IMU module

class IMU.BNO055(bus)

Bases: object

A driver class to interface with a BNO055 sensor.

Objects of this class can be used to configure the BNO055 sensor and retrieve data from it.

Parameters:

bus – The I2C bus that the I2C device is on

calibrate()

A method that outputs the IMU/BNO055 to a user interface for debugging

fix_axis()

A method that sets the appropriate axis for the IMU

get_heading()

A method that outputs the yaw angle of the IMU, in relation to North

Reads new euler angles of the IMU, and outputs them for use elsewhere

Returns:

The new yaw angle of Romi in Degrees

read_angles()

A method that reads the roll,pitch, and yaw angles of the IMU

Once the MSB and LSB of the 3 euler angles have been concatenated, they are stored in the attribute self.euler_angles

read_calibration()

A method that reads the calibration status of the IMU/BNO055

read_coeffs()

A method that reads the calibration coefficients of the several sensors composing the IMU/BNO055, and writing them to a text file

set_mode(addr)

A method that sets the BNO055 into the fusion/9DOF modes that we desire

write_coeffs()

A method that writes the calibration coefficients of the IMU in order to avoid the need for recalibration