A motor driver class for the BNO055 from TI. More...

Public Member Functions
def	__init__ (self)
	Initializes and returns a BNO055 object. More...

def	set_mode (self, MODE)
	Sets the mode for the BNO055 board. More...

def	get_calStatus (self)
	Gets the calibration status of the board. More...

def	get_calConstants (self)
	Gets the calibration constants for the board. More...

def	write_calConstants (self, calDATA)
	Gets the calibration constants for the board. More...

def	update (self)
	Updates the values of omega x, y, and z and theta x, y, and z. More...

def	get_data (self)
	Gets the velocity and positional data for the platform. More...

Public Attributes
	bus_addr
	bus_addr is the adress for bus More...

	cal_coeff_addr
	cal_coeff_addr is the initial adress for calibration coefficients More...

	vel_pos_data_addr
	vel_pos_data_addr is the initial adress for velocity and position data More...

	i2c
	object i2c gets set to controller mode More...

	MODE
	MODE is the variable corresponding to the FUSION operating mode of the IMU. More...

	buf
	buf creates a byte array of length 12 More...

	bufcal
	bufcal creates a byte array of length 22 More...

	theta_x
	theta_x object created for x position values. More...

	theta_y
	theta_y object created for y position values. More...

	theta_z
	theta_z object created for z position values. More...

	omega_x
	omega_x object created for x velocity values. More...

	omega_y
	omega_y object created for y velocity values. More...

	omega_z
	omega_z object created for z velocity values. More...

	cal_byte
	cal_byte creates an object that will be used to store calibration coefficients More...

	mag_stat
	mag_stat creates an object for the calibration coefficients related to the magnetometer More...

	acc_stat
	acc_stat creates an object for the calibration coefficients related to the accelerometer More...

	gyr_stat
	gyr_stat creates an object for the calibration coefficients related to the gyroscope More...

	sys_stat
	sys_stat creates an object for the calibration coefficients related to the system More...

	cal_coeffs
	cal_coeffs creates an object that will be used to store calibration coefficients More...

Detailed Description

A motor driver class for the BNO055 from TI.

Objects of this class can be used to configure the BNO055 motor driver and to create one or more objects of the Motor class which can be used to perform motor control. Refer to the BNO055 datasheet here: https://cdn-learn.adafruit.com/assets/assets/000/036/832/original/BST_BNO055_DS000_14.pdf

Device Calibration Information: https://learn.adafruit.com/adafruit-bno055-absolute-orientation-sensor/device-calibration

bno055 Reference CODE: https://github.com/micropython-IMU/micropython-bno055

Constructor & Destructor Documentation

◆ init()

def BNO055.BNO055.__init__ ( self )

Initializes and returns a BNO055 object.

Upon calling the BNO055 class, the init method will instantiate a motor driver object with the timerPin, sleepPin, and faultPin pins passed in by the user.

Member Function Documentation

◆ get_calConstants()

def BNO055.BNO055.get_calConstants ( self )

Gets the calibration constants for the board.

once the calibration status has been recognized as calibrated, reads the coefficients into object cal_coeffs.

◆ get_calStatus()

def BNO055.BNO055.get_calStatus ( self )

Gets the calibration status of the board.

Reads the existing calibration coefficients into respective calibration coefficient byte arrays. These include the magnetometer, accelerometer, accelerometer, and the system coefficients. this method is instantiated in state 2 of taskIMU which is the calibration state

◆ get_data()

def BNO055.BNO055.get_data ( self )

Gets the velocity and positional data for the platform.

This method is instantiated in state 1 of taskIMU which returns all the values that are collected and scaled in the update method.

◆ set_mode()

def BNO055.BNO055.set_mode	(	self,
		MODE
	)

Sets the mode for the BNO055 board.

If a value for mode is passed in, thie method will change the mode of the board. The modes that can be set are CONFIG mode: MODE = 0 IMU mode: MODE = 1 NDOF mode: MODE = 2

◆ update()

def BNO055.BNO055.update ( self )

Updates the values of omega x, y, and z and theta x, y, and z.

This method is instantiated in state 1 and 2 of taskIMU which updates and scales the values of positions and motor speeds of the platform.

◆ write_calConstants()

def BNO055.BNO055.write_calConstants	(	self,
		calDATA
	)

Gets the calibration constants for the board.

