ElectronDon66 has created a Teensy 4.0-based Directional Gyro heading display using a Ceva BNO085 9-DOF Orientation IMU Fusion System-in-Package (SiP) rather than a magnetometer.

The BNO085 is an interesting package, which combines a triaxial accelerometer, a triaxial gyroscope, a magnetometer and an Arm M0 running Ceva’s advanced MotionEngine sensor fusion software. This enables the chip to provide precise, real-time 3d orientation, heading, calibrated acceleration and angular velocity, and more, without requiring the user to dive into complex sensor fusion algorithms themselves.

The gyro features a 1.28″ round TFT LCD modeled after an aircraft heading indicator, and 200Hz update rate. Because it doesn’t use a magnetometer, it is immune to magnetic disturbances, which can be caused by nearby ferrous materials or electric motors. The device must be calibrated to north using a magnetic compass. Source code, BoM, and wiring details can be found in the project’s GitHub repo, and a demo can be enjoyed in the video below.

vindar has created S.A.R.C.A.S.M: a Slightly Annoying Rubik’s Cube Automatic Solving Robot! This self-contained Teensy 4.1-powered machine is compatible with any standard Rubik’s Cube and requires no external computation to solve cubes.

Designed as an over-the-top desk toy, S.A.R.C.A.S.M. is charged and programmed via USB-C. vindar’s Teensy port of Kociemba’s algorithm computes the solution after the board decodes the JPEG received from the ESP32-CAM.

vindar frequently uses Teensy for his projects, but says that for once, using a Teensy 4.1 does not feel like overkill. The Teensy not only runs the Kociemba algorithm to solve the cube, it’s driving the display, running real time audio, driving 2 servos and 1 stepper motor, driving RGBW LEDs,and delivering real-time 2D/3D graphics.

The large codebase for this project uses many different libraries to bring together many functions such graphics, audio, lighting, image capture moves computation, and motor control and movement to create a slightly annoying, but remarkably charming robot that excels at solving any standard Rubic’s Cube. The real-time feedback paired with the over 900 dialogs and 100 songs make SARCASM feel alive.

A custom PCB and 3d-printed enclosure hold it all together. Code and schematics are available on GitHub, and you can see it in action in the video below!