Lab0x05_BNO055.BNO055 Class Reference

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)
def	get_calStatus (self)
def	get_calConstants (self)
def	write_calConstants (self, calDATA)
def	update (self)
def	get_data (self)

Public Attributes
	bus_addr
	MODE is the variable corresponding to the FUSION operating mode of the IMU. More...
	cal_coeff_addr
	vel_pos_data_addr
	i2c
	MODE
	buf
	bufcal
	cal_byte
	mag_stat
	acc_stat
	gyr_stat
	sys_stat
	cal_coeffs
	theta_y
	omega_y
	theta_x
	theta_z

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 Lab0x05_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 Data Documentation

bus_addr

Lab0x05_BNO055.BNO055.bus_addr

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.

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

• Lab 0x05/Lab0x05_BNO055.py