Ardumower Sunray: Unterschied zwischen den Versionen
Aus www.wiki.ardumower.de
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=Compass calibration= | =Compass calibration= | ||
| − | # Install IMU module 35cm away from metal parts. Use 1m cable so you can move the module out of robot for calibration | + | # Install IMU module 35cm away from metal parts. Use 1m cable so you can move the module out of robot for calibration [[File:Verteileraufputzdose_2017-01-22.jpg]]. Do no use metal parts (screws etc.) within 5cm of the module, use plastic screws. Fixate everything within 5cm of the module. A small movement of a cable etc. will make the calibration useless. |
| − | + | ||
| − | Do no use metal parts (screws etc.) within 5cm of the module, use plastic screws. Fixate everything within 5cm of the module. A small movement of a cable etc. will make the calibration useless. | + | |
# Move IMU out of robot and power-on robot. | # Move IMU out of robot and power-on robot. | ||
| − | # On the PC, start 'processing_mag'. | + | # On the PC, start 'processing_mag'. [[File:Compass_calibration.png|600px]] |
| − | + | ||
# Ensure there is at least >1m to all metal parts in the surrouding. | # Ensure there is at least >1m to all metal parts in the surrouding. | ||
# Rotate IMU module slowly into all directions and collect > 20,000 measurements. | # Rotate IMU module slowly into all directions and collect > 20,000 measurements. | ||
Version vom 29. April 2017, 15:44 Uhr
Requirements
- PCB 1.3 (incl. MC33926 motor drivers)
- Arduino Due
- IMU GY-88 (MPU6050, HMC5883L)
- 2 perimeter coils (left, right), perimeter sender
- motors using odometry
- Bluetooth module
Compass calibration
- Install IMU module 35cm away from metal parts. Use 1m cable so you can move the module out of robot for calibration
. Do no use metal parts (screws etc.) within 5cm of the module, use plastic screws. Fixate everything within 5cm of the module. A small movement of a cable etc. will make the calibration useless. - Move IMU out of robot and power-on robot.
- On the PC, start 'processing_mag'.
- Ensure there is at least >1m to all metal parts in the surrouding.
- Rotate IMU module slowly into all directions and collect > 20,000 measurements.
- Install IMU module in the robot at least 35cm away from metal parts.
