Jump to content
I2Cdevlib Forums

vrutangs

Members
  • Posts

    5
  • Joined

  • Last visited

  • Days Won

    20

Reputation Activity

  1. Haha
    vrutangs got a reaction from RobertFab in Understanding raw values of accelerometer and gyrometer   
    Hello..
    I have the small query. 
    The code for reading accelerometer and gyro data from MPU 6050 is written by Jeff is as follow:
     
    // I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class // 10/7/2011 by Jeff Rowberg <jeff@rowberg.net> // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib // // Changelog: //      2013-05-08 - added multiple output formats //                 - added seamless Fastwire support //      2011-10-07 - initial release   /* ============================================ I2Cdev device library code is placed under the MIT license Copyright © 2011 Jeff Rowberg   Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:   The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. =============================================== */   // I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files // for both classes must be in the include path of your project #include "I2Cdev.h" #include "MPU6050.h"   // Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation // is used in I2Cdev.h #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE     #include "Wire.h" #endif   // class default I2C address is 0x68 // specific I2C addresses may be passed as a parameter here // AD0 low = 0x68 (default for InvenSense evaluation board) // AD0 high = 0x69 MPU6050 accelgyro; //MPU6050 accelgyro(0x69); // <-- use for AD0 high   int16_t ax, ay, az; int16_t gx, gy, gz;       // uncomment "OUTPUT_READABLE_ACCELGYRO" if you want to see a tab-separated // list of the accel X/Y/Z and then gyro X/Y/Z values in decimal. Easy to read, // not so easy to parse, and slow(er) over UART. #define OUTPUT_READABLE_ACCELGYRO   // uncomment "OUTPUT_BINARY_ACCELGYRO" to send all 6 axes of data as 16-bit // binary, one right after the other. This is very fast (as fast as possible // without compression or data loss), and easy to parse, but impossible to read // for a human. //#define OUTPUT_BINARY_ACCELGYRO     #define LED_PIN 13 bool blinkState = false;   void setup() {     // join I2C bus (I2Cdev library doesn't do this automatically)     #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE         Wire.begin();     #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE         Fastwire::setup(400, true);     #endif       // initialize serial communication     // (38400 chosen because it works as well at 8MHz as it does at 16MHz, but     // it's really up to you depending on your project)     Serial.begin(38400);       // initialize device     //Serial.println("Initializing I2C devices...");     accelgyro.initialize();       // verify connection     //Serial.println("Testing device connections...");    // Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");       // use the code below to change accel/gyro offset values     /*     Serial.println("Updating internal sensor offsets...");     // -76 -2359 1688 0 0 0     Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76     Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359     Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688     Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0     Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0     Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0     Serial.print("\n");     accelgyro.setXGyroOffset(220);     accelgyro.setYGyroOffset(76);     accelgyro.setZGyroOffset(-85);     Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76     Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359     Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688     Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0     Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0     Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0     Serial.print("\n");     */       // configure Arduino LED for     pinMode(LED_PIN, OUTPUT); }   void loop() {     // read raw accel/gyro measurements from device     accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);       // these methods (and a few others) are also available     //accelgyro.getAcceleration(&ax, &ay, &az);     //accelgyro.getRotation(&gx, &gy, &gz);       #ifdef OUTPUT_READABLE_ACCELGYRO         // display tab-separated accel/gyro x/y/z values        // Serial.print("a/g:\t");         int start=millis();Serial.print(start);Serial.print("\t");         Serial.print(ax); Serial.print("\t");         Serial.print(ay); Serial.print("\t");         Serial.print(az); Serial.print("\t");         Serial.print(gx); Serial.print("\t");         Serial.print(gy); Serial.print("\t");         Serial.println(gz);     #endif         //#ifdef OUTPUT_BINARY_ACCELGYRO         //  Serial.write((uint8_t)(ax >> 8)); Serial.write((uint8_t)(ax & 0xFF));           //Serial.write((uint8_t)(ay >> 8)); Serial.write((uint8_t)(ay & 0xFF));           //Serial.write((uint8_t)(az >> 8)); Serial.write((uint8_t)(az & 0xFF));           //Serial.write((uint8_t)(gx >> 8)); Serial.write((uint8_t)(gx & 0xFF));           //Serial.write((uint8_t)(gy >> 8)); Serial.write((uint8_t)(gy & 0xFF));           //Serial.write((uint8_t)(gz >> 8)); Serial.write((uint8_t)(gz & 0xFF));       //#endif       // blink LED to indicate activity     blinkState = !blinkState;     digitalWrite(LED_PIN, blinkState); }   I just delete the thing which i don't know and made a small code as follow:     #include "I2Cdev.h" #include "MPU6050.h" #include "Wire.h" MPU6050 accelgyro; int16_t ax, ay, az; int16_t gx, gy, gz; #define OUTPUT_READABLE_ACCELGYRO #define LED_PIN 13 bool blinkState = false;   void setup() {            Wire.begin();     Serial.begin(38400);     accelgyro.initialize();     pinMode(LED_PIN, OUTPUT); }   void loop() {       accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);           int start=millis();Serial.print(start);Serial.print("\t");         Serial.print(ax); Serial.print("\t");         Serial.print(ay); Serial.print("\t");         Serial.print(az); Serial.print("\t");         Serial.print(gx); Serial.print("\t");         Serial.print(gy); Serial.print("\t");         Serial.println(gz);       blinkState = !blinkState;     digitalWrite(LED_PIN, blinkState); }         Now i am not sure about the importance of the if and elseif statement (for an example) :   #ifdef OUTPUT_BINARY_ACCELGYRO           Serial.write((uint8_t)(ax >> 8)); Serial.write((uint8_t)(ax & 0xFF));           Serial.write((uint8_t)(ay >> 8)); Serial.write((uint8_t)(ay & 0xFF));           Serial.write((uint8_t)(az >> 8)); Serial.write((uint8_t)(az & 0xFF));           Serial.write((uint8_t)(gx >> 8)); Serial.write((uint8_t)(gx & 0xFF));           Serial.write((uint8_t)(gy >> 8)); Serial.write((uint8_t)(gy & 0xFF));           Serial.write((uint8_t)(gz >> 8)); Serial.write((uint8_t)(gz & 0xFF));       #endif     Can anyone help me to understand the importance of the if and elseif condition that has been used in the Jeff's code? Thanks.
  2. Sad
    vrutangs got a reaction from RobertFab in Understanding raw values of accelerometer and gyrometer   
    Respected Sir,
                       I got some data from accelerometer and gyrometer using MPU 6050 with arduino. But  i am not able to interpret numerical values of it. Can you help me to figure out this information?
    here i am sending you some of data:

