First step towards cheapo IMU.

[JonHylands]

I did now...

Here's a graph showing heading over time, as MicroRaptor went from a squat to a stand, and then back again, with pauses in between. The compass was mounted about an inch from one of the AX-12 servos that was moving during these two sequences. I'm sampling the compass heading at 4 Hz in this example.



Almost certainly some of this variance is due to the accelerometer inside the compass module getting jolted as the robot moved. Without having a 2-axis non-tilt compass to compare to, I can't say how much is magnetic interference and how much is strictly motion.

Here's a pic showing where the compass is mounted:



- Jon

[billyzelsnack]

The sensor is the one mounted on that little standoff? It's an accelerometer/magnetometer on a single chip. Cool.

What happens if you have the compass just next to the robot while it is running? Not that that is real world or anything, but it would show how the sensor is effected by the robot's magnetic fields.

[billyzelsnack]

I couldn't resist.. I ordered a lot of 20 "gyromouse pro" off of ebay. So if anyone is looking to get there hands on a MG100 2-axis gyro sensor let me know and we can work something out.

Here's the spec..

http://bobodyne.com/web-docs/robots/Tri ... 100s~1.pdf

Here's what it looks like inside..

http://www.worldwideflood.com/ark/model ... _model.htm

I'll post progress with the sensor as I make it.