/* * Author: Jon Trulson * Copyright (c) 2016-2017 Intel Corporation. * * The MIT License * * Permission is hereby granted, free of charge, to any person obtaining * a copy of this software and associated documentation files (the * "Software"), to deal in the Software without restriction, including * without limitation the rights to use, copy, modify, merge, publish, * distribute, sublicense, and/or sell copies of the Software, and to * permit persons to whom the Software is furnished to do so, subject to * the following conditions: * * The above copyright notice and this permission notice shall be * included in all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ import upm_bno055.BNO055; public class BNO055_Example { public static void main(String[] args) throws InterruptedException { // ! [Interesting] System.out.println("Initializing..."); // Instantiate an BNO055 using default parameters (bus 0, addr // 0x28). The default running mode is NDOF absolute orientation // mode. BNO055 sensor = new BNO055(); System.out.println("First we need to calibrate. 4 numbers will be output every"); System.out.println("second for each sensor. 0 means uncalibrated, and 3 means"); System.out.println("fully calibrated."); System.out.println("See the UPM documentation on this sensor for instructions on"); System.out.println("what actions are required to calibrate."); System.out.println(""); while (!sensor.isFullyCalibrated()) { upm_bno055.intVector calData = sensor.getCalibrationStatus(); System.out.println("Magnetometer: " + calData.get(0) + " Accelerometer: " + calData.get(1) + " Gyroscope: " + calData.get(2) + " System: " + calData.get(3)); Thread.sleep(1000); } System.out.println(""); System.out.println("Calibration complete."); System.out.println(""); while (true) { // update our values from the sensor sensor.update(); upm_bno055.floatVector data = sensor.getEulerAngles(); System.out.println("Euler: Heading: " + data.get(0) + " Roll: " + data.get(1) + " Pitch: " + data.get(2) + " degrees"); data = sensor.getQuaternions(); System.out.println("Quaternion: W: " + data.get(0) + " X: " + data.get(1) + " Y: " + data.get(2) + " Z: " + data.get(3)); data = sensor.getLinearAcceleration(); System.out.println("Linear Acceleration: X: " + data.get(0) + " Y: " + data.get(1) + " Z: " + data.get(2) + " m/s^2"); data = sensor.getGravityVectors(); System.out.println("Gravity Vector: X: " + data.get(0) + " Y: " + data.get(1) + " Z: " + data.get(2) + " m/s^2"); System.out.println(); Thread.sleep(250); } // ! [Interesting] } }