        Accelarometer            Gyrometer
    Ax             Ay              Az      Gx   Gy   Gz
    -6616    13880    -1380    915    -68    -49
    -6624    13924    -1496    909    -41    -136
    -6680    13896    -1408    917    -46    -148
    -6636    13996    -1508    913    -35    -111
    -6668    13896    -1616    902    -47    -47
    -6716    13944    -1496    916    -43    -40
    -6616    13972    -1412    879    -57    -5
    -6584    13884    -1536    918    -47    -25
    -6920    14192    -1584    892    -10    -164
    -7792    15016    -1524    1022 -80    -68
    -6928    14244    -1484    773    -112     261
    -6396    13764    -1416    939    -72    112
    -6636    14020    -1596    892    -43    -154
    -6520    13836    -1524    946     4    -242
    -6776    13916    -1552    926     8    -333
    -6916    14008    -1568    891    -64    -54
    -6592    13936    -1460    866    -113    216
      Thanks.
     
  3. Like
    vrutangs reacted to Jeff Rowberg in Understanding raw values of accelerometer and gyrometer   
    Hi @vrutangs,
     
    The accelerometer and gyroscope measurements are explained in the MPU-6050 datasheet in the GYRO_CONFIG and ACCEL_CONFIG register descriptions (sections 4.4 and 4.5 on pages 14 and 15). The scale of each depends on the sensitivity settings chosen, which can be one of +/- 2, 4, 8, or 16g for the accelerometer and one of +/- 250, 500, 1000, or 2000 deg/sec for the gyroscope. The accelerometer produces data in units of acceleration (distance over time2), and the gyroscope produces data in units of rotational velocity (rotation distance over time).
     
    The output scale for any setting is [-32768, +32767] for each of the six axes. The default setting in the I2Cdevlib class is +/- 2g for the accel and +/- 250 deg/sec for the gyro. If the device is perfectly level and not moving, then:
    X/Y accel axes should read 0 Z accel axis should read 1g, which is +16384 at a sensitivity of 2g X/Y/Z gyro axes should read 0 In reality, the accel axes won't read exactly 0 since it is difficult to be perfectly level and there is some noise/error, and the gyros will also not read exactly 0 for the same reason (noise/error).
  4. Like
    vrutangs got a reaction from nohnigeNoksw86 in Understanding raw values of accelerometer and gyrometer   
    Respected Sir,
                       I got some data from accelerometer and gyrometer using MPU 6050 with arduino. But  i am not able to interpret numerical values of it. Can you help me to figure out this information?
    here i am sending you some of data:

