Ardumower Sunray: Unterschied zwischen den Versionen
Aus www.wiki.ardumower.de
(→Compass calibration) |
(→Compass calibration) |
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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. 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. | + | # 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. [[File:Verteileraufputzdose_2017-01-22.jpg]] |
| − | [[File:Verteileraufputzdose_2017-01-22.jpg]] | + | |
# 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]] |
| − | [[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, 15:45 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.
