Merge pull request #119 from CedarGroveStudios/main

add a calibration method to the examples folder

examples/bno055_calibrator.py

@@ -0,0 +1,95 @@
+# SPDX-FileCopyrightText: 2023 JG for Cedar Grove Maker Studios
+# SPDX-License-Identifier: MIT
+
+"""
+`bno055_calibrator.py`
+===============================================================================
+A CircuitPython module for calibrating the BNo055 9-DoF sensor. After manually
+calibrating the sensor, the module produces calibration offset tuples for use
+in project code.
+
+* Author(s): JG for Cedar Grove Maker Studios
+
+Implementation Notes
+--------------------
+**Hardware:**
+* Adafruit BNo055 9-DoF sensor
+**Software and Dependencies:**
+* Driver library for the sensor in the Adafruit CircuitPython Library Bundle
+* Adafruit CircuitPython firmware for the supported boards:
+  https://circuitpython.org/downloads
+"""
+
+import time
+import board
+import adafruit_bno055
+
+
+# pylint: disable=too-few-public-methods
+class Mode:
+    CONFIG_MODE = 0x00
+    ACCONLY_MODE = 0x01
+    MAGONLY_MODE = 0x02
+    GYRONLY_MODE = 0x03
+    ACCMAG_MODE = 0x04
+    ACCGYRO_MODE = 0x05
+    MAGGYRO_MODE = 0x06
+    AMG_MODE = 0x07
+    IMUPLUS_MODE = 0x08
+    COMPASS_MODE = 0x09
+    M4G_MODE = 0x0A
+    NDOF_FMC_OFF_MODE = 0x0B
+    NDOF_MODE = 0x0C
+
+
+# Uncomment these lines for UART interface connection
+# uart = board.UART()
+# sensor = adafruit_bno055.BNO055_UART(uart)
+
+# Instantiate I2C interface connection
+# i2c = board.I2C()  # For board.SCL and board.SDA
+i2c = board.STEMMA_I2C()  # For the built-in STEMMA QT connection
+sensor = adafruit_bno055.BNO055_I2C(i2c)
+sensor.mode = Mode.NDOF_MODE  # Set the sensor to NDOF_MODE
+
+print("Magnetometer: Perform the figure-eight calibration dance.")
+while not sensor.calibration_status[3] == 3:
+    # Calibration Dance Step One: Magnetometer
+    #   Move sensor away from magnetic interference or shields
+    #   Perform the figure-eight until calibrated
+    print(f"Mag Calib Status: {100 / 3 * sensor.calibration_status[3]:3.0f}%")
+    time.sleep(1)
+print("... CALIBRATED")
+time.sleep(1)
+
+print("Accelerometer: Perform the six-step calibration dance.")
+while not sensor.calibration_status[2] == 3:
+    # Calibration Dance Step Two: Accelerometer
+    #   Place sensor board into six stable positions for a few seconds each:
+    #    1) x-axis right, y-axis up,    z-axis away
+    #    2) x-axis up,    y-axis left,  z-axis away
+    #    3) x-axis left,  y-axis down,  z-axis away
+    #    4) x-axis down,  y-axis right, z-axis away
+    #    5) x-axis left,  y-axis right, z-axis up
+    #    6) x-axis right, y-axis left,  z-axis down
+    #   Repeat the steps until calibrated
+    print(f"Accel Calib Status: {100 / 3 * sensor.calibration_status[2]:3.0f}%")
+    time.sleep(1)
+print("... CALIBRATED")
+time.sleep(1)
+
+print("Gyroscope: Perform the hold-in-place calibration dance.")
+while not sensor.calibration_status[1] == 3:
+    # Calibration Dance Step Three: Gyroscope
+    #  Place sensor in any stable position for a few seconds
+    #  (Accelerometer calibration may also calibrate the gyro)
+    print(f"Gyro Calib Status: {100 / 3 * sensor.calibration_status[1]:3.0f}%")
+    time.sleep(1)
+print("... CALIBRATED")
+time.sleep(1)
+
+print("\nCALIBRATION COMPLETED")
+print("Insert these preset offset values into project code:")
+print(f"  Offsets_Magnetometer:  {sensor.offsets_magnetometer}")
+print(f"  Offsets_Gyroscope:     {sensor.offsets_gyroscope}")
+print(f"  Offsets_Accelerometer: {sensor.offsets_accelerometer}")