Arduino 9 Axes Motion Shield (BNO055) - EV3Dev-lang-Java

Arduino 9 axes motion shield (BNO055) version 2.4.16 Table of Contents

• 1. Introduction
• 2. NAxesMotion API
• 3. Arduino Sketch
• 4. How to use the sensor

1. Introduction

The sensor BNO055 is an excellent MEMS IMU and Arduino has a Shield to manage the sensor. https://www.bosch-sensortec.com/bst/products/all_products/bno055

2. NAxesMotion API

• void resetSensor(unsigned int address);

• void setOperationMode(byte operationMode);

• void setPowerMode(byte powerMode);

• void updateAccel(void);

• void updateMag(void);

• void updateGyro(void);

• void updateQuat(void);

• void updateEuler(void);

• void updateLinearAccel(void);

• void updateGravAccel(void);

• void updateCalibStatus(void);

• void writeAccelConfig(uint8_t range, uint8_t bandwidth, uint8_t powerMode);

• void updateAccelConfig(void);

• void accelInterrupts(bool xStatus, bool yStatus, bool zStatus);

• void resetInterrupt(void);

• void enableAnyMotion(uint8_t threshold, uint8_t duration);

• void disableAnyMotion(void);

• void enableSlowNoMotion(uint8_t threshold, uint8_t duration, bool motion);

• void disableSlowNoMotion(void);

• void setUpdateMode(bool updateMode);

• float readAccelX(void);

• float readAccelY(void);

• float readAccelZ(void);

• float readGyroX(void);

• float readGyroY(void);

• float readGyroZ(void);

• float readMagX(void);

• float readMagY(void);

• float readMagZ(void);

• int16_t readQuatW(void);

• int16_t readQuatX(void);

• int16_t readQuatY(void);

• int16_t readQuatZ(void);

• float readEulerHeading(void);

• float readEulerRoll(void);

• float readEulerPitch(void);

• float readLinearAccelX(void);

• float readLinearAccelY(void);

• float readLinearAccelZ(void);

• float readGravAccelX(void);

• float readGravAccelY(void);

• float readGravAccelZ(void);

• uint8_t readAccelCalibStatus(void);

• uint8_t readGyroCalibStatus(void);

• uint8_t readMagCalibStatus(void);

• uint8_t readSystemCalibStatus(void);

• uint8_t readAccelRange(void);

• uint8_t readAccelBandwidth(void);

• uint8_t readAccelPowerMode(void);

3. Arduino Sketch

#include "NAxisMotion.h" #include <Wire.h> NAxisMotion mySensor; unsigned long lastStreamTime = 0; const int streamPeriod = 20; //To stream at 50Hz without using additional timers (time period(ms) =1000/frequency(Hz)) bool updateSensorData = true; //Flag to update the sensor data. Default is true to perform the first read before the first stream void setup() //This code is executed once { //Peripheral Initialization Serial.begin(115200); //Initialize the Serial Port to view information on the Serial Monitor I2C.begin(); //Initialize I2C communication to the let the library communicate with the sensor. //Sensor Initialization mySensor.initSensor(); //The I2C Address can be changed here inside this function in the library mySensor.setOperationMode(OPERATION_MODE_NDOF); //Can be configured to other operation modes as desired mySensor.setUpdateMode(MANUAL); //The default is AUTO. Changing to MANUAL requires calling the relevant update functions prior to calling the read functions //Setting to MANUAL requires fewer reads to the sensor } void loop() { if (updateSensorData) //Keep the updating of data as a separate task { mySensor.updateEuler(); mySensor.updateLinearAccel(); mySensor.updateMag(); mySensor.updateGyro(); mySensor.updateCalibStatus(); //Update the Calibration Status updateSensorData = false; } if ((millis() - lastStreamTime) >= streamPeriod) { lastStreamTime = millis(); //Euler //Serial.print(" H: "); Serial.print(mySensor.readEulerHeading()); Serial.print(", "); //Serial.print(" R: "); Serial.print(mySensor.readEulerRoll()); Serial.print(","); //Serial.print(" P: "); Serial.print(mySensor.readEulerPitch()); Serial.print(", "); //Acceleration //Serial.print(" AccelX: "); Serial.print(mySensor.readLinearAccelX()); Serial.print(", "); //Serial.print(" AccelY: "); Serial.print(mySensor.readLinearAccelY()); Serial.print(", "); //Serial.print(" AccelZ: "); Serial.print(mySensor.readLinearAccelZ()); Serial.print(", "); //Magnetometer //Serial.print(" MagX: "); Serial.print(mySensor.readMagX()); Serial.print(", "); //Serial.print(" MagY: "); Serial.print(mySensor.readMagY()); Serial.print(", "); //Serial.print(" MagZ: "); Serial.print(mySensor.readMagZ()); Serial.print(", "); //Gyroscope //Serial.print(" GyroX: "); Serial.print(mySensor.readGyroX()); Serial.print(", "); //Serial.print(" GyroY: "); Serial.print(mySensor.readGyroY()); Serial.print(", "); //Serial.print(" GyroZ: "); Serial.print(mySensor.readGyroZ()); Serial.print(", "); Serial.println(); updateSensorData = true; } }

4. How to use the sensor

package examples; import ev3dev.actuators.Sound; import ev3dev.arduino.sensors.bn055.BNO055; import ev3dev.arduino.sensors.bn055.BNO055Listener; import ev3dev.arduino.sensors.bn055.model.BNO055Response; import ev3dev.arduino.sensors.bn055.model.Euler; import ev3dev.arduino.sensors.bn055.model.Euler; import ev3dev.sensors.Battery; import ev3dev.sensors.Button; import lombok.extern.slf4j.Slf4j; public @Slf4j class BNO055TurnTest { public static void main(String[] args) throws Exception { final String port = "/dev/ttyACM0"; final BNO055 bno055 = new BNO055(port); bno055.init(); log.debug("{}", Battery.getInstance().getVoltage()); bno055.addListener(new BNO055Listener() { @Override public void dataReceived(final BNO055Response response) { if(response.getEuler() != null){ final Euler euler = response.getEuler(); log.debug("Heading: {}", euler.getHeading()); if( (euler.getHeading() > 90.0f) && (euler.getHeading() <= 100.00f)) { //Sound.getInstance().beep(); log.info("REACHED"); } } } }); Button.waitForAnyPress(); log.debug("{}", Battery.getInstance().getVoltage()); bno055.close(); log.info("Closing connection with Arduino"); } } Version 2.4.16 Last updated 2021-01-09 15:56:33 CET