Hello friends,
I am trying to make a self balancing robot, so I found some tutorials regarding Complementary filters. In that tutorial there is a equation for take acceleration and gyro value, these are the equation,
x_acc = (x_acc_ADC - x_acc_offset) * x_acc_scale;
gyro = (gyro_ADC - gyro_offset) * gyro_scale;
form that I obtained following values,
ax= 0 gy= -159 x_acc= 148.00 gyro= 11000.00 ax= -116 gy= -184 x_acc= -84.00 gyro= -1500.00 ax= -40 gy= -175 x_acc= 68.00 gyro= 3000.00 ax= -48 gy= -177 x_acc= 52.00 gyro= 2000.00 ax= 4 gy= -183 x_acc= 156.00 gyro= -1000.00 ax= -60 gy= -190 x_acc= 28.00 gyro= -4500.00 ax= -84 gy= -192 x_acc= -20.00 gyro= -5500.00 ax= -92 gy= -184 x_acc= -36.00 gyro= -1500.00 ax= -88 gy= -164 x_acc= -28.00 gyro= 8500.00
Here is my code,
#include <Wire.h>
#include <I2Cdev.h>
#include <MPU6050.h>
MPU6050 mpu;
int16_t ax, ay, az;
int16_t gx, gy, gz;
float x_acc, gyro;
void setup() {
// put your setup code here, to run once:
Serial.begin(1200);
Serial.println("Initialize MPU");
mpu.initialize();
}
void loop(){
mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
Serial.print("ax= ");
Serial.print(ax);
Serial.print("\t\t");
Serial.print("gy= ");
Serial.print(gy);
Serial.print("\t\t");
x_acc= (ax - (-74))*(2);
Serial.print("x_acc= "); Serial.print(x_acc);
Serial.print("\t\t");
gyro= (gy - (-181))*(500);
Serial.print("gyro= ");
Serial.print(gyro);
Serial.print("\n");
}
Please let me know whether that values are correct or not, if it is not please help me to correct it..
Thank you!
