Changes between Version 10 and Version 11 of ControlSystems/Electrical/Training/Arduino/Lesson8

Timestamp:

Oct 25, 2015, 8:40:21 AM (10 years ago)

Author:

David Albert

Comment:

--

ControlSystems/Electrical/Training/Arduino/Lesson8

@@ -37 +37 @@
 == !Accelerometer/Gyroscope ==
 
-[[Image(http://i.ebayimg.com/images/g/BzkAAOSw9r1V-9c0/s-l1600.jpg, align=right, width=200)]] The team has a low cost ($3-4) Invensense MPU6050 3-axis gyroscope/accelerometer (aka Inertial Management Unit or IMU) aka [http://www.dfrobot.com/wiki/index.php/6_DOF_Sensor-MPU6050_%28SKU:SEN0142%29 6DOF sensor].  You can read about it and how to program it [http://playground.arduino.cc/Main/MPU-6050 here] or review this excellent [http://diyhacking.com/arduino-mpu-6050-imu-sensor-tutorial/ tutorial].  Because it is very inexpensive, it is used in many robotics projects such as a [http://www.instructables.com/id/2-Wheel-Self-Balancing-Robot-by-using-Arduino-and-/ self-balancing robot].
+[[Image(http://i.ebayimg.com/images/g/BzkAAOSw9r1V-9c0/s-l1600.jpg, align=right, width=200)]] The team has a low cost ($3-4) Invensense MPU6050 3-axis gyroscope/accelerometer (aka Inertial Management Unit or IMU) aka [http://www.dfrobot.com/wiki/index.php/6_DOF_Sensor-MPU6050_%28SKU:SEN0142%29 6DOF sensor].  You can read about it and how to program it [http://playground.arduino.cc/Main/MPU-6050 here] or review this excellent [http://diyhacking.com/arduino-mpu-6050-imu-sensor-tutorial/ tutorial].  The datasheet is [http://cdn.sparkfun.com/datasheets/Components/General%20IC/PS-MPU-6000A.pdf here] and more information is on Jeff Rowberg's page [http://www.i2cdevlib.com/devices/mpu6050#source here].  
 
-An IMU can be valuable to give a robot a sense of balance and direction (e.g. for navigation).  The MPU6050 [https://code.google.com/p/nav6/ can be used with the RoboRio or cRio].
+Because it is very inexpensive, it is used in many robotics projects such as a [http://www.instructables.com/id/2-Wheel-Self-Balancing-Robot-by-using-Arduino-and-/ self-balancing robot].  An IMU can be valuable to give a robot a sense of balance and direction (e.g. for navigation).  This is particularly important for [http://arduinosensors.com/index.php/arduino-6dof-motion-sensor-the-mpu6050-inertial-measurement-unit/ flying bots] where yaw, pitch, and roll must be tracked.  The MPU6050 [https://code.google.com/p/nav6/ can be used with the RoboRio or cRio].  6DOF sensors are also used as [http://playground.arduino.cc/Main/Mypae human interface devices].  Using an xDOF sensor may require [http://42bots.com/tutorials/arduino-uno-and-the-invensense-mpu-6050-6dof-imu/ calibration].  On a mini-bot, an [http://hackarobot.com/connecting-mpu6050-gyroscope-accelerometer-to-arduino/ accelerometer can detect motion] in any direction.  IMUs provide valuable information about speed and direction that can prove superior to wheel encoders which are susceptible to wheel slip.
+
+For advanced topics, investigate [http://www.chrobotics.com/library/accel-position-velocity inertial navigation] wherein, from a known starting position/location, you can track changes in orientation and motion to navigate.  Googling will yield many papers on inertial navigation using IMUs.