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mode setter enables changes and honors delays. #27

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Merged
merged 3 commits into from
May 9, 2019
Merged

mode setter enables changes and honors delays. #27

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0dced64
mode setter enables changes and honors delays.
peterhinch May 4, 2019
6408a1a
Fix errors identified in review.
peterhinch May 5, 2019
29784ae
Fix errors identified in review.
peterhinch May 5, 2019
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12 changes: 8 additions & 4 deletions adafruit_bno055.py
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Original file line number Diff line number Diff line change
Expand Up @@ -197,6 +197,14 @@ def mode(self):
"""
return self._read_register(_MODE_REGISTER)

@mode.setter
def mode(self, new_mode):
self._write_register(_MODE_REGISTER, _CONFIG_MODE) # Empirically necessary
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_CONFIG_MODE is not defined, needs to be CONFIG_MODE

time.sleep_ms(0.02) # Datasheet table 3.6
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I think this needs to be time.sleep(0.02).
image

if new_mode != _CONFIG_MODE:
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Same here for _CONFIG_MODE

self._write_register(_MODE_REGISTER, new_mode)
time.sleep(0.01) # Table 3.6

@property
def calibration_status(self):
"""Tuple containing sys, gyro, accel, and mag calibration data."""
Expand All @@ -213,10 +221,6 @@ def calibrated(self):
sys, gyro, accel, mag = self.calibration_status
return sys == gyro == accel == mag == 0x03

@mode.setter
def mode(self, new_mode):
self._write_register(_MODE_REGISTER, new_mode)

@property
def external_crystal(self):
"""Switches the use of external crystal on or off."""
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