This method is instantiated in state one of taskIMU which writes the calibration constants into object i2c

Member Data Documentation

◆ acc_stat

BNO055.BNO055.acc_stat

acc_stat creates an object for the calibration coefficients related to the accelerometer

acc_stat reads through the existing calibration coefficients created in cal_byte and adopts the values related to the accelerometer.

◆ buf

BNO055.BNO055.buf

buf creates a byte array of length 12

this byte array is used in iterating through the velocity and positional data of the addr. This is run within the update method

◆ bufcal

BNO055.BNO055.bufcal

bufcal creates a byte array of length 22

this byte array is used in iterating through the calibration coefficients.

◆ bus_addr

BNO055.BNO055.bus_addr

bus_addr is the adress for bus

address on the BNO055 that is used in the configuration mode

◆ cal_byte

BNO055.BNO055.cal_byte

cal_byte creates an object that will be used to store calibration coefficients

this uses the mem_read which reads 1 byte from memory peripheral 40 starting at adress 0x35. Because this is used multiple times, the index is also used starting at [0].

◆ cal_coeff_addr

BNO055.BNO055.cal_coeff_addr

cal_coeff_addr is the initial adress for calibration coefficients

address for initial calibration location for the BNO055 having a byte array of a set size will correlate with how many coefficients will be run through. In this case we use 22.

◆ cal_coeffs

BNO055.BNO055.cal_coeffs

cal_coeffs creates an object that will be used to store calibration coefficients

this uses mem_read which reads bufcal bytes from memory peripheral bus_addr starting at adress cal_coeff_addr.

◆ gyr_stat

BNO055.BNO055.gyr_stat

gyr_stat creates an object for the calibration coefficients related to the gyroscope

gyr_stat reads through the existing calibration coefficients created in cal_byte and adopts the values related to the gyroscope.

◆ i2c

BNO055.BNO055.i2c

object i2c gets set to controller mode

this initializes the i2c bus 1 object in controller mode.

◆ mag_stat

BNO055.BNO055.mag_stat

mag_stat creates an object for the calibration coefficients related to the magnetometer

mag_stat reads through the existing calibration coefficients created in cal_byte and adopts the values related to the magnetometer.

◆ MODE

BNO055.BNO055.MODE

MODE is the variable corresponding to the FUSION operating mode of the IMU.

Passing in a value for MODE to the set_mode method enables the user to select one of the three available FUSION modes for the BNO055 Inertial Measurement Unit. MODE value 0 corresponds to configuration mode, which the BNO055 object is instantiated in. MODE value 1 corresponds to IMU mode, 2 corresponds to NDOF mode, and 3 corresponds to M4G mode.

◆ omega_x

BNO055.BNO055.omega_x

omega_x object created for x velocity values.

omega_x is initiated at 0 and will be repopulated with actual values in the update state.

◆ omega_y

BNO055.BNO055.omega_y

omega_y object created for y velocity values.

omega_y is initiated at 0 and will be repopulated with actual values in the update state.

◆ omega_z

BNO055.BNO055.omega_z

omega_z object created for z velocity values.

omega_z is initiated at 0 and will be repopulated with actual values in the update state.

◆ sys_stat

BNO055.BNO055.sys_stat

sys_stat creates an object for the calibration coefficients related to the system

sys_stat reads through the existing calibration coefficients created in cal_byte and adopts the values related to the system.

◆ theta_x

BNO055.BNO055.theta_x

theta_x object created for x position values.

theta_x is initiated at 0 and will be repopulated with actual values in the update state.

◆ theta_y

BNO055.BNO055.theta_y

theta_y object created for y position values.

theta_y is initiated at 0 and will be repopulated with actual values in the update state.

◆ theta_z

BNO055.BNO055.theta_z

theta_z object created for z position values.

theta_z is initiated at 0 and will be repopulated with actual values in the update state.

◆ vel_pos_data_addr

BNO055.BNO055.vel_pos_data_addr

vel_pos_data_addr is the initial adress for velocity and position data

address for location on the BNO055 for the gyroscope, accelerometer, and magnetometer.

The documentation for this class was generated from the following file:

Lab 0xFF/BNO055.py

Public Member Functions

Public Attributes