Sensor Fusion Algorithm - Arduino Checkout

digitaldanny / AudioEffectsGlove

A hand tracking glove that controls parameters of various audio effects.

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Sensor Fusion Algorithm - Arduino Checkout #68

Closed digitaldanny closed 3 years ago

digitaldanny commented 3 years ago

In this PR:

Create a demo Arduino sketch to read raw sensor values from the MPU6050 and convert those values into Euler angles to determine orientation.
Use this repo's sensor fusion implementation to convert the values.
Use the Arduino serial plotter tool to visualize the orientation data.

digitaldanny commented 3 years ago

Learning to implement and use a rotation matrix from quaternions.

digitaldanny commented 3 years ago

Posting snapshots below of the Arduino test while rotating along the pitch and roll axes.

Pitch can rotate +/- 45 degrees. After that, values begin to invert. Still not exactly sure how to deal with that.

Roll can rotate fully side-to-side (+/- 90 degrees). There does seem to be a drifting issue. It looks like the values eventually "settle" into the expected angle. I think this could be improved as well, but this should be enough to demo at least.

Pitch Rotation

Roll Rotation