DFR0209

    6 Dof Shield (DFR0209)     Contents      1 Introduction 2 Specification 3 Pinout Diagram 4 Example Code 5 Older revision fix Introduction This is a 6 Dof shield for Arduino, using the ADXL345 accelerometer and the ITG-3200 gyro.This IMU Combo shield also embeded a xbee sockets. So it's suitable for the projects that need bluetooth, wifi or Zigbee wireless communication.And the shield extends a pair of the encoders, the motor driver interface and 4 analog input connectors. It's aimed to run on the balancing robots or mobile platforms. The encoder and motor driver interfaces are the necessary parts of the your robots. Plugin the rotation sensors to the analog connectors, then you get the most easy way to adjust the system parameters and debug the platform. Specification         Working voltage: 5v and 3.3v Interface: I2C(SCL,SDA) Connecters: 2 way encoder connectors by using D2,D3,D8,D9 2 way motor driver connector by using D4,D5,D6,D7 4 way analog input connector (A0~A3) Embeded the ADXL345 accelerometer and the ITG-3200 gyro Directly support Xbee and XBee form factor wifi,bluetooth and RF modules Compatible with Arduino Uno DFRduino UNO A programming switch used to disable wireless communication when programming Size: 65x55x20mm Pinout Diagram 6 Dof IMU Shield pinout Example Code Please download and install the library first. http://www.dfrobot.com/image/data/DFR0209/6%20Dof%20shield%20library.zip // # Editor : Roy from DFRobot // # Date : 10.12.2013 // # Product name: 6 Dof shield for Arduino // # Product SKU : DFR0209 // # Version : 0.1 // # Description: // # The sketch for driving the 6 Dof shield for Arduino via I2C interface #include #include #include #include int16_t angle[2]; // pitch & roll // Set the FreeSixIMU object FreeSixIMU sixDOF = FreeSixIMU(); int rawSixDof[6]; void setup() { Serial.begin(9600); Wire.begin(); delay(5); sixDOF.init(); //begin the IMU delay(5); } void loop() { sixDOF.getRawValues(rawSixDof); for (int i=0; i