Gyroscope
Project #25 – Movement – Quaternion – Mk06
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#DonLucElectronics #DonLuc #SparkFunRedBoard #Movement #MPU9150 #9DOF #Quaternion #Magnetometer #Accelerometer #Gyroscope #Arduino #Project #Fritzing #Programming #Electronics #Microcontrollers #Consultant
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Quaternion
In mathematics, the quaternion number system extends the complex numbers. Quaternions were first described by the Irish mathematician William Rowan Hamilton in 1843 and applied to mechanics in three-dimensional space. Hamilton defined a quaternion as the quotient of two directed lines in a three-dimensional space, as the quotient of two vectors. Multiplication of quaternions is noncommutative.
Quaternions are used in pure mathematics, but also have practical uses in applied mathematics, particularly for calculations involving three-dimensional rotations, such as in three-dimensional computer graphics, computer vision, and crystallographic texture analysis. They can be used alongside other methods of rotation, such as Euler angles and rotation matrices, or as an alternative to them, depending on the application.
SparkFun 9 Degrees of Freedom Breakout – MPU-9150
The SparkFun 9DOF MPU-9150 is the world’s first 9-axis MotionTracking MEMS device designed for the low power, low cost, and high performance requirements of consumer electronics equipment including smartphones, tablets and wearable sensors. And guess what? You get to play with it.
This breakout board makes it easy to prototype with the InvenSense MPU-9150 by breaking out all the pins you need to standard 0.1″ spaced headers. The board also provides I2C pullup resistors and a solder jumper to switch the I2C address of the device.
The MPU-9150 is a System in Package (SiP) that combines two chips: the MPU-6050, which contains a 3-axis gyroscope, 3-axis accelerometer, and an onboard Digital Motion Processor™ (DMP™) capable of processing complex MotionFusion algorithms; and the AK8975, a 3-axis digital compass. The part’s integrated 6-axis MotionFusion algorithms access all internal sensors to gather a full set of sensor data.
DL2211Mk02
1 x SparkFun RedBoard Qwiic
1 x SparkFun 9 Degrees of Freedom Breakout – MPU-9150
1 x SparkFun Cerberus USB Cable
SparkFun RedBoard Qwiic
SDA – Analog A4
SCL – Analog A5
VIN – +3.3V
GND – GND
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DL2211Mk02p.ino
/* ***** Don Luc Electronics © *****
Software Version Information
Project #25 - Movement - Quaternion - Mk06
25-06
DL2211Mk02p.ino
1 x SparkFun RedBoard Qwiic
1 1 x SparkFun 9 Degrees of Freedom Breakout - MPU-9150
1 x SparkFun Cerberus USB Cable
*/
// Include the Library Code
// Two Wire Interface (TWI/I2C)
#include <Wire.h>
// I2CDev I2C utilities
#include "I2Cdev.h"
// MPU9150Lib 9-axis fusion
#include "MPU9150Lib.h"
// CalLib magnetometer and accelerometer calibration
#include "CalLib.h"
// Motion Driver InvenSense Embedded SDK v5.1
#include <dmpKey.h>
#include <dmpmap.h>
#include <inv_mpu.h>
#include <inv_mpu_dmp_motion_driver.h>
// EEPROM Magnetometer and Accelerometer data is stored
#include <EEPROM.h>
// the MPU object
MPU9150Lib MPU;
// MPU_UPDATE_RATE defines the rate (in Hz)
// at which the MPU updates the sensor data and DMP output
#define MPU_UPDATE_RATE (20)
// MAG_UPDATE_RATE defines the rate (in Hz) at which the
// MPU updates the magnetometer data
// MAG_UPDATE_RATE should be less than or equal to the MPU_UPDATE_RATE
#define MAG_UPDATE_RATE (10)
// MPU_MAG_MIX defines the influence that the magnetometer has on the yaw output.
