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RaspberryPiとBNO080で加速度を計測する

Posted at 2023-05-06

Outline

BNO080 をI2C接続をして、加速度を出力する。

Hardware setup

raspberry pi
Qwiic - BNO080搭載 VR IMUモジュール

Raspberry-pi	配線	BNO080
01 3.3V	<->	VCC
03 SDA	<->	SDA
05 SCL	<->	SCL
09 GND	<->	GND

ディレクトリ構成

home/
├ bno080_accel.py
├ bno080_accel_Quaternion.py  # 接続＆表示テスト

install

pip install board
sudo pip3 install adafruit-circuitpython-bno08x

check hardwear setting i2cdetect -y 1

run

mkdir project-name && cd project-name
python3 -m venv .venv
source .venv/bin/activate
pip3 install adafruit-circuitpython-bno08x

cd ~/IMU_BNO08x/
python3 bno080_accel_Quaternion.py

code

bno080_accel_Quaternion.py

import time
import board
import busio
from adafruit_bno08x import (
    BNO_REPORT_ACCELEROMETER,
    BNO_REPORT_GYROSCOPE,
    BNO_REPORT_MAGNETOMETER,
    BNO_REPORT_ROTATION_VECTOR,
)
from adafruit_bno08x.i2c import BNO08X_I2C

i2c = busio.I2C(board.SCL, board.SDA, frequency=400000)
bno = BNO08X_I2C(i2c,address=0x4b)

bno.enable_feature(BNO_REPORT_ACCELEROMETER)
bno.enable_feature(BNO_REPORT_GYROSCOPE)
bno.enable_feature(BNO_REPORT_MAGNETOMETER)
bno.enable_feature(BNO_REPORT_ROTATION_VECTOR)

while True:

    time.sleep(0.1)
    print("Acceleration:")
    accel_x, accel_y, accel_z = bno.acceleration  # pylint:disable=no-member
    print("X: %0.6f  Y: %0.6f Z: %0.6f  m/s^2" % (accel_x, accel_y, accel_z))
    print("")

    print("Gyro:")
    gyro_x, gyro_y, gyro_z = bno.gyro  # pylint:disable=no-member
    print("X: %0.6f  Y: %0.6f Z: %0.6f rads/s" % (gyro_x, gyro_y, gyro_z))
    print("")

    print("Magnetometer:")
    mag_x, mag_y, mag_z = bno.magnetic  # pylint:disable=no-member
    print("X: %0.6f  Y: %0.6f Z: %0.6f uT" % (mag_x, mag_y, mag_z))
    print("")

    print("Rotation Vector Quaternion:")
    quat_i, quat_j, quat_k, quat_real = bno.quaternion  # pylint:disable=no-member
    print(
        "I: %0.6f  J: %0.6f K: %0.6f  Real: %0.6f" % (quat_i, quat_j, quat_k, quat_real)
    )
    print("")

output

bno080_accel_Quaternion.py

Acceleration:
X: -0.988281  Y: 4.984375 Z: 8.304688  m/s^2

Gyro:
X: 0.005859  Y: 0.001953 Z: 0.000000 rads/s

Magnetometer:
X: -18.125000  Y: -72.187500 Z: -15.812500 uT

Rotation Vector Quaternion:
I: 0.244324  J: 0.051941 K: 0.012756  Real: 0.968201

参考

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