node-BNO055
Installation
Install i2c following instructions here: https://github.com/kelly/node-i2c
$ npm install --save bno-055Usage
var BNO055 = require('bno-055');
var async = require('async');
var imu = new BNO055();
imu.beginNDOF(function() {
console.info('imu running');
setInterval(function() {
async.series({
calibrationStatus: imu.getCalibrationStatus.bind(imu),
quaternion: imu.getQuaternion.bind(imu),
euler: imu.getEuler.bind(imu),
linearAcceleration: imu.getLinearAcceleration.bind(imu)
},
function(err, results) {
console.info( 'imu: ', JSON.stringify(results) );
});
}, 1000);
});Change the mounting position of the sensor. See section 3.4 Axis remap in the datasheet for details.
var imu = new BNO055({
orientation: BNO055.orientation(BNO055.AXIS_REMAP_Y, BNO055.AXIS_REMAP_X, BNO055.AXIS_REMAP_Z, 0,1,0)
});Resuse the sensor's calibration data. See section 3.10 Calibration for details on manual calibration.
// get calibration values, and save for later
var calibrationData;
imu.getCalibrationData(function(err, results) {
if (!err && results) {
calibrationData = results;
}
});
//then use that data later when initializing the sensor
var imu = new BNO055({
calibration: calibrationData
});