Intelligent 9-axis absolute orientation sensor
The BNO055 is a System in Package (SiP), integrating a triaxial 14-bit accelerometer, a triaxial 16-bit gyroscope with a range of ±2000 degrees per second, a triaxial geomagnetic sensor and a 32-bit cortex M0+ microcontroller running Bosch Sensortec sensor fusion software, in a single package.
References :
# config port = "COM11" # Code to be able to use this script with virtalArduino #virtual=1 if ('virtual' in globals() and virtual): virtualArduino = runtime.start("virtualArduino", "VirtualArduino") virtualArduino.connect(port) arduino = runtime.start("arduino","Arduino") arduino.connect(port) bno = runtime.start("bno","Bno055") # From version 1.0.2316 use attach instead of setController # bno.setController(arduino) bno.attach(arduino,"1","0x28") #3v=bno.attach(arduino,"1","0x29") # interrupt pin is attach to pin 8 bno.attachInterruptPin(arduino, 8) #this method is called each time the sensor report an interrupt def onInterrupt(data): event = bno.getOrientationEuler() print event.yaw print event.roll print event.pitch #be sure to reset the interrupt so we can get new one bno.resetInterrupt() bno.addListener("publishInterrupt","python","onInterrupt") if bno.begin(): #manually set the calibration offset. you can get the data from getCalibrationOffset(Device) after a successful calibration bno.setCalibrationOffset(bno.Device.ACCELEROMETER, 0.40, 0.55, 0.20, bno.Unit.ACC_M_S2) bno.setCalibrationOffset(bno.Device.GYROSCOPE, -0.1875, -0.0625, 0.125, bno.Unit.ANGULAR_RATE_DPS) bno.enablePin() #enable Interrupt(type of interrupt, xAxis, yAxis, zAxis, threshold, duration) see BNO055 documentation for appropriate value bno.enableInterrupt(bno.InterruptType.ACC_AM, True, True, True, 30, 1) #bno.enableInterrupt(bno.InterruptType.GYR_AM, True, True, True, 0.5, 4)
