com.explodingbacon.bcnlib.sensors

Class BNO055

java.lang.Object

com.explodingbacon.bcnlib.sensors.BNO055

public class BNO055
extends java.lang.Object

BNO055 IMU for the FIRST Robotics Competition. References throughout the code are to the following sensor documentation: http://git.io/vuOl1

To use the sensor, wire up to it over I2C on the roboRIO. Creating an instance of this class will cause communications with the sensor to being.All communications with the sensor occur in a separate thread from your robot code to avoid blocking the main robot program execution.

Example: private static BNO055 imu;

public Robot() { imu = BNO055.getInstance(BNO055.opmode_t.OPERATION_MODE_IMUPLUS, BNO055.vector_type_t.VECTOR_EULER); }

You can check the status of the sensor by using the following methods: isSensorPresent(); //Checks if the code can talk to the sensor over I2C // If this returns false, check your wiring. isInitialized(); //Checks if the sensor initialization has completed. // Initialization takes about 3 seconds. You won't get // position data back from the sensor until its init'd. isCalibrated(); //The BNO055 will return position data after its init'd, // but the position data may be inaccurate until all // required sensors report they are calibrated. Some // Calibration sequences require you to move the BNO055 // around. See the method comments for more info.

Once the sensor calibration is complete , you can get position data by by using the getVector() method. See this method definiton for usage info.

This code was originally ported from arduino source developed by Adafruit. See the original comment header below.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
class	BNO055.CalData
static class	BNO055.opmode_t
static class	BNO055.powermode_t
static class	BNO055.reg_t
class	BNO055.RevInfo
class	BNO055.SystemStatus
static class	BNO055.vector_type_t

Field Summary

Fields

Modifier and Type	Field and Description
static byte	BNO055_ADDRESS_A
static byte	BNO055_ADDRESS_B
static int	BNO055_ID

Method Summary

Modifier and Type	Method and Description
BNO055.CalData	getCalibration() Gets current calibration state.
double	getHeading() The heading of the sensor (x axis) in continuous format.
static BNO055	getInstance(BNO055.opmode_t mode, BNO055.vector_type_t vectorType) Get an instance of the IMU object plugged into the onboard I2C header.
static BNO055	getInstance(BNO055.opmode_t mode, BNO055.vector_type_t vectorType, edu.wpi.first.wpilibj.I2C.Port port, byte address) Get an instance of the IMU object.
BNO055.RevInfo	getRevInfo() Gets the chip revision numbers
BNO055.SystemStatus	getSystemStatus() Gets the latest system status info
int	getTemp() Get the sensors internal temperature.
double[]	getVector() Gets a vector representing the sensors position (heading, roll, pitch).
boolean	isCalibrated() Returns true if all required sensors (accelerometer, magnetometer, gyroscope) have completed their respective calibration sequence.
boolean	isInitialized() After power is applied, the sensor needs to be configured for use.
boolean	isSensorPresent() Diagnostic method to determine if communications with the sensor are active.
void	setMode(BNO055.opmode_t mode) Puts the chip in the specified operating mode

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

BNO055_ADDRESS_A

public static final byte BNO055_ADDRESS_A

See Also:

Constant Field Values

BNO055_ADDRESS_B

public static final byte BNO055_ADDRESS_B

See Also:

Constant Field Values

BNO055_ID

public static final int BNO055_ID

See Also:

Constant Field Values

Method Detail

getInstance

public static BNO055 getInstance(BNO055.opmode_t mode,
                                 BNO055.vector_type_t vectorType,
                                 edu.wpi.first.wpilibj.I2C.Port port,
                                 byte address)

Get an instance of the IMU object.

Parameters:

mode - the operating mode to run the sensor in.

port - the physical port the sensor is plugged into on the roboRio

address - the address the sensor is at (0x28 or 0x29)

Returns:

the instantiated BNO055 object

getInstance

public static BNO055 getInstance(BNO055.opmode_t mode,
                                 BNO055.vector_type_t vectorType)

Get an instance of the IMU object plugged into the onboard I2C header. Using the default address (0x28)

Parameters:

mode - the operating mode to run the sensor in.

vectorType - the format the position vector data should be returned in (if you don't know use VECTOR_EULER).

Returns:

the instantiated BNO055 object

setMode

public void setMode(BNO055.opmode_t mode)

Puts the chip in the specified operating mode

Parameters:

mode -

getSystemStatus

public BNO055.SystemStatus getSystemStatus()

Gets the latest system status info

Returns:

getRevInfo

public BNO055.RevInfo getRevInfo()

Gets the chip revision numbers

Returns:

the chips revision information

isSensorPresent

public boolean isSensorPresent()

Diagnostic method to determine if communications with the sensor are active. Note this method returns true after first establishing communications with the sensor. Communications are not actively monitored once sensor initialization has started.

Returns:

true if the sensor is found on the I2C bus

isInitialized

public boolean isInitialized()

After power is applied, the sensor needs to be configured for use. During this initialization period the sensor will not return position vector data. Once initialization is complete, data can be read, although the sensor may not have completed calibration. See isCalibrated.

Returns:

true when the sensor is initialized.

getCalibration

public BNO055.CalData getCalibration()

Gets current calibration state.

Returns:

each value will be set to 0 if not calibrated, 3 if fully calibrated.

isCalibrated

public boolean isCalibrated()

Returns true if all required sensors (accelerometer, magnetometer, gyroscope) have completed their respective calibration sequence. Only sensors required by the current operating mode are checked. See Section 3.3.

Returns:

true if calibration is complete for all sensors required for the mode the sensor is currently operating in.

getTemp

public int getTemp()

Get the sensors internal temperature.

Returns:

temperature in degrees celsius.

getVector

public double[] getVector()

Gets a vector representing the sensors position (heading, roll, pitch). heading: 0 to 360 degrees roll: -90 to +90 degrees pitch: -180 to +180 degrees

For continuous rotation heading (doesn't roll over between 360/0) see the getHeading() method.

Maximum data output rates for Fusion modes - See 3.6.3

Operating Mode Data Output Rate IMU 100 Hz COMPASS 20 Hz M4G 50 Hz NDOF_FMC_OFF 100 Hz NDOF 100 Hz

Returns:

a vector [heading, roll, pitch]

getHeading

public double getHeading()

The heading of the sensor (x axis) in continuous format. Eg rotating the sensor clockwise two full rotations will return a value of 720 degrees. The getVector method will return heading in a constrained 0 - 360 deg format if required.

Returns:

heading in degrees