openi2c/src/modules/BNO08X/example.ts

This library is a set of cross platform drivers for common I2C devices.

import { BNO08X, BNO_REPORT_ACCELEROMETER, BNO_REPORT_GAME_ROTATION_VECTOR, BNO_REPORT_GYROSCOPE, BNO_REPORT_MAGNETOMETER, BNO_REPORT_ROTATION_VECTOR } from '.';

async function main() {
    const bno = new BNO08X();
    await bno.init();

    await bno.enableFeature(BNO_REPORT_ACCELEROMETER);
    await bno.enableFeature(BNO_REPORT_GYROSCOPE)
    await bno.enableFeature(BNO_REPORT_MAGNETOMETER)
    await bno.enableFeature(BNO_REPORT_ROTATION_VECTOR)
    await bno.enableFeature(BNO_REPORT_GAME_ROTATION_VECTOR)

    // await bno.beginCalibration();
    // setInterval(async ()=>{
    //     const acc = await bno.calibrationStatus();
    //     console.log(acc);
    // }, 500)

    setInterval(async () => {
        const xyz = await bno.euler();
        
        console.log(`XYZ`, xyz);
    //     const [accelX, accelY, accelZ] = await bno.acceleration();
    //     console.log(`Accel: X: ${accelX.toFixed(6)} Y: ${accelY.toFixed(6)} Z: ${accelZ.toFixed(6)} m/s^2`);

    //     const [gyroX, gyroY, gyroZ] = await bno.gyro();
    //     console.log(`Gyro: X: ${gyroX.toFixed(6)} Y: ${gyroY.toFixed(6)} Z: ${gyroZ.toFixed(6)} rads/s`);

    //     const [magX, magY, magZ] = await bno.magnetic();
    //     console.log(`Mag: X: ${magX.toFixed(6)} Y: ${magY.toFixed(6)} Z: ${magZ.toFixed(6)} m/s^2`);

    //     const [quatI, quatJ, quatK, quatReal] = await bno.quaternion();
    //     console.log(`Quat: I: ${quatI.toFixed(6)} J: ${quatJ.toFixed(6)} K: ${quatK.toFixed(6)} Real: ${quatReal.toFixed(6)}`);
    }, 1000)
}
main();