Stabilized Plateform with IMU 6DoF

Projects General Guidance
1

Dear all,

I developed a small sketch adapted to an IMU 6 DoF connected via I2C to an Arduino card (Duemilnove).

Using just two servos for the X and Y axis, it permit to show the concept of that stabilized plateform.

You can see the video showing the system working here: Stabilized Platform through IMU 6 DoF and the Quaternions Algorithm - YouTube

The code is divided in two parts:

The main code and the "printData" which show over the serial terminal the values of th axis and the servo's values (To set properly the servos angles).

The main code:

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

float angles[3]; 

Servo servo_x;  
Servo servo_y; 
Servo servo_z;

int pos_x = 0;  
int pos_y = 0;  
int pos_z = 0;

FreeSixIMU sixDOF = FreeSixIMU();

void setup() 
{ 
  Serial.begin(9600);
  
  Wire.begin();
  
  servo_z.attach(10); 
  servo_z.write(90);
  
  servo_x.attach(11); 
  servo_y.attach(12);
  
  sixDOF.init(); 
  
  delay(5);
}

void loop() 
{   
  sixDOF.getYawPitchRoll(angles);
  
  pos_x = (1570-angles[1]*9.55);
  servo_x.writeMicroseconds(pos_x);
 
  pos_y = (1400+angles[2]*9.55);
  servo_y.writeMicroseconds(pos_y); 
 
  //pos_z = (1500+angles[0]*9.55);
  //servo_z.writeMicroseconds(pos_z); 
  
  //printData();
}

and the "printData":

void printData()
{
  Serial.print("X:");
  Serial.print(angles[1]);
  Serial.print("   ");
  
  Serial.print("Pos_X:");
  Serial.print(pos_x);
  Serial.print(" ||  ");
  
  Serial.print("Y:");
  Serial.print(angles[2]);
  Serial.print("   ");
  
  Serial.print("Pos_Y:");
  Serial.print(pos_y);
  Serial.print(" ||  ");
  
  Serial.print("Z:");
  Serial.print(angles[0]);
  Serial.print("   ");
  
  Serial.print("Pos_Z:");
  Serial.print(pos_z);
  Serial.print("   ");
  
  Serial.println("   ");
  delay(5);
}

To have a fluent movements of the servos, please comment the "printData".

Cheers,

PS: I apologize my poor English...i'm french

Christophe

2

To have a fluent movements of the servos, please comment the "printData".

Or bump up the data rate to 115200.

Do you want me to move this to the exhibition section?

3

Hello,

Ok, no problem.

Thanks for the information.

Regards,