[SOLVED] IMU Sensor + PivotPi

DanielMGessel · January 10, 2018, 11:53pm

It looks like the IMU sensor has an I2C connector; can it be plugged into the PivotPi with the provided cable? Will it have a distinct I2C device ID, so I can just peek and poke i2C registers over the bus? If so, where’s the best place to look for info on programming the sensor directly with i2C?

Thanks - Dan

RobertLucian · January 11, 2018, 12:08am

Hi @DanielMGessel,

You can connect the IMU to the PivotPi and then have both of them show up on your Raspberry Pi just fine. Keep in mind that I2C can have up to 127 devices connected on the same line.

You should probably read the documentation for the IMU here:
http://di-sensors.readthedocs.io/en/master/quickstart.html
And as for the PivotPi, I’d use the source code to figure what commands you can run:

github.com

DexterInd/PivotPi/blob/master/Software/Python/pivotpi.py

#!/usr/bin/env python
#
# This is the Python library for controlling the PivotPi (https://www.dexterindustries.com/Pivotpi/)
'''
## License
The code here is Licensed under  The MIT License (MIT) . Please review the  LICENSE.md file or (here)[https://github.com/DexterInd/Raspbian_For_Robots/blob/master/LICENSE.md] for more information
Copyright (C) 2016 Dexter Industries
'''

import PCA9685

SERVO_1 = 0
SERVO_2 = 1
SERVO_3 = 2
SERVO_4 = 3
SERVO_5 = 4
SERVO_6 = 5
SERVO_7 = 6
SERVO_8 = 7

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Hope this is sufficient for you.

Thank you!

DanielMGessel · January 11, 2018, 3:31am

The PivotPi C code was a fantastic help and I’m very happy with the results! The 9865 Docs linked to in the source was also really useful. I’m looking for something similar for the IMU - hopefully all i’d Need is the device ID, register peek and poke info. Then I could wire it up and have C code that just works!

RobertLucian · January 12, 2018, 4:00pm

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