File content as of revision 5:eefbf579d5cc:

#include <mbed.h>
#include <BNO080.h>

int main()
{
    Serial pc(USBTX, USBRX, 192000);
    

    // Create IMU, passing in output stream, pins, I2C address, and I2C frequency
    // These pin assignments are specific to my dev setup -- you'll need to change them
    BNO080 imu(&pc, D4, D5, D12, D10, 0x4b, 100000);

    imu.begin();

    // Tell the IMU to report rotation every 100ms and acceleration every 200ms
    
    imu.enableReport(BNO080::TOTAL_ACCELERATION, 100);
    //imu.enableReport(BNO080::GRAVITY_ACCELERATION, 100);
    imu.enableReport(BNO080::ROTATION, 100);

    while (true) {
        wait(.001f);

        // poll the IMU for new data -- this returns true if any packets were received

        if(imu.updateData()) {
            // now check for the specific type of data that was received (can be multiple at once)
            if (imu.hasNewData(BNO080::TOTAL_ACCELERATION) || imu.hasNewData(BNO080::ROTATION)) {
                pc.printf("Total Accel: ");
                imu.totalAcceleration.print(pc, true);
                
                pc.printf(", Rotation:");
                TVector3 eulerRadians = imu.rotationVector.euler();
                TVector3 eulerDegrees = eulerRadians * (180.0 / M_PI);
                eulerDegrees.print(pc, true);
                pc.printf("\n");
            }
            
        }
    }

}