46 lines
1.1 KiB
Python
46 lines
1.1 KiB
Python
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"""
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IMU module for Arduino Nano BLE 33 SENSE (REV1 and REV2).
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Example usage:
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import time
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import imu
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from machine import Pin, I2C
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bus = I2C(1, scl=Pin(15), sda=Pin(14))
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imu = imu.IMU(bus)
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while (True):
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print('Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*imu.accel()))
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print('Gyroscope: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*imu.gyro()))
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print('Magnetometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*imu.magnet()))
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print("")
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time.sleep_ms(100)
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"""
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import time
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class IMU:
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def __init__(self, bus):
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"""Initializes Gyro, Accelerometer and Magnetometer using default values."""
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if 0x68 in bus.scan():
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from bmm150 import BMM150
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from bmi270 import BMI270
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magnet = BMM150(bus)
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self.imu = BMI270(bus, bmm_magnet=magnet)
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else:
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from lsm9ds1 import LSM9DS1
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self.imu = LSM9DS1(bus)
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def gyro(self):
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return self.imu.gyro()
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def accel(self):
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return self.imu.accel()
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def magnet(self):
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return self.imu.magnet()
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