Azarel Howard edited this page Jul 2, 2018 · 31 revisions

The Gyro class constructs objects that represent a single Gyro sensor attached to the physical board.

We currently support two kinds of Gyros:

This list will continue to be updated as more Gyro devices are confirmed.

Parameters

  • General Options

    Property Type Value/Description Default Required
    controller string "ANALOG", "MPU6050". The Name of the controller to use "ANALOG" no
  • Analog Options (controller: "ANALOG")

    Property Type Value/Description Default Required
    pins Array of Strings ["A*"]. The String analog pins that X, Y, and Z (optional) are attached to yes
    sensitivity Number Varies by device. For Tinkerkit, use Gyro.TK_4X or Gyro.TK_1X. This value can be identified in the device's datasheet. yes
    resolution Number Varies by device. This value can be identified in the device's datasheet 4.88 no
  • Digital Options

    Property Type Value/Description Default Required
    address Hexadecimal Number Sets the Gyro's address on the I2C bus.
    Varies by device.
    For MPU-6050 0x68,0x69. For BNO055 0x28,0x29.
    Check the documentation for your Gyro for how to set its I2C address.
    Lowest value address first. no
  • MPU6050 Options (controller: "MPU6050")

    Property Type Value/Description Default Required
    sensitivity Number LSB/DegreesPerSecond. The sensitivity of the device. The MPU-6050 is currently configured at +/- 250 degrees per second 131 no

Shape

Property Name Description Read Only
id A user definable id value. Defaults to a generated uid No
pins The pins defined for X, Y, and Z. No
isCalibrated The calibration state of the device. Yes
pitch An object containing values for the pitch rate and angle. Yes
roll An object containing values for the roll rate and angle. Yes
yaw An object containing values for the yaw rate and angle. Yes
rate And object containing the rate values of X, Y, and Z. Yes
x Value of x axis. Yes
y Value of y axis. Yes
z Value of z axis. Yes

Component Initialization

Analog

// Analog Gyro:
//
//   - attach X and Y to "A0" and "A1" respectively
//   - Use the LPR5150AL 4X sensitivity rating
//
new five.Gyro({
  pins: ["A0", "A1"],
  sensitivity: 0.67, // optional
  resolution: 4.88   // optional
});

lpr5150l

MPU6050

// Create an MPU-6050 Gyro object:
//
//  - attach SDA and SCL to the I2C pins on your board (A4 and A5 for the Uno)
//  - specify the MPU6050 controller
new five.Gyro({
  controller: "MPU6050",
  address: 0x68, // optional
  sensitivity: 131 // optional
});

MPU6050

BNO055

// Create an BNO055 Gyro object:
//
//  - attach SDA and SCL to the I2C pins on your board (A4 and A5 for the Uno)
//  - specify the BNO055 controller
new five.Gyro({
  controller: "BNO055",
  address: 0x28 // optional
});

imu-bno055.png

Usage

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

board.on("ready", function() {
  var gyro = new five.Gyro({
    controller: "MPU6050"
  });

  gyro.on("change", function() {
    console.log("gyro");
    console.log("  x            : ", this.x);
    console.log("  y            : ", this.y);
    console.log("  z            : ", this.z);
    console.log("  pitch        : ", this.pitch);
    console.log("  roll         : ", this.roll);
    console.log("  yaw          : ", this.yaw);
    console.log("  rate         : ", this.rate);
    console.log("  isCalibrated : ", this.isCalibrated);
    console.log("--------------------------------------");
  });
});

API

  • recalibrate() Tell the device to recalibrate

Events

  • change The "change" event is emitted whenever the value of the gyro changes more then the threshold value allows.

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

Examples

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