@@ -574,25 +574,24 @@ while (True):
574574
575575### Sensors
576576
577- #### IMU (LSM9DS1)
577+ #### IMU (Rev1: LSM9DS1 / Rev2: BMI270 + BMM150 )
578578
579- Access the ` accelerometer ` , ` magnetometer ` , and ` gyroscope ` data from the LSM9DS1 IMU module.
579+ Access the ` accelerometer ` , ` magnetometer ` , and ` gyroscope ` data from the IMU module.
580580
581581``` python
582582import time
583- import lsm9ds1
583+ import imu
584584from machine import Pin, I2C
585585
586586bus = I2C(1 , scl = Pin(15 ), sda = Pin(14 ))
587- lsm = lsm9ds1.LSM9DS1 (bus)
587+ imu = imu.IMU (bus)
588588
589589while (True ):
590- # for g,a in lsm.iter_accel_gyro(): print(g,a) # using fifo
591- print (' Accelerometer: x:{:>8.3f } y:{:>8.3f } z:{:>8.3f } ' * lsm.read_accel()))
592- print (' Magnetometer: x:{:>8.3f } y:{:>8.3f } z:{:>8.3f } ' * lsm.read_magnet()))
593- print (' Gyroscope: x:{:>8.3f } y:{:>8.3f } z:{:>8.3f } ' * lsm.read_gyro()))
590+ print (' Accelerometer: x:{:>8.3f } y:{:>8.3f } z:{:>8.3f } ' * imu.accel()))
591+ print (' Gyroscope: x:{:>8.3f } y:{:>8.3f } z:{:>8.3f } ' * imu.gyro()))
592+ print (' Magnetometer: x:{:>8.3f } y:{:>8.3f } z:{:>8.3f } ' * imu.magnet()))
594593 print (" "
595- time.sleep_ms(500 )
594+ time.sleep_ms(100 )
596595```
597596
598597### Wireless
@@ -1546,4 +1545,4 @@ If you need to stop the audio streaming, you can call `.stop_streaming()`.
15461545
15471546``` python
15481547audio.stop_streaming()
1549- ```
1548+ ```
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