Gyro

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

We currently support two kinds of Gyros:

• LPR5150 (Analog)
  • Used on the TinkerKit Gyro breakout
• MPU6050 (I2C)
  • Invensense
  • SparkFun
• BNO055
  • Adafruit
  • Atmel
  • Tindie

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
});

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
});

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
});

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

• Tinkerkit Gyroscope
• MPU6050 Gyroscope
• Analog Gyroscope
• Gyro