Pushing for review, not sure why it's not working

Author: evaherrada

adafruit_bno055.py

@@ -91,38 +91,6 @@ class BNO055:
     Driver for the BNO055 9DOF IMU sensor.
     """
 
-    temperature = _ReadOnlyUnaryStruct(0x34, 'b')
-    """Measures the temperature of the chip in degrees Celsius."""
-    accelerometer = _ScaledReadOnlyStruct(0x08, '<hhh', 1/100)
-    """Gives the raw accelerometer readings, in m/s.
-
-       .. warning:: This is deprecated. Use ``acceleration`` instead. It'll work
-         with other drivers too."""
-    acceleration = _ScaledReadOnlyStruct(0x08, '<hhh', 1/100)
-    """Gives the raw accelerometer readings, in m/s."""
-    magnetometer = _ScaledReadOnlyStruct(0x0e, '<hhh', 1/16)
-    """Gives the raw magnetometer readings in microteslas.
-
-       .. warning:: This is deprecated. Use ``magnetic`` instead. It'll work with
-         other drivers too."""
-    magnetic = _ScaledReadOnlyStruct(0x0e, '<hhh', 1/16)
-    """Gives the raw magnetometer readings in microteslas."""
-    gyroscope = _ScaledReadOnlyStruct(0x14, '<hhh', 1/16)
-    """Gives the raw gyroscope reading in degrees per second.
-
-       .. warning:: This is deprecated. Use ``gyro`` instead. It'll work with
-         other drivers too."""
-    gyro = _ScaledReadOnlyStruct(0x14, '<hhh', 0.001090830782496456)
-    """Gives the raw gyroscope reading in radians per second."""
-    euler = _ScaledReadOnlyStruct(0x1a, '<hhh', 1/16)
-    """Gives the calculated orientation angles, in degrees."""
-    quaternion = _ScaledReadOnlyStruct(0x20, '<hhhh', 1/(1<<14))
-    """Gives the calculated orientation as a quaternion."""
-    linear_acceleration = _ScaledReadOnlyStruct(0x28, '<hhh', 1/100)
-    """Returns the linear acceleration, without gravity, in m/s."""
-    gravity = _ScaledReadOnlyStruct(0x2e, '<hhh', 1/100)
-    """Returns the gravity vector, without acceleration in m/s."""
-
     def __init__(self, i2c, address=0x28):
         self.i2c_device = I2CDevice(i2c, address)
         self.buffer = bytearray(2)
@@ -244,3 +212,67 @@ def use_external_crystal(self, value):
         self._write_register(_TRIGGER_REGISTER, 0x80 if value else 0x00)
         self.mode = last_mode
         time.sleep(0.01)
+
+
+    @property
+    def temperature(self):
+        """Measures the temperature of the chip in degrees Celsius."""
+        return _ReadOnlyUnaryStruct(0x34, 'b')
+
+    @property
+    def acceleration(self):
+        """Gives the raw accelerometer readings, in m/s."""
+        if self.mode not in [0, 2, 3, 6]:
+            return _ScaledReadOnlyStruct(0x08, '<hhh', 1/100)
+        else:
+            return (None, None, None)
+
+    @property
+    def magnetic(self):
+        """Gives the raw magnetometer readings in microteslas."""
+        if self.mode not in [0, 3, 5, 8]:
+            return _ScaledReadOnlyStruct(0x0e, '<hhh', 1/16)
+        else:
+            return (None, None, None)
+
+    @property
+    def gyro(self):
+        """Gives the raw gyroscope reading in radians per second."""
+        if self.mode not in [0, 1, 2, 4, 9, 10]:
+            return _ScaledReadOnlyStruct(0x14, '<hhh', 0.001090830782496456)
+
+        else:
+            return (None, None, None)
+
+    @property
+    def euler(self):
+        """Gives the calculated orientation angles, in degrees."""
+        if self.mode in [9, 11, 12, 0x0c]:
+
+            return _ScaledReadOnlyStruct(0x1a, '<hhh', 1/16)
+        else:
+            return (None, None, None)
+    
+    @property
+    def quaternion(self):
+        """Gives the calculated orientation as a quaternion."""
+        if self.mode in [9, 11, 12]:
+            return _ScaledReadOnlyStruct(0x20, '<hhhh', 1/(1<<14))
+        else:
+            return (None, None, None, None)
+
+    @property
+    def linear_acceleration(self):
+        """Returns the linear acceleration, without gravity, in m/s."""
+        if self.mode in [9, 11, 12]:
+            return _ScaledReadOnlyStruct(0x28, '<hhh', 1/100)
+        else:
+            return (None, None, None)
+
+    @property
+    def gravity(self):
+        """Returns the gravity vector, without acceleration in m/s."""
+        if self.mode in [9, 11, 12]:
+            return _ScaledReadOnlyStruct(0x2e, '<hhh', 1/100)
+        else:
+            return (None, None, None)