |
|
7 |
which provides a common 'type' for sensor data and some helper functions. |
|
8 |
|
|
9 |
To use this driver you will also need to download the Adafruit_Sensor |
|
10 |
library and include it in your libraries folder. |
|
11 |
|
|
12 |
You should also assign a unique ID to this sensor for use with |
|
13 |
the Adafruit Sensor API so that you can identify this particular |
|
14 |
sensor in any data logs, etc. To assign a unique ID, simply |
|
15 |
provide an appropriate value in the constructor below (12345 |
|
16 |
is used by default in this example). |
|
17 |
|
|
18 |
Connections |
|
19 |
=========== |
|
20 |
Connect SCL to analog 5 |
|
21 |
Connect SDA to analog 4 |
|
22 |
Connect VDD to 3.3-5V DC |
|
23 |
Connect GROUND to common ground |
|
24 |
|
|
25 |
History |
|
26 |
======= |
|
27 |
2015/MAR/03 - First release (KTOWN) |
|
28 |
*/ |
|
29 |
|
|
30 |
/* Set the delay between fresh samples */ |
|
31 |
#define BNO055_SAMPLERATE_DELAY_MS (100) |
|
32 |
|
|
33 |
Adafruit_BNO055 bno = Adafruit_BNO055(55); |
|
34 |
|
|
35 |
/**************************************************************************/ |
|
36 |
/* |
|
37 |
Displays some basic information on this sensor from the unified |
|
38 |
sensor API sensor_t type (see Adafruit_Sensor for more information) |
|
39 |
*/ |
|
40 |
/**************************************************************************/ |
|
41 |
void displaySensorDetails(void) |
|
42 |
{ |
|
43 |
sensor_t sensor; |
|
44 |
bno.getSensor(&sensor); |
|
45 |
Serial.println("------------------------------------"); |
|
46 |
Serial.print ("Sensor: "); Serial.println(sensor.name); |
|
47 |
Serial.print ("Driver Ver: "); Serial.println(sensor.version); |
|
48 |
Serial.print ("Unique ID: "); Serial.println(sensor.sensor_id); |
|
49 |
Serial.print ("Max Value: "); Serial.print(sensor.max_value); Serial.println(" xxx"); |
|
50 |
Serial.print ("Min Value: "); Serial.print(sensor.min_value); Serial.println(" xxx"); |
|
51 |
Serial.print ("Resolution: "); Serial.print(sensor.resolution); Serial.println(" xxx"); |
|
52 |
Serial.println("------------------------------------"); |
|
53 |
Serial.println(""); |
|
54 |
delay(500); |
|
55 |
} |
|
56 |
|
|
57 |
/**************************************************************************/ |
|
58 |
/* |
|
59 |
Arduino setup function (automatically called at startup) |
|
60 |
*/ |
|
61 |
/**************************************************************************/ |
|
62 |
void setup(void) |
|
63 |
{ |
|
64 |
Serial.begin(115200); |
|
65 |
Serial.println("Orientation Sensor Test"); Serial.println(""); |
|
66 |
|
|
67 |
/* Initialise the sensor */ |
|
68 |
if(!bno.begin()) |
|
69 |
{ |
|
70 |
/* There was a problem detecting the BNO055 ... check your connections */ |
|
71 |
Serial.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!"); |
|
72 |
while(1); |
|
73 |
} |
|
74 |
|
|
75 |
delay(1000); |
|
76 |
|
|
77 |
/* Display some basic information on this sensor */ |
|
78 |
displaySensorDetails(); |
|
79 |
} |
|
80 |
|
|
81 |
/**************************************************************************/ |
|
82 |
/* |
|
83 |
Arduino loop function, called once 'setup' is complete (your own code |
|
84 |
should go here) |
|
85 |
*/ |
|
86 |
/**************************************************************************/ |
|
87 |
void loop(void) |
|
88 |
{ |
|
89 |
/* Get a new sensor event */ |
|
90 |
sensors_event_t event; |
|
91 |
bno.getEvent(&event); |
|
92 |
|
|
93 |
/* Board layout: |
|
94 |
+----------+ |
|
95 |
| *| RST PITCH ROLL HEADING |
|
96 |
ADR |* *| SCL |
|
97 |
INT |* *| SDA ^ <-\ |
|
98 |
PS1 |* *| GND | | |
|
99 |
PS0 |* *| 3VO Y Z--> X -/ |
|
100 |
| *| VIN |
|
101 |
+----------+ |
|
102 |
*/ |
|
103 |
|
|
104 |
/* The processing sketch expects data as roll, pitch, heading */ |
|
105 |
Serial.print(F("Orientation: ")); |
|
106 |
Serial.print((float)event.orientation.x); |
|
107 |
Serial.print(F(" ")); |
|
108 |
Serial.print((float)event.orientation.y); |
|
109 |
Serial.print(F(" ")); |
|
110 |
Serial.print((float)event.orientation.z); |
|
111 |
Serial.println(F("")); |
|
112 |
|
|
113 |
delay(BNO055_SAMPLERATE_DELAY_MS); |
|
114 |
} |
examples/bunny/bunny.pde | ||
---|---|---|
1 |
#include <Wire.h> |
|
2 |
#include <Adafruit_Sensor.h> |
|
3 |
#include <Adafruit_BNO055.h> |
|
4 |
