SEN0140

    10 DOF Sensor (SKU:SEN0140)     From Robot Wiki  Contents     1 Introduction   o 1.1 Applications  2 Specification  3 Connection Diagram  4 Example Code  Introduction At the beginning,the inertial measurement unit is an electronic device that measures and reports on a craft's velocity, orientation, and gravitational forces, using a combination of accelerometers,gyroscopes, and magnetometers. Now IMUs are commonly used in the Humancomputer interaction(HCI), navigational purposes and balancing technology used in the Segway Personal Transporter as we all known. Applications      Aircraft  Balancing robots  Indoor inertial navigation  Altimeter  Human–computer Interaction (HCI)  Specification            Wide power input range from 3 to 8 volts  Low noise LDO regulator  Low cost IMU  Interface: I2C  M3x2 mounting holes for easily fixing in your mobile platforms,robots,HCI or UAVs  LED power indication  Integrate 10 dof sensors   o Adxl345 accelerometer  o ITG3200 gyro  o HMC5883L Compass  o BMP085 pressure sensor  Compact size design and easy‐to‐use  Compatible with Arduino controllers  Electricity gold PCB  Size: 26x18mm  Connection Diagram   10 Dof Connection Diagram  Example Code Please download the libraries for the all the IMU sensors first! #include #include #include #include #include float angles[3]; // yaw pitch roll float heading; short temperature; long pressure; // Set the FreeSixIMU object FreeSixIMU sixDOF = FreeSixIMU(); HMC5883L compass; // Record any errors that may occur in the compass. int error = 0; void setup(){ Serial.begin(9600); Wire.begin(); delay(5); sixDOF.init(); //init the Acc and Gyro delay(5); compass = HMC5883L(); // init HMC5883 error = compass.SetScale(1.3); // Set the scale of the compass. error = compass.SetMeasurementMode(Measurement_Continuous); // Set the meas urement mode to Continuous if(error != 0) // If there is an error, print it out. Serial.println(compass.GetErrorText(error)); bmp085Calibration(); // init barometric pressure sensor } void loop(){ sixDOF.getEuler(angles); temperature = bmp085GetTemperature(bmp085ReadUT()); pressure = bmp085GetPressure(bmp085ReadUP()); getHeading(); PrintData(); delay(300); } void getHeading(){ // Retrive the raw values from the compass (not scaled). MagnetometerRaw raw = compass.ReadRawAxis(); // Retrived the scaled values from the compass (scaled to the configured sc ale). MagnetometerScaled scaled = compass.ReadScaledAxis(); // Values are accessed like so: int MilliGauss_OnThe_XAxis = scaled.XAxis;// (or YAxis, or ZAxis) // Calculate heading when the magnetometer is level, then correct for signs of axis. heading = atan2(scaled.YAxis, scaled.XAxis); float declinationAngle = 0.0457; heading += declinationAngle; // Correct for when signs are reversed. if(heading < 0) heading += 2*PI; // Check for wrap due to addition of declination. if(heading > 2*PI) heading -= 2*PI; // Convert radians to degrees for readability. heading = heading * 180/M_PI; } void PrintData(){ Serial.print("Eular Angle: "); Serial.print(angles[0]); Serial.print(" "); Serial.print(angles[1]); Serial.print(" "); Serial.print(angles[2]); Serial.print(" "); Serial.print("Heading: "); Serial.print(heading); Serial.print(" "); Serial.print("Pressure: "); Serial.print(pressure, DEC); Serial.println(" Pa"); } Open the arduino IDE serial monitor, you will get:     Powered By DFRobot © 2008-2017