An advanced robot that uses PID control on the motor speed, and an IMU for making accurate turns.
IMU Class Reference
|IMU (float imuRate, double gyroscopeMeasurementError, float accelerometerRate, float gyroscopeRate)|
|Get the current roll angle. |
|Get the current pitch angle. |
|Get the current yaw angle. |
|Sample the sensors, and if enough samples have been taken, take an average, and compute the new Euler angles. |
|Recalibrate the sensors and reset the IMU filter. |
IMU consisting of ADXL345 accelerometer and ITG-3200 gyroscope to calculate roll, pitch and yaw angles.
Constructor & Destructor Documentation
imuRate Rate which IMUfilter update and Euler angle calculation occurs. gyroscopeMeasurementError IMUfilter tuning parameter. accelerometerRate Rate at which accelerometer data is sampled. gyroscopeRate Rate at which gyroscope data is sampled.
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IMU consisting of ADXL345 accelerometer and ITG-3200 gyroscope using orientation filter developed by Sebastian Madgwick.
Find more details about his paper here:
Member Function Documentation
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