Merge pull request #741 from makermelissa/master

Adding Tilt Demo using BNO055 and PCA9685 for MagPi

Author: ladyada

Tilt_Controlled_Servo_Driver/tiltdemo.py

@@ -0,0 +1,31 @@
+"""
+In this Demo we will drive two servos based on the Tilt along the Y and Z axis
+of the BNO055 9-Degrees of Freedom IMU Sensor. This could easily be extended
+to drive servos on all three axis as well as use a host of other information
+including lateral acceleration.
+"""
+
+import board
+import busio
+from adafruit_servokit import ServoKit
+import adafruit_bno055
+
+# Set channels to the number of servo channels on your kit.
+kit = ServoKit(channels=16)
+
+# Setup the BNO055 to read data
+i2c = busio.I2C(board.SCL, board.SDA)
+sensor = adafruit_bno055.BNO055(i2c)
+
+while True:
+    # Get the Euler angles from the BNO055
+    (x, y, z) = sensor.euler
+
+    # Euler angles are between -180 and 180
+    # We want to translate them to the Servo angles between 0-180
+    try:
+        kit.servo[0].angle = (y + 180) / 2
+        kit.servo[1].angle = (z + 180) / 2
+    except ValueError:
+        # Pass on any values that are out of range
+        pass