Thread: ADXRS150 gyro yaw rate sensor
View Single Post
  #6   Spotlight this post!  
Unread 14-02-2004, 22:48
seanwitte seanwitte is offline
Registered User
None #0116
Team Role: Engineer
  
Join Date: Nov 2002
Location: Herndon, VA
Posts: 378
seanwitte has a brilliant futureseanwitte has a brilliant futureseanwitte has a brilliant futureseanwitte has a brilliant futureseanwitte has a brilliant futureseanwitte has a brilliant futureseanwitte has a brilliant futureseanwitte has a brilliant futureseanwitte has a brilliant futureseanwitte has a brilliant futureseanwitte has a brilliant future
Send a message via AIM to seanwitte
Re: ADXRS150 gyro yaw rate sensor
We're using that part to track the robot's heading. The integration is being done in a 100Hz ISR using timer3. Using rectangular integration we had decent performance. When we switched to trapezoidal integration its within 1 degree over multiple 0-90-180-90-0 degree transitions. Its averaging the current and previous values as the input to the integrator. Thanks to Chris Hibner for the trapeziodal integration suggestion in a previous post.