        Accelarometer            Gyrometer
    Ax             Ay              Az      Gx   Gy   Gz
    -6616    13880    -1380    915    -68    -49
    -6624    13924    -1496    909    -41    -136
    -6680    13896    -1408    917    -46    -148
    -6636    13996    -1508    913    -35    -111
    -6668    13896    -1616    902    -47    -47
    -6716    13944    -1496    916    -43    -40
    -6616    13972    -1412    879    -57    -5
    -6584    13884    -1536    918    -47    -25
    -6920    14192    -1584    892    -10    -164
    -7792    15016    -1524    1022 -80    -68
    -6928    14244    -1484    773    -112     261
    -6396    13764    -1416    939    -72    112
    -6636    14020    -1596    892    -43    -154
    -6520    13836    -1524    946     4    -242
    -6776    13916    -1552    926     8    -333
    -6916    14008    -1568    891    -64    -54
    -6592    13936    -1460    866    -113    216
      Thanks.
     
  5. Like
    vrutangs got a reaction from nohnigeNokuz82 in Understanding raw values of accelerometer and gyrometer   
    Respected Sir,
                       I got some data from accelerometer and gyrometer using MPU 6050 with arduino. But  i am not able to interpret numerical values of it. Can you help me to figure out this information?
    here i am sending you some of data:

        Accelarometer            Gyrometer
    Ax             Ay              Az      Gx   Gy   Gz
    -6616    13880    -1380    915    -68    -49
    -6624    13924    -1496    909    -41    -136
    -6680    13896    -1408    917    -46    -148
    -6636    13996    -1508    913    -35    -111
    -6668    13896    -1616    902    -47    -47
    -6716    13944    -1496    916    -43    -40
    -6616    13972    -1412    879    -57    -5
    -6584    13884    -1536    918    -47    -25
    -6920    14192    -1584    892    -10    -164
    -7792    15016    -1524    1022 -80    -68
    -6928    14244    -1484    773    -112     261
    -6396    13764    -1416    939    -72    112
    -6636    14020    -1596    892    -43    -154
    -6520    13836    -1524    946     4    -242
    -6776    13916    -1552    926     8    -333
    -6916    14008    -1568    891    -64    -54
    -6592    13936    -1460    866    -113    216
      Thanks.
     
  6. Like
    vrutangs got a reaction from lapedNok in Understanding raw values of accelerometer and gyrometer   
    Respected Sir,
                       I got some data from accelerometer and gyrometer using MPU 6050 with arduino. But  i am not able to interpret numerical values of it. Can you help me to figure out this information?
    here i am sending you some of data:

        Accelarometer            Gyrometer
    Ax             Ay              Az      Gx   Gy   Gz
    -6616    13880    -1380    915    -68    -49
    -6624    13924    -1496    909    -41    -136
    -6680    13896    -1408    917    -46    -148
    -6636    13996    -1508    913    -35    -111
    -6668    13896    -1616    902    -47    -47
    -6716    13944    -1496    916    -43    -40
    -6616    13972    -1412    879    -57    -5
    -6584    13884    -1536    918    -47    -25
    -6920    14192    -1584    892    -10    -164
    -7792    15016    -1524    1022 -80    -68
    -6928    14244    -1484    773    -112     261
    -6396    13764    -1416    939    -72    112
    -6636    14020    -1596    892    -43    -154
    -6520    13836    -1524    946     4    -242
    -6776    13916    -1552    926     8    -333
    -6916    14008    -1568    891    -64    -54
    -6592    13936    -1460    866    -113    216
      Thanks.
     
  7. Like
    vrutangs got a reaction from Johnnydofs in MPU-6050: changing a default setting in the I2Cdevlib class   
    HI..
    I am using MPU 6050 for accelero and gyro data. The default setting in the I2Cdevlib class is +/- 2g for the accel and +/- 250 deg/sec for the gyro. So that means i can detect maximum of 250 deg/s and it will saturate at 250 (in the plot) if my angular velocity is more than 250 deg/s. So how can we change to the +/- 2000 deg/s? Also, is it possible to change only gyro scale and retaining the accelerometer range which is +/- 2g (inbuilt)?
     
    Any help is highly appreciated.
     
     
    thanks.
     
