Combined Example for the Top pHAT and Qwiic ICM20948 Device. The WS2812 LEDs will change color based on the accelerometer's orientation.

9DOF_ICM_Mod.py

#!/usr/bin/env python3
#
#-----------------------------------------------------------------------------
# 9DOF_ICM_Mod.py
#
# Combined Example for the Top pHAT and Qwiic ICM20948 Device.
# The WS2812 LEDs will change color based on the accelerometer's
# orientation.
#
#------------------------------------------------------------------------
#
# Written by  SparkFun Electronics, March 2020
# This python library supports the SparkFun Electroncis qwiic 
# qwiic sensor/board ecosystem on a Raspberry Pi (and compatable) single
# board computers. 
#
# More information on qwiic is at https://www.sparkfun.com/qwiic
#
# Do you like this library? Help support SparkFun. Buy a board!
#
#==================================================================================
# Copyright (c) 2019 SparkFun Electronics
#
# Permission is hereby granted, free of charge, to any person obtaining a copy 
# of this software and associated documentation files (the "Software"), to deal 
# in the Software without restriction, including without limitation the rights 
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 
# copies of the Software, and to permit persons to whom the Software is 
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all 
# copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 
# SOFTWARE.
#==================================================================================

from __future__ import print_function
import qwiic_icm20948
import board
import neopixel
import time
import sys

# Create the class object
pixels = neopixel.NeoPixel(board.D12, 6)

#create global variable to keep track of color when debugging
ledColor = 1

def runExample():

    print("\nSparkFun Top pHAT and 9DoF ICM-20948 Sensor Combined Example\n")
    IMU = qwiic_icm20948.QwiicIcm20948()

    if IMU.connected == False:
        print("The Qwiic ICM20948 device isn't connected to the system. Please check your connection", \
            file=sys.stderr)
        return

    IMU.begin()





    while True:
        #declare ledColor a global variable inside here to access it 
        global ledColor
        
        if IMU.dataReady():
            IMU.getAgmt() # read all axis and temp from sensor, note this also updates all instance variables
            
            #the following are the threshold values for each axis is pointing right-side up
            
            # anything above IMU.azRaw > 16000 is red
            # ledColor = 1
            aZPos = 16000
            
            # anything below IMU.azRaw < -16000 is blue
            # ledColor = 2
            aZNeg = -16000
            
            # anything above IMU.ayRaw > 16100 is green
            # ledColor = 3
            ayPos = 16100
            
            # anything below IMU.ayRaw < -16000 is green
            # ledColor = 4
            ayNeg = -16000
            
            # anything above IMU.axRaw > 16000 is magenta
            # ledColor = 5
            axPos = 16000
            
            # anything below IMU.axRaw < -16400 is cyan
            # ledColor = 6
            axNeg = -16400
            
            
            
            
            #adjust color of the LED based on the accelerometer's reading
            if IMU.azRaw > aZPos:
                for i in range(6):
                    # Set LED red
                    pixels[i]=(10,0,0)
                    ledColor = 1
            
            elif IMU.azRaw < aZNeg:
                for i in range(6):
                    # Set LED blue
                    pixels[i]=(0,0,10)
                    ledColor = 2

            elif IMU.ayRaw > ayPos:
                for i in range(6):
                    # Set LED yellow
                    pixels[i]=(10,10,0)
                    ledColor = 3
                    
            elif IMU.ayRaw < ayNeg:
                for i in range(6):
                    # Set LED green
                    pixels[i]=(0,10,0)
                    ledColor = 4
            
            elif IMU.axRaw > axPos:
                for i in range(6):
                    # Set LED magenta
                    pixels[i]=(10,0,10)
                    ledColor = 5

            elif IMU.axRaw < axNeg:
                for i in range(6):
                    # Set LED cyan
                    pixels[i]=(0,10,10)
                    ledColor = 6
                    
                    
            if ledColor == 1:
                print("ledColor = red" ,'\n', '\n')
            elif ledColor == 2:
                print("ledColor = blue" ,'\n', '\n')
            elif ledColor == 3:
                print("ledColor = yellow" ,'\n', '\n')
            elif ledColor == 4:
                print("ledColor = green" ,'\n', '\n')
            elif ledColor == 5:
                print("ledColor = magenta" ,'\n', '\n')
            elif ledColor == 6:
                print("ledColor = cyan" ,'\n', '\n')
            
            
            print(\
            ' aX:', '{: 06d}'.format(IMU.axRaw)\
            , 'aY:', '{: 06d}'.format(IMU.ayRaw)\
            , 'aZ:', '{: 06d}'.format(IMU.azRaw)\
            , '\n'
            , '\n'
            , 'gX:', '{: 06d}'.format(IMU.gxRaw)\
            , 'gY:', '{: 06d}'.format(IMU.gyRaw)\
            , 'gZ:', '{: 06d}'.format(IMU.gzRaw)\
            , '\n'
            , '\n'
            , 'mX:', '{: 06d}'.format(IMU.mxRaw)\
            , 'mY:', '{: 06d}'.format(IMU.myRaw)\
            , 'mZ:', '{: 06d}'.format(IMU.mzRaw)\
            , '\n'
            , '\n'
            , '\n'
            , '\n'
            )
            time.sleep(0.03)
        else:
            print("Waiting for data")
            time.sleep(0.5)

if __name__ == '__main__':
    try:
        runExample()
    except (KeyboardInterrupt, SystemExit) as exErr:
        print("\nEnding Example 1")
        sys.exit(0)