Note: this library is deprecated and no longer maintained.

9 Axes Motion Library

The Arduino_NineAxesMotion.cpp and Arduino_NineAxesMotion.h files are C++ wrapper codes for the BNO055.c and BNO055.h Sensor API. The wrapper code has been designed to abstract the Sensor API and also to give an idea on how to use the advanced features in the Sensor API. Apart from that it acts a bridge between the Sensor API and the Arduino framework. Copy this library into "yourArduinoInstallation"/libraries folder.

There are 4 examples with the 9 Axes Motion library.

• BareMinimum: This example code is as the name says the minimum code required to use the 9 Axes Motion shield.

• Euler: This example code reads out the Euler angles in the NDoF mode to the Serial Monitor. It also reads out the Calibration Status. Each sensor and the System itself has its own Calibration Status. See below on how to calibrate each of the sensors.

• Accelerometer: This example code reads out the Accelerometer data and associated data which are the Linear Acceleration data, which is the Accelerometer data without the gravity vector, the other is the Gravity Acceleration data, which is only the gravity vector.

• Motion: This example code is a game to test how steadily you can move an object, in this case it is the shield with the Arduino board. The goal is to demonstrate on how to use the Any motion and No motion Interrupts.

Calibration helps the Sensor identify its environment and automatically determine offsets. Follow the instructions below to calibrate your sensor.

• Gyroscope: Keep it steady and do not move it. Preferably keep it on a fixed surface such as a table.

• Accelerometer: Rotate the shield slowly and pause at every 45deg for a second. Rotate one 1 axis at a time. Preferably rotate along 2 axes.

• Magnetometer: Move the magnetometer in a large 8 like pattern a few times gently.