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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
time.sleep(0.02) # Datasheet table 3.6
if new_mode != 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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