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Merge pull request #105 from sparkfun/release-candidate
v1.1.12
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‎examples/Example22-Tare/Example22-Tare.ino

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/*
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Using the BNO080 IMU
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Example : Tare function
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By: Sofian Audry
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Date: March 2nd, 2022
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Based on: Example9-Calibrate
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By: Nathan Seidle
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SparkFun Electronics
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Date: December 21st, 2017
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SparkFun code, firmware, and software is released under the MIT License.
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Please see LICENSE.md for further details.
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Feel like supporting our work? Buy a board from SparkFun!
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https://www.sparkfun.com/products/14586
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This example shows how to use the tare functionalities.
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It is best to run a calibration before using the tare functions.
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It takes about 1ms at 400kHz I2C to read a record from the sensor, but we are polling the sensor continually
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between updates from the sensor. Use the interrupt pin on the BNO080 breakout to avoid polling.
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Hardware Connections:
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Attach the Qwiic Shield to your Arduino/Photon/ESP32 or other
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Plug the sensor onto the shield
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Serial.print it out at 115200 baud to serial monitor.
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*/
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#include <Wire.h>
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#include "SparkFun_BNO080_Arduino_Library.h" // Click here to get the library: http://librarymanager/All#SparkFun_BNO080
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BNO080 myIMU;
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void setup()
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{
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Serial.begin(115200);
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Serial.println();
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Serial.println("BNO080 Read Example");
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Wire.begin();
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myIMU.begin();
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Wire.setClock(400000); //Increase I2C data rate to 400kHz
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//Enable Game Rotation Vector output
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myIMU.enableRotationVector(100); //Send data update every 100ms
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//Once magnetic field is 2 or 3, run the Save DCD Now command
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Serial.println(F("'t' to tare according to xyz"));
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Serial.println(F("'z' to tare according to z axis only"));
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Serial.println(F("'s' to save tare settings"));
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Serial.println(F("'r' to reset/clear tare orientation registry"));
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Serial.println(F("Output in form x, y, z, in uTesla"));
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}
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void loop()
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{
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if(Serial.available())
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{
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byte incoming = Serial.read();
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switch (incoming) {
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case 't': myIMU.tareNow(); break;
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case 'z': myIMU.tareNow(true); break;
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case 's': myIMU.saveTare(); break;
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case 'r': myIMU.clearTare(); break;
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default:;
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}
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}
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//Look for reports from the IMU
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if (myIMU.dataAvailable() == true)
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{
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float roll = (myIMU.getRoll()) * 180.0 / PI; // Convert roll to degrees
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float pitch = (myIMU.getPitch()) * 180.0 / PI; // Convert pitch to degrees
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float yaw = (myIMU.getYaw()) * 180.0 / PI; // Convert yaw / heading to degrees
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Serial.print(roll, 1);
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Serial.print(F(","));
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Serial.print(pitch, 1);
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Serial.print(F(","));
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Serial.print(yaw, 1);
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Serial.println();
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}
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}

‎examples/Example23-Gravity/Example23-Gravity.ino

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/*
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Using the BNO085 for finding the direction of gravity.
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By: Anant Sharma
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Date: January 23rd, 2023
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SparkFun code, firmware, and software is released under the MIT License.
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Please see LICENSE.md for further details.
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Feel like supporting our work? Buy a board from SparkFun!
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https://www.sparkfun.com/products/14586
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This example outputs a vector pointing towards the ground.
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It takes about 1ms at 400kHz I2C to read a record from the sensor, but we are polling the sensor continually
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between updates from the sensor. Use the interrupt pin on the BNO080 breakout to avoid polling.
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Hardware Connections:
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Attach the Qwiic Shield to your Arduino/Photon/ESP32 or other
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Plug the sensor onto the shield
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Serial.print it out at 9600 baud to serial monitor.
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*/
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#include <Wire.h>
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#include "SparkFun_BNO080_Arduino_Library.h" // Click here to get the library: http://librarymanager/All#SparkFun_BNO080
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BNO080 myIMU;
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void setup() {
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Serial.begin(9600);
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Serial.println();
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Serial.println("BNO080 Read Example");
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Wire.begin();
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//Are you using a ESP? Check this issue for more information: https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library/issues/16
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// //=================================
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// delay(100); // Wait for BNO to boot
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// // Start i2c and BNO080
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// Wire.flush(); // Reset I2C
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// IMU.begin(BNO080_DEFAULT_ADDRESS, Wire);
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// Wire.begin(4, 5);
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// Wire.setClockStretchLimit(4000);
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// //=================================
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if (myIMU.begin() == false)
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{
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Serial.println("BNO080 not detected at default I2C address. Check your jumpers and the hookup guide. Freezing...");
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while (1);
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}
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Wire.setClock(400000); //Increase I2C data rate to 400kHz
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myIMU.enableGravity(10); //Send data update every 50ms
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Serial.println(F("Rotation vector enabled"));
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Serial.println(F("Output in form i, j, k, real, accuracy"));
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}
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void loop() {
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//Look for reports from the IMU
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if (myIMU.dataAvailable() == true)
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{
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float gravityX = myIMU.getGravityX();
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float gravityY = myIMU.getGravityY();
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float gravityZ = myIMU.getGravityZ();
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float gravityAccuracy = myIMU.getGravityAccuracy();
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Serial.print(gravityX, 2);
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Serial.print(F(","));
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Serial.print(gravityY, 2);
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Serial.print(F(","));
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Serial.print(gravityZ, 2);
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Serial.print(F(","));
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Serial.print(gravityAccuracy, 2);
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Serial.print(F(","));
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Serial.println();
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}
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}

