Govind Ajith Kumar
- Ubuntu 18.04
- Windows 10
This repo shows you how to use BNO055 IMU
Hardware needed:
- BNO055 9-axis IMU sensor
- Arduino (Nano used here)
- Male to Male Jumpers
- Breadboard
- Arduino to PC USB Cable
Wiring should be done as shown in the image below:
The connections are laid out here:
| Connect From Arduino | Connect To IMU |
|---|---|
| A4 | SDA |
| A5 | SCL |
| GND | GND |
| 5V | Vin |
Install the following on your Arduino IDE by going to Tools > Manage Libraries
- Arduino BNO055
- Adafruit Unified Sensor
Install Pyserial
pip install pyserial
Verify the USB Port by entering:
ls /dev/tty
After verifying,
On Ubuntu, make this port an executable by entering:
sudo chmod a+rw /dev/ttyUSB0
On Windows, start command line as administrator, and run the python command
- To run on an Ubuntu computer, set the serial port to
/dev/ttyUSB0 - To run on a Windows computer, set the serial port to
COM10orCOM11.
- 9 Axis data - plot_all_9axis_live.py
- Accelerometer 3-axis data - plot_acc.py
- Roll Pitch Yaw data - plot_roll_pitch_yaw_live.py
| Serial Number | Arduino Code Folder | Function |
|---|---|---|
| 1 | IMU_ACC_GYRO_MAG | To access Accelerometer, Gyroscope and Magnetometer data |
| 2 | IMU_X_Y_Z | To get inclination w.r.t X, Y, and Z axes |
| 3 | IMU_QUATERNION | Gets quaternion data from the BNO055 sensor |
| 4 | CALIBRATION_CHECK | To calibrate the Accelerometer, Gyroscope, Magnetometer and System of IMU |
| 5 | ALL_IMU_DATA | Access all the possible data from BNO055 IMU |
| 6 | POSITION | Get position data from IMU |
| Serial Number | Code | Function | Arduino Code Flashed |
|---|---|---|---|
| 1 | imu_read.py | Code to access the serial imu data and display the results | IMU_ACC_GYRO_MAG |
| 2 | plot_all_9axis_live.py | Access all 9 axis Serial data through python scripts | IMU_ACC_GYRO_MAG |
| 3 | plot_acc.py | Plotting only accelerometer data | IMU_ACC_GYRO_MAG |
| 4 | quart_to_euler.py | Gets quaternion data and converts to Euler Angles and writes in a txt file | IMU_quaternion |
| 5 | plot_roll_pitch_yaw_live.py | Gets quaternion data and converts to Euler Angles and saves it in txt file | IMU_QUATERNION |
| 6 | plot_tum_format_roll_pitch_yaw_live.py | Saves quaternion data in txt file | IMU_QUATERNION |
| 7 | save_tum_file.py | To save the IMU Data in quaternion format the video | IMU_QUATERNION |
| 8 | utils.py | Contains utility variables | - |
BNO055 is not suitable for X,Y, and Z positions. Use a GPS for that. This is because finding the x, y and z positions involve double integration of the accelerometer data. And since the accelerometer data has a lot of noise, the position will be way off. Please look into other measures.