  8. Like
    vrutangs got a reaction from Johnnydofs in Understanding raw values of accelerometer and gyrometer   
    Respected Sir,
                       I got some data from accelerometer and gyrometer using MPU 6050 with arduino. But  i am not able to interpret numerical values of it. Can you help me to figure out this information?
    here i am sending you some of data:

        Accelarometer            Gyrometer
    Ax             Ay              Az      Gx   Gy   Gz
    -6616    13880    -1380    915    -68    -49
    -6624    13924    -1496    909    -41    -136
    -6680    13896    -1408    917    -46    -148
    -6636    13996    -1508    913    -35    -111
    -6668    13896    -1616    902    -47    -47
    -6716    13944    -1496    916    -43    -40
    -6616    13972    -1412    879    -57    -5
    -6584    13884    -1536    918    -47    -25
    -6920    14192    -1584    892    -10    -164
    -7792    15016    -1524    1022 -80    -68
    -6928    14244    -1484    773    -112     261
    -6396    13764    -1416    939    -72    112
    -6636    14020    -1596    892    -43    -154
    -6520    13836    -1524    946     4    -242
    -6776    13916    -1552    926     8    -333
    -6916    14008    -1568    891    -64    -54
    -6592    13936    -1460    866    -113    216
      Thanks.
     
  9. Like
    vrutangs got a reaction from Johnnydofs in How can we change the default setting of gyro and accelero sensitivity?   
    Hi..
    The default is seeting for accelero is +/-2G and for gyro is +/-250deg/sec. So what are the changes one should make in mpu6050.cpp and mpu6050.h to change default setting?
     
     
    thanks in advanced.
  10. Like
    vrutangs got a reaction from Ekbergdub in Understanding raw values of accelerometer and gyrometer   
    Respected Sir,
                       I got some data from accelerometer and gyrometer using MPU 6050 with arduino. But  i am not able to interpret numerical values of it. Can you help me to figure out this information?
    here i am sending you some of data:

        Accelarometer            Gyrometer
    Ax             Ay              Az      Gx   Gy   Gz
    -6616    13880    -1380    915    -68    -49
    -6624    13924    -1496    909    -41    -136
    -6680    13896    -1408    917    -46    -148
    -6636    13996    -1508    913    -35    -111
    -6668    13896    -1616    902    -47    -47
    -6716    13944    -1496    916    -43    -40
    -6616    13972    -1412    879    -57    -5
    -6584    13884    -1536    918    -47    -25
    -6920    14192    -1584    892    -10    -164
    -7792    15016    -1524    1022 -80    -68
    -6928    14244    -1484    773    -112     261
    -6396    13764    -1416    939    -72    112
    -6636    14020    -1596    892    -43    -154
    -6520    13836    -1524    946     4    -242
    -6776    13916    -1552    926     8    -333
    -6916    14008    -1568    891    -64    -54
    -6592    13936    -1460    866    -113    216
      Thanks.
     
  11. Like
    vrutangs got a reaction from Ekbergdub in MPU-6050: changing a default setting in the I2Cdevlib class   
    HI..
    I am using MPU 6050 for accelero and gyro data. The default setting in the I2Cdevlib class is +/- 2g for the accel and +/- 250 deg/sec for the gyro. So that means i can detect maximum of 250 deg/s and it will saturate at 250 (in the plot) if my angular velocity is more than 250 deg/s. So how can we change to the +/- 2000 deg/s? Also, is it possible to change only gyro scale and retaining the accelerometer range which is +/- 2g (inbuilt)?
     
    Any help is highly appreciated.
     
     
    thanks.
     
  12. Like
    vrutangs reacted to vrutangs in How can we change the default setting of gyro and accelero sensitivity?   
    Hi..
    The default is seeting for accelero is +/-2G and for gyro is +/-250deg/sec. So what are the changes one should make in mpu6050.cpp and mpu6050.h to change default setting?
     
     
    thanks in advanced.
  13. Like
    vrutangs got a reaction from CharlesnurE in Understanding raw values of accelerometer and gyrometer   
    Respected Sir,
                       I got some data from accelerometer and gyrometer using MPU 6050 with arduino. But  i am not able to interpret numerical values of it. Can you help me to figure out this information?
    here i am sending you some of data:

        Accelarometer            Gyrometer
    Ax             Ay              Az      Gx   Gy   Gz
    -6616    13880    -1380    915    -68    -49
    -6624    13924    -1496    909    -41    -136
    -6680    13896    -1408    917    -46    -148
    -6636    13996    -1508    913    -35    -111
    -6668    13896    -1616    902    -47    -47
    -6716    13944    -1496    916    -43    -40
    -6616    13972    -1412    879    -57    -5
    -6584    13884    -1536    918    -47    -25
    -6920    14192    -1584    892    -10    -164
    -7792    15016    -1524    1022 -80    -68
    -6928    14244    -1484    773    -112     261
    -6396    13764    -1416    939    -72    112
    -6636    14020    -1596    892    -43    -154
    -6520    13836    -1524    946     4    -242
    -6776    13916    -1552    926     8    -333
    -6916    14008    -1568    891    -64    -54
    -6592    13936    -1460    866    -113    216
      Thanks.
     
×
×
  • Create New...