1  # SPDX-FileCopyrightText: 2019 Melissa LeBlanc-Williams for Adafruit Industries
 2  #
 3  # SPDX-License-Identifier: MIT
 4  
 5  """
 6  In this Demo we will drive two servos based on the Tilt along the Y and Z axis
 7  of the BNO055 9-Degrees of Freedom IMU Sensor. This could easily be extended
 8  to drive servos on all three axis as well as use a host of other information
 9  including lateral acceleration.
10  """
11  
12  import board
13  import busio
14  from adafruit_servokit import ServoKit
15  import adafruit_bno055
16  
17  # Set channels to the number of servo channels on your kit.
18  kit = ServoKit(channels=16)
19  
20  # Setup the BNO055 to read data
21  i2c = busio.I2C(board.SCL, board.SDA)
22  sensor = adafruit_bno055.BNO055(i2c)
23  
24  while True:
25      # Get the Euler angles from the BNO055
26      (x, y, z) = sensor.euler
27  
28      # Euler angles are between -180 and 180
29      # We want to translate them to the Servo angles between 0-180
30      try:
31          kit.servo[0].angle = (y + 180) / 2
32          kit.servo[1].angle = (z + 180) / 2
33      except ValueError:
34          # Pass on any values that are out of range
35          pass