// The magnetometer itself is quite noisy so some mixing with the gyro yaw can help
// significantly. Some example values are defined below:
// Just use gyro yaw
#define MPU_MAG_MIX_GYRO_ONLY 0
// Just use magnetometer and no gyro yaw
#define MPU_MAG_MIX_MAG_ONLY 1
// A good mix value
#define MPU_MAG_MIX_GYRO_AND_MAG 10
// mainly gyros with a bit of mag correction
#define MPU_MAG_MIX_GYRO_AND_SOME_MAG 50
// MPU_LPF_RATE is the low pas filter rate and can be between 5 and 188Hz
#define MPU_LPF_RATE 5
// This is our earth frame gravity vector - quaternions and vectors
MPUQuaternion gravity;
// SERIAL_PORT_SPEED defines the speed to use for the debug serial port
#define SERIAL_PORT_SPEED 115200
// Software Version Information
String sver = "25-06";
void loop() {
// MPU
isMPU();
}
getMPU.ino
// MPU
// Setup MPU
void isSetupMPU() {
// MPU
MPU.init(MPU_UPDATE_RATE, MPU_MAG_MIX_GYRO_AND_MAG, MAG_UPDATE_RATE, MPU_LPF_RATE); // start the MPU
// Set up the initial gravity vector for quaternion rotation
// Max value down the z axis
gravity[QUAT_W] = 0;
gravity[QUAT_X] = 0;
gravity[QUAT_Y] = 0;
gravity[QUAT_Z] = SENSOR_RANGE;
}
// MPU
void isMPU() {
// Quaternion
// This is our body frame gravity vector
MPUQuaternion rotatedGravity;
// This is the conjugate of the fused quaternion
MPUQuaternion fusedConjugate;
// Used in the rotation
MPUQuaternion qTemp;
// The accelerations
MPUVector3 result;
// Get the latest data
if (MPU.read()) {
// Need this for the rotation
MPUQuaternionConjugate(MPU.m_fusedQuaternion, fusedConjugate);
// Rotate the gravity vector into the body frame
MPUQuaternionMultiply(gravity, MPU.m_fusedQuaternion, qTemp);
MPUQuaternionMultiply(fusedConjugate, qTemp, rotatedGravity);
// Now subtract rotated gravity from the body accels to get real accelerations.
// Note that signs are reversed to get +ve acceleration results
// in the conventional axes.
result[VEC3_X] = -(MPU.m_calAccel[VEC3_X] - rotatedGravity[QUAT_X]);
result[VEC3_Y] = -(MPU.m_calAccel[VEC3_Y] - rotatedGravity[QUAT_Y]);
result[VEC3_Z] = -(MPU.m_calAccel[VEC3_Z] - rotatedGravity[QUAT_Z]);
// print the residual accelerations
MPU.printVector(result);
Serial.println();
}
}
setup.ino
// Setup
void setup() {
// Serial
Serial.begin(SERIAL_PORT_SPEED);
Serial.println("Accel9150 starting");
// Give display time to power on
delay(100);
// Set up I2C bus
Wire.begin();
// Setup MPU
isSetupMPU();
}
——
People can contact us: https://www.donluc.com/?page_id=1927
Technology Experience
- Single-Board Microcontrollers (PIC, Arduino, Raspberry Pi,Espressif, etc…)
- IoT
- Wireless (Radio Frequency, Bluetooth, WiFi, Etc…)
- Robotics
- Camera and Video Capture Receiver Stationary, Wheel/Tank and Underwater Vehicle
- Unmanned Vehicles Terrestrial and Marine
- Machine Learning
- RTOS
- Research & Development (R & D)
Instructor and E-Mentor
- IoT
- PIC Microcontrollers
- Arduino
- Raspberry Pi
- Espressif
- Robotics
Follow Us
Luc Paquin – Curriculum Vitae – 2023
https://www.donluc.com/luc/
Web: https://www.donluc.com/
Facebook: https://www.facebook.com/neosteam.labs.9/
YouTube: https://www.youtube.com/channel/UC5eRjrGn1CqkkGfZy0jxEdA
Twitter: https://twitter.com/labs_steam
Pinterest: https://www.pinterest.com/NeoSteamLabs/
Instagram: https://www.instagram.com/neosteamlabs/
Don Luc
Project #25 – Movement – 9-DOF – Mk04
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#DonLucElectronics #DonLuc #SparkFunRedBoard #Movement #9DOF #Accelerometer #Magnetometer #Gyroscope #Arduino #Project #Fritzing #Programming #Electronics #Microcontrollers #Consultant
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Roll, Pitch, and Yaw
How is Controlling an Airplane or Robotic Different than Controlling a Car or Boat?
