@tejasinamda : I get the values alr .. the same codes as u
// Main module K_bot angles in Quids, 10 bit ADC -------------
// 4 - Checking sensor data format display raw sensors data
#include <math.h>
#define GYR_Z 2 // Gyro Z (IMU pin #7)
#define ACC_X 0 // Acc X (IMU pin #1)
#define ACC_Y 1 // Acc Y (IMU pin #2)
int STD_LOOP_TIME = 9;
int sensorValue[3] = { 0, 0, 0};
int sensorZero[3] = { 0, 0, 0};
int lastLoopTime = STD_LOOP_TIME;
int lastLoopUsefulTime = STD_LOOP_TIME;
unsigned long loopStartTime = 0;
void setup() {
analogReference(DEFAULT); // Aref 5V
Serial.begin(115200);
delay(100);
calibrateSensors();
}
void loop() {
// ********************* Sensor aquisition & filtering *******************
updateSensors();
// ********************* print Debug info *************************************
serialOut_raw();
// *********************** loop timing control **************************
lastLoopUsefulTime = millis()-loopStartTime;
if(lastLoopUsefulTime<STD_LOOP_TIME) delay(STD_LOOP_TIME-lastLoopUsefulTime);
lastLoopTime = millis() - loopStartTime;
loopStartTime = millis();
}
void serialOut_raw() {
static int skip=0;
if(skip++==40) {
skip = 0;
Serial.print("ACC_X:"); Serial.print(sensorValue[ACC_X]);
Serial.print(" ACC_Y:"); Serial.print(sensorValue[ACC_Y]);
Serial.print(" GYR_Z:"); Serial.println(sensorValue[GYR_Z]);
}
}
// Sensors Module ---------------------------------------------------------------------
void calibrateSensors() { // Set zero sensor values
long v;
for(int n=0; n<3; n++) {
v = 0;
for(int i=0; i<50; i++) v += readSensor(n);
sensorZero[n] = v/50;
}
sensorZero[ACC_X] -= 103;
}
void updateSensors() { // data acquisition
long v;
for(int n=0; n<3; n++) {
v = 0;
for(int i=0; i<5; i++) v += readSensor(n);
sensorValue[n] = v/5 - sensorZero[n];
}
}
int readSensor(int channel){
return (analogRead(channel));
}
I am using Arduino ProMini + IMU Combo Board and i get this values
ACC_X:102 ACC_Y:0 GYR_Z:1
ACC_X:103 ACC_Y:0 GYR_Z:-2
ACC_X:102 ACC_Y:0 GYR_Z:1
ACC_X:103 ACC_Y:0 GYR_Z:2
ACC_X:103 ACC_Y:0 GYR_Z:1
ACC_X:103 ACC_Y:0 GYR_Z:0
ACC_X:102 ACC_Y:0 GYR_Z:0
ACC_X:102 ACC_Y:0 GYR_Z:2
ACC_X:102 ACC_Y:0 GYR_Z:2
ACC_X:102 ACC_Y:0 GYR_Z:-1
ACC_X:102 ACC_Y:-1 GYR_Z:4
ACC_X:103 ACC_Y:0 GYR_Z:1
ACC_X:103 ACC_Y:0 GYR_Z:-1
ACC_X:103 ACC_Y:0 GYR_Z:0
ACC_X:103 ACC_Y:0 GYR_Z:-1
ACC_X:103 ACC_Y:0 GYR_Z:2
ACC_X:103 ACC_Y:0 GYR_Z:-1
ACC_X:103 ACC_Y:1 GYR_Z:2
ACC_X:102 ACC_Y:0 GYR_Z:-2
ACC_X:102 ACC_Y:0 GYR_Z:-1
ACC_X:103 ACC_Y:1 GYR_Z:1
ACC_X:102 ACC_Y:0 GYR_Z:-3
ACC_X:102 ACC_Y:0 GYR_Z:1
ACC_X:102 ACC_Y:1 GYR_Z:-3
ACC_X:102 ACC_Y:0 GYR_Z:-1
ACC_X:103 ACC_Y:0 GYR_Z:3
ACC_X:103 ACC_Y:0 GYR_Z:0
ACC_X:113 ACC_Y:4 GYR_Z:4
ACC_X:103 ACC_Y:0 GYR_Z:16
ACC_X:102 ACC_Y:0 GYR_Z:-1
ACC_X:102 ACC_Y:0 GYR_Z:2
ACC_X:102 ACC_Y:0 GYR_Z:-1
ACC_X:103 ACC_Y:1 GYR_Z:2
ACC_X:102 ACC_Y:0 GYR_Z:-1
ACC_X:103 ACC_Y:1 GYR_Z:2
ACC_X:103 ACC_Y:0 GYR_Z:2
ACC_X:102 ACC_Y:0 GYR_Z:-2
ACC_X:103 ACC_Y:0 GYR_Z:1
ACC_X:102 ACC_Y:0 GYR_Z:1
ACC_X:102 ACC_Y:0 GYR_Z:1
ACC_X:102 ACC_Y:-1 GYR_Z:-1
ACC_X:103 ACC_Y:0 GYR_Z:-1
ACC_X:110 ACC_Y:-8 GYR_Z:14
ACC_X:114 ACC_Y:11 GYR_Z:-3
ACC_X:106 ACC_Y:8 GYR_Z:-4
ACC_X:100 ACC_Y:0 GYR_Z:-4
ACC_X:102 ACC_Y:0 GYR_Z:4
ACC_X:103 ACC_Y:0 GYR_Z:2
ACC_X:104 ACC_Y:-1 GYR_Z:0
ACC_X:103 ACC_Y:0 GYR_Z:-4
ACC_X:103 ACC_Y:0 GYR_Z:-1
ACC_X:103 ACC_Y:0 GYR_Z:1
ACC_X:102 ACC_Y:1 GYR_Z:1
ACC_X:103 ACC_Y:0 GYR_Z:2
ACC_X:105 ACC_Y:1 GYR_Z:-1
ACC_X:102 ACC_Y:0 GYR_Z:1
ACC_X:102 ACC_Y:0 GYR_Z:2
i dunno if this values is correct or wrong. and i'm building something like a balancing robot but it's not a balancing robot. I need to connect my Arduino ProMini with IMU combo board and joystick and servo together. I do not understand how to use gyro to control my servo and the what readings does the servo read.. My Gyro is giving an unstable values which i think is not correct. but i got no idea how to correct. Please help ..