Closed Toku11 closed 7 years ago
IMU works fine.
Original library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
@Toku11 could you please use the code below to calibrate your IMU? https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050/examples/IMU_Zero
turn off the car
connect the ardunio usb to your computer
open serial port "sudo chmod 777 /dev/ttyUSB0"
compile IMU_Zero library and program it on the ardunio
using "sudo minicom" see the output of the program
wait 10 minutes and read the results.
update your main.ino source based on the the numbers
mpu.setXGyroOffset(420);
mpu.setYGyroOffset(-59);
mpu.setZGyroOffset(69);
mpu.setZAccelOffset(1323);
compile again the main.ino and program it to the arduino
disconnect the arduino, test the car again with the 200 rpm.
let me know if works now!
Thanks for your help, the IMU works fine with the values given by IMU_ZERO.
Hi, we have been making some test holding an orientation with the value of the heading topic, everything was working good until we noticed that the value was the same when we were trying to move in slow velocity (less than 300 in motor speed), when we try to reach certain angle the measurement holds the same value in the heading topic (yaw), we already checked the yaw value directly connected via USB cable (Arduino Terminal) and shows the same value than ROS, but when we stop the vehicle or the vehicle is moving faster apparently the IMU works again.
We also noticed that when turn on the system the YAW angle starts with certain angle offset (between 30 and 60 degrees), all the events can be reproduced. What could be happening ? Could the IMU have some damage? Greetings