Stability and control are much more complex for an airplane, which can move freely in three dimensions, than for cars or boats, which only move in two. A change in any one of the three types of motion affects the other two.
Imagine three lines running through an airplane and intersecting at right angles at the airplane’s center of gravity.
- Rotation around the front-to-back axis is called Roll.
- Rotation around the side-to-side axis is called Pitch.
- Rotation around the vertical axis is called Yaw.
SparkFun 9 Degrees of Freedom – Sensor Stick
The SparkFun 9DOF Sensor Stick is a very small sensor board with 9 degrees of freedom. It includes the ADXL345 accelerometer, the HMC5883L magnetometer, and the ITG-3200 MEMS gyro. The “Stick” has a simple I2C interface and a mounting hole for attaching it to your project. Also, the board is a mere allowing it to be easily mounted in just about any application.
DL2210Mk08
1 x SparkFun RedBoard Qwiic
1 x SparkFun Micro OLED (Qwiic)
1 x Qwiic Cable – 100mm
1 x SparkFun 9 Degrees of Freedom – Sensor Stick
1 x SparkFun Cerberus USB Cable
SparkFun RedBoard Qwiic
SDA – Analog A4
SCL – Analog A5
VIN – +3.3V
GND – GND
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DL2210Mk08p.ino
/* ***** Don Luc Electronics © *****
Software Version Information
Project #25 - Movement - 9-DOF - Mk04
25-04
DL2210Mk06p.ino
1 x SparkFun RedBoard Qwiic
1 x SparkFun Micro OLED (Qwiic)
1 x Qwiic Cable - 100mm
1 x SparkFun 9 Degrees of Freedom - Sensor Stick
1 x SparkFun Cerberus USB Cable
*/
// Include the Library Code
// Two Wire Interface (TWI/I2C)
#include <Wire.h>
// SparkFun Micro OLED
#include <SFE_MicroOLED.h>
// Includes and variables for IMU integration
// Accelerometer
#include <ADXL345.h>
// Magnetometer
#include <HMC58X3.h>
// MEMS Gyroscope
#include <ITG3200.h>
// Debug
#include "DebugUtils.h"
// FreeIMU
#include <CommunicationUtils.h>
#include <FreeIMU.h>
// Set the FreeIMU object
FreeIMU my3IMU = FreeIMU();
// Yaw Pitch Roll
float ypr[3];
float Yaw = 0;
float Pitch = 0;
float Roll = 0;
// SparkFun Micro OLED
#define PIN_RESET 9
#define DC_JUMPER 1
// I2C declaration
MicroOLED oled(PIN_RESET, DC_JUMPER);
// Software Version Information
String sver = "25-04";
void loop() {
// isFreeIMU
isFreeIMU();
// Micro OLED
isMicroOLED();
// One delay in between reads
delay(1000);
}
getFreeIMU.ino
// FreeIMU
// isFreeIMU
void isFreeIMU(){
// FreeIMU
// Yaw Pitch Roll
my3IMU.getYawPitchRoll(ypr);
// Yaw
Yaw = ypr[0];
// Pitch
Pitch = ypr[1];
// Roll
Roll = ypr[2];
}
getMicroOLED.ino
// SparkFun Micro OLED
// Setup Micro OLED
void isSetupMicroOLED() {
// Initialize the OLED
oled.begin();
// Clear the display's internal memory
oled.clear(ALL);
// Display what's in the buffer (splashscreen)
oled.display();
// Delay 1000 ms
delay(1000);
// Clear the buffer.
