Processing: Get Datas From Adafruit BNO055 Sensor

since: 2015/10/30
update: 2015/11/01
reference:
1. Adafruit BNO055 Absolute Orientation Sensor

A. 硬體:
    1. Adafruit BNO055 Sensor
    2. Arduino Nano
    3. Mac OS X

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B. 軟體:
    1. Arduino IDE
    2. Processing

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C. 將 Arduino 程式碼寫入:
     1. 下載 Adafruit_BNO055 driver 與 Adafruit_Sensor
 
     2. 解壓縮後, 將其資料夾更名為: Adafruit_BNO055 與 Adafruit_Sensor

     3. 複製到 /Users/Lanli/Documents/Arduino/libraries 下:

     4. 打開  Arduino IDE , 參考剛剛 libraries 資料夾下的
         /Adafruit_BNO055/examples/rawdata/rawdata.ino, 撰寫以下的程式碼:
 
#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BNO055.h>
#include <utility/imumaths.h>

/* This driver reads raw data from the BNO055

   Connections
   ===========
   Connect SCL to analog 5
   Connect SDA to analog 4
   Connect VDD to 3.3V DC
   Connect GROUND to common ground

   History
   =======
   2015/MAR/03  - First release (KTOWN)
*/
/* Set the delay between fresh samples */
#define BNO055_SAMPLERATE_DELAY_MS (100)

Adafruit_BNO055 bno = Adafruit_BNO055();

/**************************************************************************/
/*
    Arduino setup function (automatically called at startup)
*/
/**************************************************************************/
void setup(void)
{
  Serial.begin(9600);
  Serial.println("Orientation Sensor Raw Data Test"); Serial.println("");

  /* Initialise the sensor */
  if(!bno.begin())
  {
    /* There was a problem detecting the BNO055 ... check your connections */
    Serial.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!");
    while(1);
  }

  delay(1000);

  /* Display the current temperature */
  /*
  int8_t temp = bno.getTemp();
  Serial.print("Current Temperature: ");
  Serial.print(temp);
  Serial.println(" C");
  Serial.println("");
  */
  bno.setExtCrystalUse(true);

  Serial.println("Calibration status values: 0=uncalibrated, 3=fully calibrated");
}

/**************************************************************************/
/*
    Arduino loop function, called once 'setup' is complete (your own code
    should go here)
*/
/**************************************************************************/
void loop(void)
{
  // Possible vector values can be:
  // - VECTOR_ACCELEROMETER - m/s^2
  // - VECTOR_MAGNETOMETER  - uT
  // - VECTOR_GYROSCOPE     - rad/s
  // - VECTOR_EULER         - degrees
  // - VECTOR_LINEARACCEL   - m/s^2
  // - VECTOR_GRAVITY       - m/s^2
 
  // EULER
  imu::Vector<3> euler = bno.getVector(Adafruit_BNO055::VECTOR_EULER);

  /* Display the floating point data */
  /*
  Serial.print("X: ");
  Serial.print(euler.x());
  Serial.print(" Y: ");
  Serial.print(euler.y());
  Serial.print(" Z: ");
  Serial.print(euler.z());
  Serial.print("\t\t");
  */
  Serial.print("euler: ");
  Serial.print(euler.x());
  Serial.print(" ");
  Serial.print(euler.y());
  Serial.print(" ");
  Serial.print(euler.z());
  Serial.print(" "); 
 
  // GYROSCOPE
  imu::Vector<3> gyroscope = bno.getVector(Adafruit_BNO055::VECTOR_GYROSCOPE);

  Serial.print("gyro: ");
  Serial.print(gyroscope.x());
  Serial.print(" ");
  Serial.print(gyroscope.y());
  Serial.print(" ");
  Serial.print(gyroscope.z());
  Serial.print(" ");
 
  // ACCELEROMETER
  imu::Vector<3> accelerometer = bno.getVector(Adafruit_BNO055::VECTOR_ACCELEROMETER);

  Serial.print("acc: ");
  Serial.print(accelerometer.x());
  Serial.print(" ");
  Serial.print(accelerometer.y());
  Serial.print(" ");
  Serial.print(accelerometer.z());
  Serial.print(" "); 
 
  /*
  // Quaternion data
  imu::Quaternion quat = bno.getQuat();
  Serial.print("qW: ");
  Serial.print(quat.w(), 4);
  Serial.print(" qX: ");
  Serial.print(quat.y(), 4);
  Serial.print(" qY: ");
  Serial.print(quat.x(), 4);
  Serial.print(" qZ: ");
  Serial.print(quat.z(), 4);
  Serial.print("\t\t");
  */

  /* Display calibration status for each sensor. */
  uint8_t system, gyro, accel, mag = 0;
  bno.getCalibration(&system, &gyro, &accel, &mag);
  //Serial.print("CALIBRATION: Sys=");
  Serial.print("CAL: Sys=");
  Serial.print(system, DEC);
  Serial.print(" Gyro=");
  Serial.print(gyro, DEC);
  Serial.print(" Accel=");
  Serial.print(accel, DEC);
  Serial.print(" Mag=");
  Serial.println(mag, DEC);

  delay(BNO055_SAMPLERATE_DELAY_MS);
}
     4. 選取板子:
         Arduino > 工具 > 板子 > Arduino Nano 

     5. 選取序列埠:
         Arduino > 工具 > 序列埠 > /dev/cu.usbserial-AJ02WWCS 

     6. 上傳:
         Arduino > 檔案 > 上傳  

     7. 完成:

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D. Processing:
    1. 相關程式碼如下:

void setup() {
....
  // initial Serial
  println(Serial.list());
  Serial port;
  // baudRate: 從一裝置發到另一裝置的位元率，即每秒鐘多少位元(bit/s)。
  int arduinoBaudRate = 9600;     
  int arduinoPortIndex;
  int lineFeed= 10;         // ASCII: line feed (new line)
  String arduinoSerialName = "usbserial";
  String arduinoPort;
  // automatic set arduino port index 
  for (int i = 0; i < Serial.list ().length; i++) {
    if (Serial.list()[i].indexOf(arduinoSerialName) > 0) { // if find string "usbserial"
      arduinoPortIndex = i;
      println(">>> arduino Port Index = " + arduinoPortIndex)      
      break;
    }
  }

    arduinoPort = Serial.list()[arduinoPortIndex];
    port = new Serial(this, arduinoPort, arduinoBaudRate);
    port.bufferUntil(lineFeed);
....
}

void serialEvent(Serial p) { 
  String rawStr = p.readString();
  println(">>> BNO055 = " +  rawStr);
}

    2. 執行結果: