ITG-3200 gyro

Using Arduino Sensors
1

I am using this gyroscope to calculate the rotation of my robot.

Everything works fine however I struggle with identifying a specific value of a variable.

This is the code I use to calculate the change in angle:

void Robot::gyroCheck(float duration){
	int values[3] = { 0, 0, 0 };
	getGyroscopeReadings(values);
	float angle = (values[0] - xOffset) * duration / 2.96;
	totalAngle += angle;
}

Notice that I divide by 2.96 to get the correct angle.
I found this value by trial and error. I started with 10, changed to 5 and went down in steps until I got close and decreased the step size.

In however do not understand why I have to do this or if this is the correct value.

In some tutorial I noticed a similar technique by using such a constant and that guy named it the sensitivity of the sensor.
He calculated it by dividing the range of the sensor and the voltage change per step.

I however am not able to get the same information from the datasheet. Can someone give me some more info on this please.

2

The datasheet says sensitivity is 14.374 LSB / (deg/sec)

So at 1 rev/second that's 360 deg/second, so reading should be 5175.

You code is incomplete so we can't tell what units duration or xOffset are in...

3

duration is in seconds.
xOffset is data from the gyro. The xOffset I get from the gyro is always around -48. It's the same unit as value[0] but I don't know what it is. It's the two byte I read from the gyro which is described in the datasheet as being the data.