‎examples/Example24-UncalibratedGyro/Example24-UncalibratedGyro.ino

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/*
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Using the BNO080 IMU
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By: Bastien Boudet
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Date: February 3rd, 2022
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SparkFun code, firmware, and software is released under the MIT License.
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Please see LICENSE.md for further details.
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Feel like supporting our work? Buy a board from SparkFun!
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https://www.sparkfun.com/products/14586
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This example shows how to output the parts of the uncalibrated gyro.
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It takes about 1ms at 400kHz I2C to read a record from the sensor, but we are polling the sensor continually
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between updates from the sensor. Use the interrupt pin on the BNO080 breakout to avoid polling.
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Hardware Connections:
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Attach the Qwiic Shield to your Arduino/Photon/ESP32 or other
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Plug the sensor onto the shield
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Serial.print it out at 115200 baud to serial monitor.
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*/
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#include <Wire.h>
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#include "SparkFun_BNO080_Arduino_Library.h" // Click here to get the library: http://librarymanager/All#SparkFun_BNO080
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BNO080 myIMU;
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void setup()
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{
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Serial.begin(115200);
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Serial.println();
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Serial.println("BNO080 Read Example");
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Wire.begin();
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myIMU.begin();
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Wire.setClock(400000); //Increase I2C data rate to 400kHz
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myIMU.enableUncalibratedGyro(50); //Send data update every 50ms
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Serial.println(F("Uncalibrated Gyro enabled"));
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Serial.println(F("Output in form x, y, z, bx, by, bz in radians per second"));
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}
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void loop()
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{
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//Look for reports from the IMU
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if (myIMU.dataAvailable() == true)
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{
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float x = myIMU.getUncalibratedGyroX();
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float y = myIMU.getUncalibratedGyroY();
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float z = myIMU.getUncalibratedGyroZ();
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float bx = myIMU.getUncalibratedGyroBiasX();
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float by = myIMU.getUncalibratedGyroBiasY();
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float bz = myIMU.getUncalibratedGyroBiasZ();
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Serial.print(x, 2);
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Serial.print(F(","));
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Serial.print(y, 2);
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Serial.print(F(","));
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Serial.print(z, 2);
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Serial.print(F(","));
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Serial.print(bx, 2);
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Serial.print(F(","));
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Serial.print(by, 2);
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Serial.print(F(","));
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Serial.print(bz, 2);
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Serial.print(F(","));
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Serial.println();
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}
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}

‎keywords.txt

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enableARVRStabilizedGameRotationVector KEYWORD2
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enableAccelerometer KEYWORD2
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enableGyro KEYWORD2
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enableUncalibratedGyro KEYWORD2
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enableGravity KEYWORD2
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enableMagnetometer KEYWORD2
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enableTapDetector KEYWORD2
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enableStepCounter KEYWORD2
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getGyroZ KEYWORD2
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getGyroAccuracy KEYWORD2
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getUncalibratedGyro KEYWORD2
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getUncalibratedGyroX KEYWORD2
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getUncalibratedGyroY KEYWORD2
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getUncalibratedGyroZ KEYWORD2
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getUncalibratedGyroAccuracy KEYWORD2
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getUncalibratedGyroBiasX KEYWORD2
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getUncalibratedGyroBiasY KEYWORD2
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getUncalibratedGyroBiasZ KEYWORD2
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getGravity KEYWORD2
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getGravityX KEYWORD2
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getGravityY KEYWORD2
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getGravityZ KEYWORD2
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getGravityAccuracy KEYWORD2
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getFastGyro KEYWORD2
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getFastGyroX KEYWORD2
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getFastGyroY KEYWORD2
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requestCalibrationStatus KEYWORD2
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calibrationComplete KEYWORD2
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tareNow KEYWORD2
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saveTare KEYWORD2
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clearTare KEYWORD2
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sendTareCommand KEYWORD2
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getTapDetector KEYWORD2
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getTimeStamp KEYWORD2
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getStepCount KEYWORD2

‎library.properties

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name=SparkFun BNO080 Cortex Based IMU
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version=1.1.11
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version=1.1.12
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author=SparkFun Electronics <[email protected]>
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maintainer=SparkFun Electronics <sparkfun.com>
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sentence=Library for the SparkFun Qwiic VR IMU - BNO080/BNO085

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