RoboSavvy Forum Robosavvy Forum: The largest online community of Humanoid Robot Builders 2013-07-27T07:53:32+01:00 http://forum.robosavvy.com/feed.php?f=17&t=9623 2013-07-27T07:53:32+01:00 2013-07-27T07:53:32+01:00 http://forum.robosavvy.com/viewtopic.php?t=9623&p=38415#p38415 <![CDATA[vb.net sample code for Module RM-G146]]>
RN1AsOf091407 wrote:
I saw your other post. I'll try to re-explain:

At rest, when sitting still, you will get some value from X, Y, and Z. To generate + and - values relative to rest position, do this:

RelativeValueX = CurrentX - AtRestX

RelativeValueX will be + when axis is greater than AtRestX, and - when axis is less than AtRestX.

Do the same for Y and Z.

All accelerometers exhibit some value when at rest, as gravity is always affecting them. An axis perfectly perpendicular to the force of gravity and not moving should be zero, but it is unlikely you'll actually see zero at this position due to fabrication, tolerances, etc. It is sufficient in practice to zero-reference by using "at rest" values.

This is similar to how RC gyros work in helicopters and such, and is why you're supposed to leave the gyro alone for a few seconds when powering on - because it is recording its "at rest" position to use as a reference.


please sample code

Statistics: Posted by goldpower — Sat Jul 27, 2013 7:53 am

]]> 2013-07-27T07:12:03+01:00 2013-07-27T07:12:03+01:00 http://forum.robosavvy.com/viewtopic.php?t=9623&p=38414#p38414 <![CDATA[vb.net sample code for Module RM-G146]]>
At rest, when sitting still, you will get some value from X, Y, and Z. To generate + and - values relative to rest position, do this:

RelativeValueX = CurrentX - AtRestX

RelativeValueX will be + when axis is greater than AtRestX, and - when axis is less than AtRestX.

Do the same for Y and Z.

All accelerometers exhibit some value when at rest, as gravity is always affecting them. An axis perfectly perpendicular to the force of gravity and not moving should be zero, but it is unlikely you'll actually see zero at this position due to fabrication, tolerances, etc. It is sufficient in practice to zero-reference by using "at rest" values.

This is similar to how RC gyros work in helicopters and such, and is why you're supposed to leave the gyro alone for a few seconds when powering on - because it is recording its "at rest" position to use as a reference.

Statistics: Posted by PaulL — Sat Jul 27, 2013 7:12 am

]]> 2013-07-08T05:34:25+01:00 2013-07-08T05:34:25+01:00 http://forum.robosavvy.com/viewtopic.php?t=9623&p=38303#p38303 <![CDATA[vb.net sample code for Module RM-G146]]>
sample code c++ :
http://www.mediafire.com/download/13y5jma624vvw3c/RM-G146_sample_code.zip

Datasheet LSM303DLH :
http://www.mediafire.com/download/at2gb231kdxk1jo/LSM303DLH.pdf

Please explain more about negative values ​​axes.

sample code c++ for values ​​from 0 to 65535
Code:
#include <stdio>
#include <conio>

#if defined(WIN32)
    #include <roboard_dll>  // use the DLL version of RoBoIO lib
    // #include <roboard>   // use the static version of RoBoIO lib
#else
    #include <roboard>
#endif

const unsigned char acceler_addr = 0x30>>1;

int main()
{
   unsigned int acceler_X, acceler_Y, acceler_Z, d;
   
   roboio_SetRBVer(RB_110);
   
    if (i2c_Initialize(I2CIRQ_DISABLE) == false)
   {
      printf("FALSE!!  %s\n", roboio_GetErrMsg());
      return -1;
   }
   
   i2c0_SetSpeed(I2CMODE_AUTO, 400000L); // set i2c speed:400k
   // set acceler
   if(i2c0master_StartN(acceler_addr, I2C_WRITE,2) == false)
   {
      printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
      goto END;
   }
   i2c0master_WriteN(0x20);
   i2c0master_WriteN(0x37);

      do
   {
      //////////////////////////////////////////////////////////////////////// read acceler_X
      if(i2c0master_StartN(acceler_addr, I2C_WRITE,1) == false)
      {
         printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
         goto END;
      }
      if(i2c0master_WriteN(0x29) == false)
      {
         printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
         goto END;
      }
      if(i2c0master_StartN(acceler_addr, I2C_READ,1) == false)
      {
         printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
         goto END;
      }
      if((acceler_X = i2c0master_ReadN()) == 0xffff)
      {
         printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
         goto END;
      }
      acceler_X = acceler_X << 8;
      
      if(i2c0master_StartN(acceler_addr, I2C_WRITE,1) == false)
      {
         printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
         goto END;
      }
      if(i2c0master_WriteN(0x28) == false)
      {
         printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
         goto END;
      }
      if(i2c0master_StartN(acceler_addr, I2C_READ,1) == false)
      {
         printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
         goto END;
      }
      if((d = i2c0master_ReadN()) == 0xffff)
      {
         printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
         goto END;
      }
      acceler_X = acceler_X + d;
      