oled.clear(PAGE);
}
// Micro OLED
void isMicroOLED() {
// Text Display FreeIMU
// Clear the display
oled.clear(PAGE);
// Set cursor to top-left
oled.setCursor(0, 0);
// Set font to type 0
oled.setFontType(0);
// FreeIMU
oled.print("FreeIMU");
oled.setCursor(0, 12);
// Yaw
oled.print("Y: ");
oled.print(Yaw);
oled.setCursor(0, 25);
// Pitch
oled.print("P: ");
oled.print(Pitch);
oled.setCursor(0, 39);
// Roll
oled.print("R: ");
oled.print(Roll);
oled.display();
}
setup.ino
// Setup
void setup() {
// Give display time to power on
delay(100);
// Set up I2C bus
Wire.begin();
// Setup Micro OLED
isSetupMicroOLED();
// Pause
delay(5);
// Initialize IMU
my3IMU.init();
// Pause
delay(5);
}
——
People can contact us: https://www.donluc.com/?page_id=1927
Technology Experience
- Single-Board Microcontrollers (PIC, Arduino, Raspberry Pi,Espressif, etc…)
- IoT
- Wireless (Radio Frequency, Bluetooth, WiFi, Etc…)
- Robotics
- Camera and Video Capture Receiver Stationary, Wheel/Tank and Underwater Vehicle
- Unmanned Vehicles Terrestrial and Marine
- Machine Learning
- RTOS
- Research & Development (R & D)
Instructor and E-Mentor
- IoT
- PIC Microcontrollers
- Arduino
- Raspberry Pi
- Espressif
- Robotics
Follow Us
Luc Paquin – Curriculum Vitae – 2022
https://www.donluc.com/luc/
Web: https://www.donluc.com/
Facebook: https://www.facebook.com/neosteam.labs.9/
YouTube: https://www.youtube.com/channel/UC5eRjrGn1CqkkGfZy0jxEdA
Twitter: https://twitter.com/labs_steam
Pinterest: https://www.pinterest.com/NeoSteamLabs/
Instagram: https://www.instagram.com/neosteamlabs/
Don Luc
Project #25 – Movement – Gyroscope L3G4200D – Mk03
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#DonLucElectronics #DonLuc #SparkFunRedBoard #Movement #Gyroscope #Arduino #Project #Fritzing #Programming #Electronics #Microcontrollers #Consultant
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Gyroscope
A gyroscope is a device used for measuring or maintaining orientation and angular velocity.It is a spinning wheel or disc in which the axis of rotation is free to assume any orientation by itself. When rotating, the orientation of this axis is unaffected by tilting or rotation of the mounting, according to the conservation of angular momentum.
Gyroscopes based on other operating principles also exist, such as the microchip-packaged MEMS gyroscopes found in electronic devices, solid-state ring lasers, fibre optic gyroscopes, and the extremely sensitive quantum gyroscope. MEMS gyroscopes are popular in some consumer electronics, such as smartphones.
SparkFun Tri-Axis Gyro Breakout – L3G4200D
This is a breakout board for the L3G4200D low-power three-axis angular rate sensor. The L3G4200D is a MEMS motion sensor and has a full scale of ±250 or ±500 or ±2000 dps and is capable of measuring rates with a user selectable bandwidth. These work great in gaming and virtual reality input devices, GPS navigation systems and robotics.
