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ME 305
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Public Member Functions | |
| def | __init__ (self) |
| Initializes IMU settings. More... | |
| def | op_mode (self, bit) |
| Method to change the operating mode of IMU. More... | |
| def | calib_status (self) |
| Reads calibration status of platform. More... | |
| def | calib_coeff_read (self) |
| Reads calibration offsets of IMU and write to text file. More... | |
| def | calib_coeff_write (self) |
| Writes calibration offsets to IMU. More... | |
| def | read_Euler (self) |
| Reads platform Euler angles. More... | |
| def | read_angvelo (self) |
| Reads platform angular velocities. More... | |
Public Attributes | |
| i2c | |
| Sets IMU to controller mode. | |
| addr | |
| Stores reference address of IMU. | |
| data | |
| Calibration status of IMU. More... | |
| buffE | |
| List of 8 bit binary values containing Euler angle position of platform. | |
| buffV | |
| List of 8 bit binary values containing angular velocity of platform. | |
BNO055 Class.
Changes the mode of the IMU and reads/writes calibration coefficient data from and to a text file.
| def BNO_driver.BNO055.__init__ | ( | self | ) |
Initializes IMU settings.
Changes the mode of the IMU and reconfigures axes to correct orientation for project
| def BNO_driver.BNO055.calib_coeff_read | ( | self | ) |
Reads calibration offsets of IMU and write to text file.
Calibration offsets contain values for accelerometer, gyroscope, and magnetometer. These are then written to a text file.
| def BNO_driver.BNO055.calib_coeff_write | ( | self | ) |
Writes calibration offsets to IMU.
Reads a calibration text file and converts offsets into a format to be ran into the IMU.
| def BNO_driver.BNO055.calib_status | ( | self | ) |
Reads calibration status of platform.
Reads accelerometer, gyroscopic, and magnetometer calibation statuses
| def BNO_driver.BNO055.op_mode | ( | self, | |
| bit | |||
| ) |
Method to change the operating mode of IMU.
| bit | Contains register value to change operating mode of IMU |
| def BNO_driver.BNO055.read_angvelo | ( | self | ) |
Reads platform angular velocities.
Reads platform angular velocities and converts most and least significant bits into a single binary form. Then converts to decimal in degrees/s.
| def BNO_driver.BNO055.read_Euler | ( | self | ) |
Reads platform Euler angles.
Reads platform Euler angles and converts most and least significant bits into a single binary form. Then converts to decimal in degrees.
| BNO_driver.BNO055.data |
Calibration status of IMU.
Returns an 8 bit value containing calibration status of the accelerometer, gyroscope, and magnetometer with 3 being the highest level of calibration
1.9.3