      //////////////////////////////////////////////////////////////////////// read acceler_Y
      if(i2c0master_StartN(acceler_addr, I2C_WRITE,1) == false)
      {
         printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
         goto END;
      }
      if(i2c0master_WriteN(0x2b) == false)
      {
         printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
         goto END;
      }
      if(i2c0master_StartN(acceler_addr, I2C_READ,1) == false)
      {
         printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
         goto END;
      }
      if((acceler_Y = i2c0master_ReadN()) == 0xffff)
      {
         printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
         goto END;
      }
      acceler_Y = acceler_Y << 8;
      
      if(i2c0master_StartN(acceler_addr, I2C_WRITE,1) == false)
      {
         printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
         goto END;
      }
      if(i2c0master_WriteN(0x2a) == false)
      {
         printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
         goto END;
      }
      if(i2c0master_StartN(acceler_addr, I2C_READ,1) == false)
      {
         printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
         goto END;
      }
      if((d = i2c0master_ReadN()) == 0xffff)
      {
         printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
         goto END;
      }
      acceler_Y = acceler_Y + d;
      
      //////////////////////////////////////////////////////////////////////// read acceler_Z
      if(i2c0master_StartN(acceler_addr, I2C_WRITE,1) == false)
      {
         printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
         goto END;
      }
      if(i2c0master_WriteN(0x2d) == false)
      {
         printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
         goto END;
      }
      if(i2c0master_StartN(acceler_addr, I2C_READ,1) == false)
      {
         printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
         goto END;
      }
      if((acceler_Z = i2c0master_ReadN()) == 0xffff)
      {
         printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
         goto END;
      }
      acceler_Z = acceler_Z << 8;
      
      if(i2c0master_StartN(acceler_addr, I2C_WRITE,1) == false)
      {
         printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
         goto END;
      }
      if(i2c0master_WriteN(0x2c) == false)
      {
         printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
         goto END;
      }
      if(i2c0master_StartN(acceler_addr, I2C_READ,1) == false)
      {
         printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
         goto END;
      }
      if((d = i2c0master_ReadN()) == 0xffff)
      {
         printf("g-sensor error:%s !!\n",roboio_GetErrMsg());
         goto END;
      }
      acceler_Z = acceler_Z + d;

   
      printf("acceler:X-axis:%d Y-azis:%d Z-axis:%d\n\n",acceler_X, acceler_Y, acceler_Z);
      
      delay_ms(10);
   }while(_getch() != 27);
END:
   i2c_Close();
   return 0;
}

Statistics: Posted by goldpower — Mon Jul 08, 2013 5:34 am

]]> 2013-07-08T02:45:00+01:00 2013-07-08T02:45:00+01:00 http://forum.robosavvy.com/viewtopic.php?t=9623&p=38302#p38302 <![CDATA[vb.net sample code for Module RM-G146]]>
I haven't tried this board, but it's an I2C board, so it connects the same way as any I2C board.

I'm getting an error saying corrupted zip file when I try to download their code for this module.,,

As for the accelerometer values:

The "at rest" position will be some value between 0 and 65535 (16 bits). This value becomes your zero point, if you want to see acceleration as positive and negative values (meaning, Current Value - "at rest" value = zero referenced result).

Statistics: Posted by PaulL — Mon Jul 08, 2013 2:45 am

]]> 2013-07-07T22:52:20+01:00 2013-07-07T22:52:20+01:00 http://forum.robosavvy.com/viewtopic.php?t=9623&p=38300#p38300 <![CDATA[vb.net sample code for Module RM-G146]]>
(The sensor 146 I've tested the sample code c++ because it does not suffer from the negative axis accelerometer values ​​and only values ​​from 0 to 65535?)

Statistics: Posted by goldpower — Sun Jul 07, 2013 10:52 pm

]]> 2013-07-07T17:37:44+01:00 2013-07-07T17:37:44+01:00 http://forum.robosavvy.com/viewtopic.php?t=9623&p=38298#p38298 <![CDATA[vb.net sample code for Module RM-G146]]> Statistics: Posted by PaulL — Sun Jul 07, 2013 5:37 pm

]]> 2013-07-07T16:40:20+01:00 2013-07-07T16:40:20+01:00 http://forum.robosavvy.com/viewtopic.php?t=9623&p=38297#p38297 <![CDATA[vb.net sample code for Module RM-G146]]> Statistics: Posted by goldpower — Sun Jul 07, 2013 4:40 pm

]]> 2013-07-03T15:29:41+01:00 2013-07-03T15:29:41+01:00 http://forum.robosavvy.com/viewtopic.php?t=9623&p=38260#p38260 <![CDATA[vb.net sample code for Module RM-G146]]>
how do modify vb.net sample code for Module RM-G146 ???
(http://www.roboard.com/G146.html)

Statistics: Posted by goldpower — Wed Jul 03, 2013 3:29 pm

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