#include <utility/imumaths.h> |
|
5 |
|
|
6 |
/* This driver uses the Adafruit unified sensor library (Adafruit_Sensor), |
|
7 |
which provides a common 'type' for sensor data and some helper functions. |
|
8 |
|
|
9 |
To use this driver you will also need to download the Adafruit_Sensor |
|
10 |
library and include it in your libraries folder. |
|
11 |
|
|
12 |
You should also assign a unique ID to this sensor for use with |
|
13 |
the Adafruit Sensor API so that you can identify this particular |
|
14 |
sensor in any data logs, etc. To assign a unique ID, simply |
|
15 |
provide an appropriate value in the constructor below (12345 |
|
16 |
is used by default in this example). |
|
17 |
|
|
18 |
Connections |
|
19 |
=========== |
|
20 |
Connect SCL to analog 5 |
|
21 |
Connect SDA to analog 4 |
|
22 |
Connect VDD to 3.3V DC |
|
23 |
Connect GROUND to common ground |
|
24 |
|
|
25 |
History |
|
26 |
======= |
|
27 |
2015/MAR/03 - First release (KTOWN) |
|
28 |
*/ |
|
29 |
|
|
30 |
/* Set the delay between fresh samples */ |
|
31 |
#define BNO055_SAMPLERATE_DELAY_MS (50) |
|
32 |
|
|
33 |
Adafruit_BNO055 bno = Adafruit_BNO055(55); |
|
34 |
|
|
35 |
/**************************************************************************/ |
|
36 |
/* |
|
37 |
Displays some basic information on this sensor from the unified |
|
38 |
sensor API sensor_t type (see Adafruit_Sensor for more information) |
|
39 |
*/ |
|
40 |
/**************************************************************************/ |
|
41 |
void displaySensorDetails(void) |
|
42 |
{ |
|
43 |
sensor_t sensor; |
|
44 |
bno.getSensor(&sensor); |
|
45 |
Serial.println("------------------------------------"); |
|
46 |
Serial.print ("Sensor: "); Serial.println(sensor.name); |
|
47 |
Serial.print ("Driver Ver: "); Serial.println(sensor.version); |
|
48 |
Serial.print ("Unique ID: "); Serial.println(sensor.sensor_id); |
|
49 |
Serial.print ("Max Value: "); Serial.print(sensor.max_value); Serial.println(" xxx"); |
|
50 |
Serial.print ("Min Value: "); Serial.print(sensor.min_value); Serial.println(" xxx"); |
|
51 |
Serial.print ("Resolution: "); Serial.print(sensor.resolution); Serial.println(" xxx"); |
|
52 |
Serial.println("------------------------------------"); |
|
53 |
Serial.println(""); |
|
54 |
delay(500); |
|
55 |
} |
|
56 |
|
|
57 |
/**************************************************************************/ |
|
58 |
/* |
|
59 |
Arduino setup function (automatically called at startup) |
|
60 |
*/ |
|
61 |
/**************************************************************************/ |
|
62 |
void setup(void) |
|
63 |
{ |
|
64 |
Serial.begin(115200); |
|
65 |
Serial.println("Orientation Sensor Test"); Serial.println(""); |
|
66 |
|
|
67 |
/* Initialise the sensor */ |
|
68 |
if(!bno.begin()) |
|
69 |
{ |
|
70 |
/* There was a problem detecting the BNO055 ... check your connections */ |
|
71 |
Serial.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!"); |
|
72 |
while(1); |
|
73 |
} |
|
74 |
|
|
75 |
delay(1000); |
|
76 |
|
|
77 |
/* Display some basic information on this sensor */ |
|
78 |
displaySensorDetails(); |
|
79 |
} |
|
80 |
|
|
81 |
/**************************************************************************/ |
|
82 |
/* |
|
83 |
Arduino loop function, called once 'setup' is complete (your own code |
|
84 |
should go here) |
|
85 |
*/ |
|
86 |
/**************************************************************************/ |
|
87 |
void loop(void) |
|
88 |
{ |
|
89 |
/* Get a new sensor event */ |
|
90 |
sensors_event_t event; |
|
91 |
bno.getEvent(&event); |
|
92 |
|
|
93 |
/* Board layout: |
|
94 |
+----------+ |
|
95 |
| *| RST PITCH ROLL HEADING |
|
96 |
ADR |* *| SCL |
|
97 |
INT |* *| SDA ^ <-\ |
|
98 |
PS1 |* *| GND | | |
|
99 |
PS0 |* *| 3VO Y Z--> X -/ |
|
100 |
| *| VIN |
|
101 |
+----------+ |
|
102 |
*/ |
|
103 |
|
|
104 |
/* The processing sketch expects data as roll, pitch, heading */ |
|
105 |
Serial.print(F("Orientation: ")); |
|
106 |
Serial.print((float)event.orientation.x); |
|
107 |
Serial.print(F(" ")); |
|
108 |
Serial.print((float)event.orientation.y); |
|
109 |
Serial.print(F(" ")); |
|
110 |
Serial.print((float)event.orientation.z); |
|
111 |
Serial.println(F("")); |
|
112 |
|
|
113 |
delay(BNO055_SAMPLERATE_DELAY_MS); |
|
114 |
} |
Also available in: Unified diff