/* * Author: Jon Trulson * Copyright (c) 2016 Intel Corporation. * * 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. */ var sensorObj = require('jsupm_bno055'); // Instantiate an BNO055 using default parameters (bus 0, addr // 0x28). The default running mode is NDOF absolute orientation // mode. var sensor = new sensorObj.BNO055(); var mag = new sensorObj.new_intp(); var acc = new sensorObj.new_intp(); var gyr = new sensorObj.new_intp(); var syst = new sensorObj.new_intp(); var w = new sensorObj.new_floatp(); var x = new sensorObj.new_floatp(); var y = new sensorObj.new_floatp(); var z = new sensorObj.new_floatp(); console.log("First we need to calibrate. 4 numbers will be output every"); console.log("second for each sensor. 0 means uncalibrated, and 3 means"); console.log("fully calibrated."); console.log("See the UPM documentation on this sensor for instructions on"); console.log("what actions are required to calibrate."); console.log(""); // do the calibration... var calInterval = setInterval(function() { if (sensor.isFullyCalibrated()) { clearInterval(calInterval); console.log(""); console.log("Calibration complete."); console.log(""); setInterval(outputData, 250) } else { sensor.getCalibrationStatus(mag, acc, gyr, syst); console.log("Magnetometer: " + sensorObj.intp_value(mag) + " Accelerometer: " + sensorObj.intp_value(acc) + " Gyroscope: " + sensorObj.intp_value(gyr) + " System: " + sensorObj.intp_value(syst)); } }, 1000); // now output various fusion data every 250 milliseconds function outputData() { sensor.update(); sensor.getEulerAngles(x, y, z); console.log("Euler: Heading: " + sensorObj.floatp_value(x) + " Roll: " + sensorObj.floatp_value(y) + " Pitch: " + sensorObj.floatp_value(z) + " degrees"); sensor.getQuaternions(w, x, y, z); console.log("Quaternion: W: " + sensorObj.floatp_value(w) + " X:" + sensorObj.floatp_value(x) + " Y: " + sensorObj.floatp_value(y) + " Z: " + sensorObj.floatp_value(z)); sensor.getLinearAcceleration(x, y, z); console.log("Linear Acceleration: X: " + sensorObj.floatp_value(x) + " Y: " + sensorObj.floatp_value(y) + " Z: " + sensorObj.floatp_value(z) + " m/s^2"); sensor.getGravityVectors(x, y, z); console.log("Gravity Vector: X: " + sensorObj.floatp_value(x) + " Y: " + sensorObj.floatp_value(y) + " Z: " + sensorObj.floatp_value(z) + " m/s^2"); console.log(""); }; // exit on ^C process.on('SIGINT', function() { sensor = null; sensorObj.cleanUp(); sensorObj = null; console.log("Exiting."); process.exit(0); });