Thread: IMUs
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Unread 17-01-2016, 14:23
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AKA: James
FRC #2168 (The Aluminum Falcons)
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Re: IMUs

Quote:
Originally Posted by Richard100 View Post
You'll want to ensure that magnetic fields generated by the robot don't overly degrade the performance of any IMU.
I'd suggest running the BNO055 in IMU mode (just gyro and accel) to remove any interference from motor EMI. This means the heading will be relative to the orientation the robot is in at the start of the match (instead of to earth mag. field), but I find that more useful personally.

Quote:
Every team is getting an ADXRS450 as part of the 2nd first choice.
Joe, thanks for pointing that out. I hadn't looked at the specs on this board yet. Looks like the difference between the 450 and 453 is 25 deg/hr vs 16 deg/hr drift rating respectively.

So if you just need heading (not yaw or tilt), this looks like a great option. Especially because its free! The Java code I linked to above should work with the 450 as well. It was used all last season without error. I obviously haven't tested it yet with the 450, since nobody has these sensors in hand yet. Also, I wouldn't be surprised if a future WPIlib update included a class for this sensor, since all teams are receiving them.
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