10-DOF IMU Ten-degrees-of-freedom inertial measurement for BrainBoard • XYZ Accelerometer • XYZ Gyroscope • XYZ Magnetometer • Barometric pressure sensor MindKitsInvent DOC0103 V131208, Author — Brody Radford! 1 Contents Introduction 3 Features 3 Getting Started 4 Reading the Gyroscope 4 Reading the Accelerometer 5 Reading the Magnetometer 5 Reading Barometric Pressure 5 Getting Help 6 DOC0103 V131208, Author — Brody Radford! 2 Introduction The 10-‐DOF module plugs right into BrainBoard and provides easy access to the world of solid-‐ state motion-‐sensing. This highly-‐integrated expansion module is based on the triple-‐axis L3G4200D gyroscope, ADXL345 accelerometer, HMC5883L magnetometer, and the BMP085 barometric pressure sensor. This allows measurement of full angular velocity (turning), linear acceleration (moving, shaking, tapping, dropping), magnetic field strength, direction to North, air pressure, and approximate altitude. All sensors use the flexible I2C serial bus protocol, and free, open-‐source libraries are available to get started in minutes. Features • Plugs directly into BrainBoard. • Onboard level translation from 3.3V to 5V. • A secondary microcontroller reset button (the module covers the main reset button). • Duplicated I2C / JP9 connector for external I2C modules. • Duplicated ISP / SPI header pins in case those are needed (you can use 0.1”hookup wires). • 3mm mounting lug. Module can be mounted to BrainBoard, robot chassis, etc. • Additional signals (interrupt, etc) broken out with header pins provided. x z! DOC0103 V131208, Author — Brody Radford! ! y 3 Getting Started 1. Disconnect power from BrainBoard. 2. Plug in the 10-DOF module, making sure the sockets line up with pins on JP9 and the inner row of pins on the ISP header. See the picture below and on the cover page — the pushbutton goes to the USB end. 3. Plug in BrainBoard power. Reading the Gyroscope 1. Download and extract gyroscope.zip and open the Arduino sketch. This tutorial is worth reading too. 2. Plug in BrainBoard 3. Hit ‘Upload’. 4. Open Tools > Serial Monitor. Set the baud rate to 9600 (bottom left). 5. You’ll see the angular velocity measurements streaming in. You can study and modify this sketch and develop your own projects with it. DOC0103 V131208, Author — Brody Radford! 4 Reading the Accelerometer This is much the same as reading the gyroscope. Browse to http://bildr.org/2011/03/ adxl345-arduino/ and jump straight to Code for instructions to install and run the library and demo. Reading the Magnetometer Download and program the code at http://bildr.org/2012/02/hmc5883l_arduino/ Reading Barometric Pressure Follow the instructions for reading the accelerometer using the code at http://bildr.org/ 2011/06/bmp085-arduino/ More useful info at http://www.forkrobotics.com/2013/06/using-the-gy80-10dof-modulewith-arduino/ DOC0103 V131208, Author — Brody Radford! 5 Getting Help If something doesn’t make sense, doesn’t work as expected, or you have any comments or suggestions then get in touch with us and we’ll sort you out. Contact [email protected] twitter @MindKits Facebook www.facebook.com/MindKits DOC0103 V131208, Author — Brody Radford! 6
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