How can I read separate sensor values from a 6DOF IMU?

Projects Programming
1

So I bought this accelero/gyro combo from sparkfun and I want to know how I can get separate values from both sensors.
sensor: SparkFun 6 Degrees of Freedom IMU Digital Combo Board - ITG3200/ADXL345 - SEN-10121 - SparkFun Electronics

I followed the tutorial on bildr and that works just fine.
tutorial: http://bildr.org/2012/03/stable-orientation-digital-imu-6dof-arduino/

Now I'm pretty new to libraries but I think I get how they work by looking at the example at bildr. So I wrote some code and it uploads to my arduino just fine, but the serial monitor only gives 0's.

This is the code I wrote:

#include <FIMU_ADXL345.h>
#include <FIMU_ITG3200.h>
#include <Wire.h>

float AccRead[3]; // X, Y, Z
float GyroRead[3]; // yaw, pitch, roll

// Set the Accelerometer
ADXL345 Acc = ADXL345();

// Set the Gyroscope
ITG3200 Gyro = ITG3200();


void setup() { 
  Serial.begin(9600);
  Wire.begin();

  delay(5);
  Acc.init(0); //begin the IMU
  Gyro.init(0);
  delay(5);
}

void loop() { 

  Acc.get_Gxyz(AccRead);
  Gyro.readGyro(GyroRead);

  Serial.print(AccRead[0]);
  Serial.print(" | ");
  Serial.print(AccRead[1]);
  Serial.print(" | ");
  Serial.print(AccRead[2]);
  Serial.print(" || ");
  Serial.print(GyroRead[0]);
  Serial.print(" | ");  
  Serial.print(GyroRead[1]);
  Serial.print(" | ");
  Serial.println(GyroRead[2]);

  delay(100); 
}

The libraries I used can also be found on the bildr page, but the functions I used are described like this in the libraries:

FIMU_ADXL345.H:

    void init(int address);
    void get_Gxyz(float *xyz);

FIMU_ITG3200.h:

    void init(unsigned int address);
    void readGyro(float *_GyroXYZ); // includes gain and offset

I don't know if it makes any difference but I use a Leonardo.
Can anybody help me make this work?

2

You probably need to specify the I2C device address, and zero ( which is what you are using ), is not a valid i2c device address.

Look for the i2c_scanner sketch, download it and run it. It will tell you what the actual I2C addresses of your sensor module are.

3

The example which you used and had working also uses the correct I2C address and the address with also be in the datasheet to which there is a link on the sparkfun site.

Mark

4

Yes it worked! Thanks alot. The first example started like this: sixDOF.init() so I thought the same would work for the separate sensors. But just init() would give an error and asked for a int. Anyway it works now, thanks again!