11 |
11 |
Connect SDA to analog 4
|
12 |
12 |
Connect VDD to 3.3V DC
|
13 |
13 |
Connect GROUND to common ground
|
14 |
|
|
|
14 |
|
15 |
15 |
History
|
16 |
16 |
=======
|
17 |
17 |
2015/MAR/03 - First release (KTOWN)
|
... | ... | |
19 |
19 |
|
20 |
20 |
/* Set the delay between fresh samples */
|
21 |
21 |
#define BNO055_SAMPLERATE_DELAY_MS (100)
|
22 |
|
|
|
22 |
|
23 |
23 |
Adafruit_BNO055 bno = Adafruit_BNO055();
|
24 |
24 |
|
25 |
25 |
/**************************************************************************/
|
... | ... | |
27 |
27 |
Arduino setup function (automatically called at startup)
|
28 |
28 |
*/
|
29 |
29 |
/**************************************************************************/
|
30 |
|
void setup(void)
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|
30 |
void setup(void)
|
31 |
31 |
{
|
32 |
32 |
Serial.begin(9600);
|
33 |
33 |
Serial.println("Orientation Sensor Raw Data Test"); Serial.println("");
|
34 |
|
|
|
34 |
|
35 |
35 |
/* Initialise the sensor */
|
36 |
36 |
if(!bno.begin())
|
37 |
37 |
{
|
... | ... | |
39 |
39 |
Serial.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!");
|
40 |
40 |
while(1);
|
41 |
41 |
}
|
42 |
|
|
|
42 |
|
43 |
43 |
delay(1000);
|
44 |
|
|
|
44 |
|
45 |
45 |
/* Display the current temperature */
|
46 |
46 |
int8_t temp = bno.getTemp();
|
47 |
47 |
Serial.print("Current Temperature: ");
|
48 |
48 |
Serial.print(temp);
|
49 |
49 |
Serial.println(" C");
|
50 |
50 |
Serial.println("");
|
51 |
|
|
|
51 |
|
52 |
52 |
bno.setExtCrystalUse(true);
|
|
53 |
|
|
54 |
Serial.println("Calibration status values: 0=uncalibrated, 3=fully calibrated");
|
53 |
55 |
}
|
54 |
56 |
|
55 |
57 |
/**************************************************************************/
|
... | ... | |
58 |
60 |
should go here)
|
59 |
61 |
*/
|
60 |
62 |
/**************************************************************************/
|
61 |
|
void loop(void)
|
|
63 |
void loop(void)
|
62 |
64 |
{
|
63 |
65 |
// Possible vector values can be:
|
64 |
66 |
// - VECTOR_ACCELEROMETER - m/s^2
|
... | ... | |
68 |
70 |
// - VECTOR_LINEARACCEL - m/s^2
|
69 |
71 |
// - VECTOR_GRAVITY - m/s^2
|
70 |
72 |
imu::Vector<3> euler = bno.getVector(Adafruit_BNO055::VECTOR_EULER);
|
71 |
|
|
|
73 |
|
72 |
74 |
/* Display the floating point data */
|
73 |
75 |
Serial.print("X: ");
|
74 |
76 |
Serial.print(euler.x());
|
... | ... | |
76 |
78 |
Serial.print(euler.y());
|
77 |
79 |
Serial.print(" Z: ");
|
78 |
80 |
Serial.print(euler.z());
|
79 |
|
Serial.println("");
|
|
81 |
Serial.print("\t\t");
|
80 |
82 |
|
81 |
83 |
/*
|
82 |
84 |
// Quaternion data
|
... | ... | |
89 |
91 |
Serial.print(quat.x(), 4);
|
90 |
92 |
Serial.print(" qZ: ");
|
91 |
93 |
Serial.print(quat.z(), 4);
|
92 |
|
Serial.println("");
|
|
94 |
Serial.print("\t\t");
|
93 |
95 |
*/
|
94 |
|
|
|
96 |
|
|
97 |
/* Display calibration status for each sensor. */
|
|
98 |
uint8_t system, gyro, accel, mag = 0;
|
|
99 |
bno.getCalibration(&system, &gyro, &accel, &mag);
|
|
100 |
Serial.print("CALIBRATION: Sys=");
|
|
101 |
Serial.print(system, DEC);
|
|
102 |
Serial.print(" Gyro=");
|
|
103 |
Serial.print(gyro, DEC);
|
|
104 |
Serial.print(" Accel=");
|
|
105 |
Serial.print(accel, DEC);
|
|
106 |
Serial.print(" Mag=");
|
|
107 |
Serial.println(mag, DEC);
|
|
108 |
|
95 |
109 |
delay(BNO055_SAMPLERATE_DELAY_MS);
|
96 |
|
}
|
|
110 |
}
|