IMU

The IMU class constructs objects that represent a single IMU module attached to the physical board. An IMU is an Inertial Measurement Unit. IMUs come in all shapes and DOFs (Degrees of Freedom). They are often made up of several components like Accelerometers, Gyros, Thermometer, and Compass/Magnetometers.

Supported modules:

• MPU6050
  • Invensense
  • SparkFun
• BNO055
  • Adafruit
  • Atmel
  • Tindie

This list will continue to be updated as more component support is implemented.

Parameters

• General Options

  Property	Type	Value/Description	Default	Required
  controller	string	MPU6050, BNO055. The Name of the controller to use	"MPU6050"	no

• MPU6050 Options(controller: "MPU6050")

  Property	Type	Value/Description	Default	Required
  address	Number	8-bit value. The address of the component (can be switched via ADO pin)	0x68	no

Shape

Some of these properties may or may not exist depending on whether the IMU supports it.

Property Name	Description	Read Only
accelerometer	An instance of Accelerometer class.	Yes
compass	An instance of Compass class.	Yes
gyro	An instance of Gyro class.	Yes
orientation	An instance of Orientiation class.	Yes
thermometer	An instance of Thermometer class.	Yes

Component Initialization

MPU6050

// Create an MPU-6050 IMU object:
//
//  - attach SDA and SCL to the I2C pins on your board (A4 and A5 for the Uno)
//  - specify the MPU6050 controller
new five.IMU({
  controller: "MPU6050",
  address: 0x68, // optional
  freq: 100      // optional
});

BNO055

// Create an BNO055 IMU object:
//
//  - attach SDA and SCL to the I2C pins on your board (A4 and A5 for the Uno)
//  - specify the BNO055 controller
new five.IMU({
  controller: "BNO055"
});

Usage

var five = require("johnny-five");
var board = new five.Board();

board.on("ready", function() {

  var accelerometer = new five.IMU({
    controller: "MPU6050"
  });

  accelerometer.on("data", function(err, data) {
    console.log("Accelerometer: %d, %d, %d", this.accelerometer.x, this.accelerometer.z, this.accelerometer.z);
    console.log("Gyro: %d, %d, %d", this.gyro.x, this.gyro.z, this.gyro.z);
    console.log("Temperature: %d", this.temperature.celsius);
  });
});

API

The IMU does not have an explicit API. Refer to the individual components for their APIs

Events

• data The "data" event is fired as frequently as the user defined freq will allow in milliseconds.

• change The "change" event is fired whenever a corresponding "change" is fired from a component.

• calibrated The "calibrated" event is fired whenever a corresponding "calibrated" is fired from a component.

Examples

• MPU6050 IMU