BNO055 IMU + Node.js

Fork of bno055-imu-node but with ability to restore calibration/offset data.

Install

npm install --save @workshop2/bno055-imu-node

Usage

import {
  BNO055,
  // Enums:
  OpMode,
  DeviceAddress,
  PowerLevel,
} from 'bno055-imu-node';

// All BNO055 instance methods are async and return a promise
(async () => {
  // Start the sensor
  // The begin method performs basic connection verification and resets the device
  const imu = await BNO055.begin(
    DeviceAddress.A,    // Address enum: A = 0x28, B = 0x29
    OpMode.FullFusion   // Operation mode enum
  );

  // Get the sensors' calibration status
  const calibration = await imu.getCalibrationStatuses();

  // Check to see if the device is fully calibrated
  const isCalibrated = await imu.isFullyCalibrated();

  // Get information about the device's operational systems
  const systemStatus = await imu.getSystemStatus();
  const systemError = await imu.getSystemError();
  const selfTestResults = await imu.getSelfTestResults();
  const versions = await imu.getVersions();

  // Get the device's orientation as a quaternion object { x, y, z, w }
  const quat = await imu.getQuat();

  // Force the device to reset
  await imu.resetSystem();

  // Set the device power level (Normal, Low, or Suspend)
  await imu.setPowerLevel(PowerLevel.Normal);

  // Force the device to use an external clock source
  await imu.useExternalClock();

  // Verify that the device is connected (will throw an error if not)
  await imu.verifyConnection();
})();

Workflow

Make sure you have passwordless SSH access to your Raspberry Pi.

Clone/fork your repo onto both your local machine and your Raspberry Pi.

npm install inside the project on both your local machine and the remote device.

Create a file called sync.config.json on the machine on which you'll be developing, and substitute these values with your own:

{
  "username": "<<<username>>>",
  "hostname": "<<<hostname or IP address of your remote device>>>",
  "directory": "<<<parent directory on remote device into which the repo was cloned>>>",
  "quiet": false // Disable most rsync logs (defaults to false)
}

Locally, you can now run npm run sync-changes, and any changes made to files inside /src or /examples will automatically be uploaded to your Pi.

You can configure which excluded from uploaded by opening sync.js and modifying the exclude option passed to Rsync.build.

From the remote device, you can run npm run build-changes, and any changes pushed from your local machine will automatically be rebuilt. You can run additional scripts (test scripts, etc) by appending the shell commands to the exec property inside nodemon.build.json.