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[Arduino/Genuino 101 入门教程] Arduino/Genuino 101 入门教程二:获取加速度计和陀螺仪数据

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加速度计和陀螺仪是101一大特色,当然得玩玩啦,就是冲这个来的嘛。本来我还在纠结怎么获取传感器的数据?怎么对数据进行滤波?怎么对数据进行融合?但是,这些现在都变的简单了,有现成的库文件CurieIMU和MadgwickAHRS可以用来获取和处理传感器得到的数据。

【产品链接】: Arduino 101

咳咳,玩起来:

1.下载程序:

在库文件中能找到六轴姿态传感器驱动库libraries\CurieIMU,里面有测试程序Accelerometer,这个程序一开始没有对数据进行校正,可以手动天加一下校正代码就好了,下面是添加好校正代码的程序:

/*
 Copyright (c) 2015 Intel Corporation.  All rights reserved.

 This library is free software; you can redistribute it and/or
 modify it under the terms of the GNU Lesser General Public
 License as published by the Free Software Foundation; either
 version 2.1 of the License, or (at your option) any later version.

 This library is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 Lesser General Public License for more details.

 You should have received a copy of the GNU Lesser General Public
 License along with this library; if not, write to the Free Software
 Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA

*/

/*
 This sketch example demonstrates how the BMI160 on the
 Intel(R) Curie(TM) module can be used to read accelerometer data
*/
\#include <CurieIMU.h>
int calibrateOffsets = 1; // int to determine whether calibration takes place or not

void setup() {
 Serial.begin(9600); // initialize Serial communication
 while (!Serial);   // wait for the serial port to open

 // initialize device
 Serial.println("Initializing IMU device...");
 CurieIMU.begin();

 if (calibrateOffsets == 1) {
  // use the code below to calibrate accel/gyro offset values
  Serial.println("Internal sensor offsets BEFORE calibration...");
  Serial.print(CurieIMU.getAccelerometerOffset(X_AXIS)); Serial.print("\t");
  Serial.print(CurieIMU.getAccelerometerOffset(Y_AXIS)); Serial.print("\t");
  Serial.print(CurieIMU.getAccelerometerOffset(Z_AXIS)); Serial.print("\t");
  Serial.println("");

  Serial.print("Starting Acceleration calibration...");
  CurieIMU.autoCalibrateAccelerometerOffset(X_AXIS, 0);
  CurieIMU.autoCalibrateAccelerometerOffset(Y_AXIS, 0);
  CurieIMU.autoCalibrateAccelerometerOffset(Z_AXIS, 1);
  Serial.println(" Done");

  Serial.println("Internal sensor offsets AFTER calibration...");
  Serial.print(CurieIMU.getAccelerometerOffset(X_AXIS)); Serial.print("\t");
  Serial.print(CurieIMU.getAccelerometerOffset(Y_AXIS)); Serial.print("\t");
  Serial.print(CurieIMU.getAccelerometerOffset(Z_AXIS)); Serial.print("\t");
  Serial.println("");
 }

 // Set the accelerometer range to 2G
 CurieIMU.setAccelerometerRange(2);
}

void loop() {
 int axRaw, ayRaw, azRaw;     // raw accelerometer values
 float ax, ay, az;

 // read raw accelerometer measurements from device
 CurieIMU.readAccelerometer(axRaw, ayRaw, azRaw);

 // convert the raw accelerometer data to G's
 ax = convertRawAcceleration(axRaw);
 ay = convertRawAcceleration(ayRaw);
 az = convertRawAcceleration(azRaw);

 // display tab-separated accelerometer x/y/z values
 Serial.print("a:\t");
 Serial.print(ax);
 Serial.print("\t");
 Serial.print(ay);
 Serial.print("\t");
 Serial.print(az);
 Serial.println();

 // wait 5 seconds
 delay(500);
}

float convertRawAcceleration(int aRaw) {
 // since we are using 2G range
 // -2g maps to a raw value of -32768
 // +2g maps to a raw value of 32767

 float a = (aRaw * 2.0) / 32768.0;

 return a;
}

串口读出来的数据,很准确,可以转动板子看看每个轴的数据变化:
1.jpg

2.读取陀螺仪的数据:

下载程序,在库文件中能找到六轴姿态传感器驱动库libraries\CurieIMU,里面有测试程序Gyro,同样加几句代码事先校正一下数据,下面是添加好校正代码的程序:

/*
 Copyright (c) 2015 Intel Corporation.  All rights reserved.

