EmaMaker
/
Two-Wheel-Self-Balancing-Robot-v2
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

perform calibration

velctrl
EmaMaker 2024-04-26 20:46:16 +02:00
parent fcc8a4dafd
commit d1cb40d10c
1 changed files with 3 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
selfbalance-madgwick/imu.ino
View File

@ -4,7 +4,7 @@
//#define PRINT_ANGLES
//#define PRINT_QUAT
// #define PERFORM_CALIBRATION //Comment to disable startup calibration
#define PERFORM_CALIBRATION //Comment to disable startup calibration
#define IMU_ADDRESS 0x68 //Change to the address of the IMU
MPU6050 IMU; //Change to the name of any supported IMU!
@ -36,26 +36,10 @@ void setup_imu(){
}
}
#ifdef PERFORM_CALIBRATION
Serial.println("Keep IMU level.");
delay(500);
delay(1500);
IMU.calibrateAccelGyro(&calib);
Serial.println("Calibration done!");
Serial.println("Accel biases X/Y/Z: ");
Serial.print(calib.accelBias[0]);
Serial.print(", ");
Serial.print(calib.accelBias[1]);
Serial.print(", ");
Serial.println(calib.accelBias[2]);
Serial.println("Gyro biases X/Y/Z: ");
Serial.print(calib.gyroBias[0]);
Serial.print(", ");
Serial.print(calib.gyroBias[1]);
Serial.print(", ");
Serial.println(calib.gyroBias[2]);
delay(500);
delay(1500);
IMU.init(calib, IMU_ADDRESS);
#endif
filter.begin(0.2f);