Got Gyro drift? Try Sensor Fusion !

[Alan Anderson]

The Rock Robotics library is designed to work with the hardware used by FIRST Robotics Competition teams, and the special FPGA image that goes along with it. If you don't have a RoboRIO or FRC-cRIO system, you won't be able to use them. And even if you do have that hardware, you will need the special Driver Station program running on a network-connected Windows laptop in order to enable the hardware outputs.

While some of us here are able to give general advice, you're not likely to get the specific help you're looking for in this forum.

[tetris]

Thank you for your answers.

Is it possible to make 3 screenshots of the "context help" in Labview for these 3 Icons?: "WPI_I2COpen"; "WPI_I2CRead"; WPI_I2CWrite"

I need the name and descriptions of inputs and outputs of each icon (example with picture attached).

Thanks a lot, sorry to bother you

Regards

[Alan Anderson]

Originally Posted by tetris

Is it possible to make 3 screenshots of the "context help" in Labview for these 3 Icons?: "WPI_I2COpen"; "WPI_I2CRead"; WPI_I2CWrite"

I need the name and descriptions of inputs and outputs of each icon (example with picture attached).

I think you are still not understanding what you are asking for. The WPI library functions (in the Rock Robotics directory) work with the FIRST-specific FPGA image on a RoboRIO device, which you don't have, and which you almost certainly do not want.

Can we take a few steps back and get a more general view of what you're trying to do? If you're using the NI USB-8451, nothing you read here is applicable.

[tetris]

Hello thank you for your answers....
It is for a school project (engineering master).
I need the screenshot: i have installed labview 2014 and FIRST ( because I have student licence of my school).

Best regards
and Mery christmas

[tetris]

Hello
yes exactly I need the WPI library functions (in the Rock Robotics directory)
Can you send it to me ? Where can I find it? I need to understand the blockdiagramms in order to
adapt the programm with my USB 8451 device.

regards

[jhersh]

Originally Posted by tetris

Hello
yes exactly I need the WPI library functions (in the Rock Robotics directory)
Can you send it to me ? Where can I find it? I need to understand the blockdiagramms in order to
adapt the programm with my USB 8451 device.

regards

If you actually installed the FRC update then you would have these VIs. You could then use those VIs to understand the API that FRC uses so that you can port to the other USB I2C API.

I would recommend installing the "FRC Update".

[tetris]

Thanks a lot yes I did it and it works.
Nice that you help people and thanks a lot jhersh..... because other user on this forum was very unhelpful and not friendly with me!

Happy new year Jhersh and all the best in the new year 2016!!!!
Denis from GENEVA

[juchong]

Hi everyone! I hate to bring up an old post, but I want to post a shout-out to the RoboBees for providing the FIRST community with an elegant AHRS implementation!

As some of you may know, I've been working to improve the software libraries available for the ADIS16448 IMU. I ran across the RoboBees implementation and managed to integrate it into the main IMU code.

Once again, thank you very much for all of your hard work! If you would like to take a look at the code, you can find it on GitHub here.

[Bpk9p4]

Has anyone tried to use this code this year. I used it last year with great success. However i started to add this into my 2016 code and it keeps asking for a FPGA_TypedefDigitalModule.ctl does anyone know where to find this

[PhilBot]

Originally Posted by Bpk9p4

Has anyone tried to use this code this year. I used it last year with great success. However i started to add this into my 2016 code and it keeps asking for a FPGA_TypedefDigitalModule.ctl does anyone know where to find this

NI changed the VI's for several I/O devices this year. In most cases they removed the need to enter a module number, but your old code is still trying to provide one from an enumerated list. But that typedef does not exist any more.

There's probably a faster way, but if you just drill down through the VIs and locate all the ones with errors, you can just delete the "module number" constant that is giving the problem. It's not needed any more.

Phil.

[Richard100]

Bpk - If I remember correctly, you can just delete the reference to the .control in the code and the rest should work ok.

See this for a much more advanced IMU with LabVIEW code The RoboBees are using this one for StrongHold - you might like it.

[dhal_sauce]

Hey good day,
I very much like the work you have done on the AHRS and I am thinking about manipulating the code to use with an Arduino. I am currently making a DIY flight controller for a quadcopter as a project for my BSc in Electrical and Computer Engineering and I am having difficulty in properly fusing my sensors. I am able to get raw data from them(I have an AltIMU 10 V5 https://www.pololu.com/product/2739) but my attempts to properly fuse the data has been futile thus far.
I wanted to know if you think it is possible to build an Arduino version of the AHRS based on your code for LabVIEW platform?

Regards.

[AustinSchuh]

Originally Posted by dhal_sauce

Hey good day,
I very much like the work you have done on the AHRS and I am thinking about manipulating the code to use with an Arduino. I am currently making a DIY flight controller for a quadcopter as a project for my BSc in Electrical and Computer Engineering and I am having difficulty in properly fusing my sensors. I am able to get raw data from them(I have an AltIMU 10 V5 https://www.pololu.com/product/2739) but my attempts to properly fuse the data has been futile thus far.
I wanted to know if you think it is possible to build an Arduino version of the AHRS based on your code for LabVIEW platform?

Regards.

The page you linked to has sample code on it. (https://github.com/pololu/minimu-9-ahrs-arduino) which is for an arduino. That should be easier.

[Richard100]

To answer your question, yes, you should be able to write a simple fusion algo on the Arduino. The Complementary Filter (used here) is computationaly simple.

As Austin points out there appears to be Arduino code available
://github.com/pololu/minimu-9-ahrs-arduino/blob/master/README.textile

Couldn't tell which fusion algo they use from the read-me.

Other ideas: The IMU used in this thread is from AdaFruit ... they have interface code for the Arduino, but no fusion code if I recall.

There are other IMUs that have built-in fusion algos, and can be interfaced with the Arduino ... There's another thread, https://www.chiefdelphi.com/forums/s...d.php?t=141100
that discusses this.

If you use an IMU with built-in fusion it will likely out perform what you might develop and get you there faster. If you write your own, you'll learn more.