 This library is free software; you can redistribute it and/or
 modify it under the terms of the GNU Lesser General Public
 License as published by the Free Software Foundation; either
 version 2.1 of the License, or (at your option) any later version.

 This library is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 Lesser General Public License for more details.

 You should have received a copy of the GNU Lesser General Public
 License along with this library; if not, write to the Free Software
 Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA

*/

/*
 This sketch example demonstrates how the BMI160 on the
 Intel(R) Curie(TM) module can be used to read gyroscope data
*/

\#include "CurieIMU.h"

void setup() {
 Serial.begin(9600); // initialize Serial communication
 while (!Serial);   // wait for the serial port to open

 // initialize device
 Serial.println("Initializing IMU device...");
 CurieIMU.begin();

 Serial.print("Starting Gyroscope calibration...");
 CurieIMU.autoCalibrateGyroOffset();
 Serial.println(" Done");

 // Set the accelerometer range to 250 degrees/second
 CurieIMU.setGyroRange(250);
}

void loop() {
 int gxRaw, gyRaw, gzRaw;     // raw gyro values
 float gx, gy, gz;

 // read raw gyro measurements from device
 CurieIMU.readGyro(gxRaw, gyRaw, gzRaw);

 // convert the raw gyro data to degrees/second
 gx = convertRawGyro(gxRaw);
 gy = convertRawGyro(gyRaw);
 gz = convertRawGyro(gzRaw);

 // display tab-separated gyro x/y/z values
 Serial.print("g:\t");
 Serial.print(gx);
 Serial.print("\t");
 Serial.print(gy);
 Serial.print("\t");
 Serial.print(gz);
 Serial.println();

 // wait 5 seconds
 delay(1000);
}

float convertRawGyro(int gRaw) {
 // since we are using 250 degrees/seconds range
 // -250 maps to a raw value of -32768
 // +250 maps to a raw value of 32767

 float g = (gRaw * 250.0) / 32768.0;

 return g;
}

串口数据输出,这里我让开发板绕X轴旋转得到的数据,考虑手动操作的误差,y轴和z轴基本保持不变,数据看起来不错哦:
2.jpg

拓展:

既然加速度计和陀螺仪的数据读出来了,那么是不是该用这个数据来干点什么,嘿嘿嘿,是不是可以干坏事了啊:lol!下个教程教你怎么干坏事,不要太激动哦{:5_161:}。
看累了没,开心一刻:
刚才和朋友聊天,其中有谈到你,知道吗?我和他们吵了起来,还差点动手打起来,因为他们有的说你像猴子,有的说你像猩猩,实在太过分了!根本没有把你当猪看!{:5_199:}

Arduino/Genuino 101 入门教程】

苦海  初级技匠

发表于 2016-3-20 10:16:45

INTEL的专用库是下完之后可以在example看到例程么,专用库是不是装了居里后自动就装了 ??
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Jason_G  高级技师
 楼主|

发表于 2016-3-20 11:07:19

苦海 发表于 2016-3-20 10:16
INTEL的专用库是下完之后可以在example看到例程么,专用库是不是装了居里后自动就装了 ?? ...

现在的Arduino IDE安装位置里面的libraries是没有Curie专用库的,即使装了居里也是没有的,需要下载后手动添加到里面,库文件的example里面有例程代码,直接用就能看到效果,偶尔需要稍微修改一下库文件。
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大连林海  初级技神

发表于 2016-3-20 11:07:57

这么速度吗
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Jason_G  高级技师
 楼主|

发表于 2016-3-20 11:23:44


昨晚把笔记整理了一下!
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iooops  中级技匠

发表于 2016-3-20 21:26:43

根本就没有把你当猪看233333
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Jason_G  高级技师
 楼主|

发表于 2016-4-3 16:00:18

苦海 发表于 2016-3-20 10:16
INTEL的专用库是下完之后可以在example看到例程么,专用库是不是装了居里后自动就装了 ?? ...

当在开发板管理器中安装Arduino 101后,Intel的专用库就会自动装好。库文件参考路径:C:\Users\(用户名)\AppData\Local\Arduino15\packages\Intel\hardware\arc32\1.0.4\libraries
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gyy  学徒

发表于 2016-6-3 14:58:32

陀螺仪的z轴是哪个方向啊?
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sxl001  学徒

发表于 2019-12-4 22:16:23

good,good
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1025285443  学徒

发表于 2020-5-10 17:37:42

小白请教,校正具体是指什么地方呢?为什么要进行校正?不进行校正会如何呢?望不吝赐教!
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