DL2210Mk07
1 x SparkFun RedBoard Qwiic
1 x SparkFun Micro OLED (Qwiic)
1 x Qwiic Cable – 100mm
1 x SparkFun Tri-Axis Gyro Breakout – L3G4200D
1 x SparkFun Cerberus USB Cable
SparkFun RedBoard Qwiic
SDA – Analog A4
SCL – Analog A5
VIN – +3.3V
GND – GND
DL2210Mk07p.ino
/* ***** Don Luc Electronics © *****
Software Version Information
Project #25 - Movement - Gyroscope L3G4200D - Mk03
25-02
DL2210Mk06p.ino
1 x SparkFun RedBoard Qwiic
1 x SparkFun Micro OLED (Qwiic)
1 x Qwiic Cable - 100mm
1 x SparkFun Tri-Axis Gyro Breakout - L3G4200D
1 x SparkFun Cerberus USB Cable
*/
// Include the Library Code
// Two Wire Interface (TWI/I2C)
#include <Wire.h>
// SparkFun Micro OLED
#include <SFE_MicroOLED.h>
// Gyroscope
#include <L3G4200D.h>
// Gyroscope
L3G4200D gyroscope;
// Timers
unsigned long timer = 0;
float timeStep = 0.01;
// Pitch, Roll and Yaw values
float pitch = 0;
float roll = 0;
float yaw = 0;
// SparkFun Micro OLED
#define PIN_RESET 9
#define DC_JUMPER 1
// I2C declaration
MicroOLED oled(PIN_RESET, DC_JUMPER);
// Software Version Information
String sver = "25-03";
void loop() {
// Gyroscope
isGyroscope(),
// Micro OLED
isMicroOLED();
// Wait to full timeStep period
delay((timeStep*1000) - (millis() - timer));
}
getGyroscope.ino
// L3G4200D Triple Axis Gyroscope
// Setup Gyroscope
void isSetupGyroscope() {
// Setup Gyroscope
// Set scale 2000 dps and 400HZ Output data rate (cut-off 50)
while(!gyroscope.begin(L3G4200D_SCALE_2000DPS, L3G4200D_DATARATE_400HZ_50))
{
// Could not find a valid L3G4200D sensor, check wiring!
delay(500);
}
// Calibrate gyroscope. The calibration must be at rest.
// If you don't want calibrate, comment this line.
gyroscope.calibrate(100);
}
// L3G4200D Gyroscope
void isGyroscope(){
// Timer
timer = millis();
// Read normalized values
Vector norm = gyroscope.readNormalize();
// Calculate Pitch, Roll and Yaw
pitch = pitch + norm.YAxis * timeStep;
roll = roll + norm.XAxis * timeStep;
yaw = yaw + norm.ZAxis * timeStep;
}
getMicroOLED.ino
// SparkFun Micro OLED
// Setup Micro OLED
void isSetupMicroOLED() {
// Initialize the OLED
oled.begin();
// Clear the display's internal memory
oled.clear(ALL);
// Display what's in the buffer (splashscreen)
oled.display();
// Delay 1000 ms
delay(1000);
// Clear the buffer.
oled.clear(PAGE);
}
// Micro OLED
void isMicroOLED() {
// Text Display Gyroscope
// Clear the display
oled.clear(PAGE);
// Set cursor to top-left
oled.setCursor(0, 0);
// Set font to type 0
oled.setFontType(0);
// Gyroscope
oled.print("Gyro");
oled.setCursor(0, 12);
// X
oled.print("Pit: ");
oled.print(pitch);
oled.setCursor(0, 25);
// Y
oled.print("Rol: ");
oled.print(roll);
oled.setCursor(0, 39);
// Z
oled.print("Yaw: ");
oled.print(yaw);
oled.display();
}
setup.ino
// Setup
void setup() {
// Give display time to power on
delay(100);
// Set up I2C bus
Wire.begin();
// Setup Micro OLED
isSetupMicroOLED();
// L3G4200D Gyroscope
isSetupGyroscope();
}
——
People can contact us: https://www.donluc.com/?page_id=1927
Technology Experience
- Single-Board Microcontrollers (PIC, Arduino, Raspberry Pi,Espressif, etc…)
- IoT
- Wireless (Radio Frequency, Bluetooth, WiFi, Etc…)
- Robotics
- Camera and Video Capture Receiver Stationary, Wheel/Tank and Underwater Vehicle
- Unmanned Vehicles Terrestrial and Marine
- Machine Learning
- RTOS
- Research & Development (R & D)
Instructor and E-Mentor
- IoT
- PIC Microcontrollers
- Arduino
- Raspberry Pi
- Espressif
- Robotics
Follow Us
Luc Paquin – Curriculum Vitae – 2022
https://www.donluc.com/luc/
Web: https://www.donluc.com/
Facebook: https://www.facebook.com/neosteam.labs.9/
YouTube: https://www.youtube.com/channel/UC5eRjrGn1CqkkGfZy0jxEdA
Twitter: https://twitter.com/labs_steam
Pinterest: https://www.pinterest.com/NeoSteamLabs/
Instagram: https://www.instagram.com/neosteamlabs/
Don Luc