testing.py

# SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries
# SPDX-License-Identifier: MIT

import numpy as np

import time
import board
import serial
import adafruit_bno055
import busio

#uart = busio.UART(board.TX, board.RX)
#sensor = adafruit_bno055.BNO055_UART(uart)


i2c = board.I2C()
sensor = adafruit_bno055.BNO055_I2C(i2c)

# If you are going to use UART uncomment these lines
#uart = serial.Serial("/dev/ttyS0")
#sensor = adafruit_bno055.BNO055_UART(uart)

last_val = 0xFFFF


def temperature():
    global last_val  # pylint: disable=global-statement
    result = sensor.temperature
    if abs(result - last_val) == 128:
        result = sensor.temperature
        if abs(result - last_val) == 128:
            return 0b00111111 & result
    last_val = result
    return result


while True:
    #print("Temperature: {} degrees C".format(sensor.temperature))
    """
    print(
        "Temperature: {} degrees C".format(temperature())
    )  # Uncomment if using a Raspberry Pi
    """
    #print("Accelerometer (m/s^2): {}".format(sensor.acceleration))
    #print("Magnetometer (microteslas): {}".format(sensor.magnetic))
    #print("Gyroscope (rad/sec): {}".format(sensor.gyro))
    #print("Euler angle: {}".format(sensor.euler), "Calibration Status: {}".format(sensor.calibration_status))
    #print("Quaternion: {}".format(sensor.quaternion))
    #print("Linear acceleration (m/s^2): {}".format(sensor.linear_acceleration))
    #print("Gravity (m/s^2): {}".format(sensor.gravity))
    #print()
    yaw, roll, pitch = sensor.euler
    if yaw != None or roll != None or pitch != None:
        pitch = np.radians(pitch)
        roll = np.radians(roll)
        yaw = np.radians(yaw)
        print("Pitch: {:.2f}\tRoll: {:.2f}\tYaw: {:.2f}\tCalibration: {}".format(pitch, roll, yaw, sensor.calibration_status))
        #print("Pitch: {:.2f}".format(pitch))
    #time.sleep(0.1)