This week I spent half of my time dealing with the newly setup WT901BLEMPU9250 and half of my time with the previous BNO055 IMU sensor. After setting up the WT901 from last week our team sought to find a method to plot the acceleration and gyro values for our own testing purposes but also in a manner that would be plotted later on in our mobile software platform for the user to see a graphical trend of their movements in terms of the data captured by the IMU. I explored this in both avenues of the IMU sensors and found that the BNO055 was easier to deal with in terms of data extraction, particularly because of the binary mode nature of the WT901 that required an extra layer of extraction and processing of data that the BNO055 did not require. On top of this, our team found a customized ESP32 PCB on Adafruit that has a digital interface that also has a specific port for the Li-Poly battery and BNO055 STEMMA pins to connect to the sensor. Therefore, I continued work and gave full dedication to the serial plotting script and data extraction of the BNO055 for the rest of the week and will recommend to my teammates to continue the project with a focus on using this sensor. In terms of where we are on track, I was able to finish up the serial plotting software and fix some of the Bluetooth advertising issues with the BNO055 code where it would stop advertising after the initial code upload. I also wrote some code on the python script to graph not only the acceleration and gyroscope metrics, but also the velocity metrics via integration, despite having noticeable drift. I have attached a screenshot of these graphs that are generated using bleak library in the python script. I a still trying to mitigate the drift in the velocity calculations but we are on track as of now as I have also been able to extract the data to csv files to be sent to the software platform. Nonetheless, I feel we are in a good spot for the demo next week and are on track based on our schedule.
