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Unread 31-01-2015, 19:54
bussell bussell is offline
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AKA: Joe Bussell
FRC #2521 (SERT)
Team Role: Mentor
 
Join Date: Oct 2014
Rookie Year: 2009
Location: United States
Posts: 7
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Lightbulb FRC Java Implementation of the SparkFun 6 Degrees of Freedom IMU Digital Combo Board

SERT Team 2521 has been experimenting with the new SparkFun 6 Degrees of Freedom IMU Digital Combo Board. Following an excellent article at http://bildr.org/2012/03/stable-orie...-6dof-arduino/ and sample code from here: http://wiki.oz9aec.net/index.php/6DOF_Digital_IMU we are now able to obtain both Gyro and Accelerometer data from this board.

The classes can be found here:
https://github.com/bussell/SparkFun6Dof

The big lesson learned was "correct addresses are key". The code in WPILIB for the ADXL345 had a hard-coded address that was not correct for this combo board. The only change I made to this file was the address. The gyro took some more care as it uses partial bytes for control data. My hack of a method for setting up the masks is nothing to be excited about, but it works.

Many thanks to the author of the original work published 7/31/2011 by Jeff Rowberg <jeff at rowberg dot net>. https://github.com/jrowberg/i2cdevli...rduino/ITG3200

- Joe Bussell
- Mentor Team 2521
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