The BNO055 is a capable IMU that has on-chip sensor fusion and filtering. Interfacing can be done using I²C and UART. When used with the Raspberry via I²C, you get erroneous measurements because of the I²C clock stretching bug of the Raspberry. Using the UART, results are correct.
To create a lamp with adjustable color temperature and brightness, I use a warm/cold white dual LED strip, an ATtiny45 MCU with N-channel MOSFETs and two adjustable resistors. This article contains the hardware and software setup. The title image of this blog shows the project.