Programming Gyros

[goegan31]

Does anyone have programming for a gyro? My team has thrown this new task at me and I need a little assistance. If you can help me out on this, that would be awesome. Thanks!

[Brandon Martus]

I'd check the white papers in the programming section. Also, try to search the forums. I'm guessing this has come up a few times in previous threads, and you could find some info in them.

Other than that, I can't help. Maybe someone else has info.

[goegan31]

Hey, thanks, the technokat gyro program has been extremely helpful, but it has raised a few questions. First, what is the KFilt variable? It is in your Sensor1Filt, and does not have a value. I think this may be the only source of error to our programming. However, what is happening is the gyro just seems to count from 0 to 256 over and over again. I thought that it may be hooked up uncorrectly, but from what we can tell, it is not. If anyone can help, it is greatly appreciated.

[Mark McLeod]

If hooked up properly at rest the Gyro will normally read 127. It will return other readings only when you move it. Try using a simple test program that only reads the analog input and debug prints the results to eliminate any other potential code errors, e.g.,
debug 2,0,1, DEC3 sensor1

Tell us what pins you hooked to, so we can double check.

[Josh Hambright]

if you still have any questions i will have our programmer get on here later and answer them...we used the gyro extensively this year and he seems to have picked up on alot of the stuff associated with it.

[AdmiralPaddon]

Hey. We're using the Gyros for a project outside of FIRST. If someone can show us or point us to a diagram showing the correct hook-up of the Gyro, we'd be thankful. I've checked the BEI and systron websites, but neither show the model that we have. Also, if there's any special way to hook 2 up (one for pitch, the other for yaw), then we'd be VERY grateful. Thanks!

[Josh Hambright]

Look in the image gallery for 2003. I posted it there. Or do a search for "Gyro Pinout" and you should be able to find it.

<EDit> In case people are lazy i'll post the links here:
Full Sheet:
http://www.chiefdelphi.com/forums/pi...&quiet=verbose

Just the PinOut:
http://www.chiefdelphi.com/forums/pi...&quiet=verbose

</edit>

[AdmiralPaddon]

Hey. I got the code great, but I have another problem. I need to use 2 gyros for my project (one for yaw, one for pitch), Any changes I need to make, or just add a copy the program and substitute sensor2 in for sensor1 and so on? Let me know. Thanks!

[AdmiralPaddon]

Umm, can anyone help? Thanks in advance.

[rust710]

Programing is not really the problem. The issue is one I don't think two gyros are allowed on the robot, but if that is not a issue then the issue is power. Pin 1 on the anolog inputs of the control system is the only 10 volt power supply for the gyro. I don't know if that pin can give enough power for 2 gyros. But other wise hooking them up is the same, except you need to use a diffrent anolog input pin.

[Josh Hambright]

If you can get the gyros from digikey or future active you can use as many as you want as long as you stay within the limits of spending set in the manual...

Atleast it seems that it should be that way.

[seanwitte]

The gyro takes 5V, not 10. I can't swear to it, but I think the 5V supply pins on the analog port can only source 25mA. There is one specific pin that is fused that can source more current, which is meant for the gyro. You should be able to connect two gyros to that pin, the data sheets indicate it only draws 20mA. Maybe the gyro from previous years used more current?

The larger problem, I think, is finding one. According to some other posts here, that part is specific to FIRST and isn't available off-the-self. Maybe you can borrow one, but the value counts towards your electronics budget.

[Dusan]

Hey, I think i can help you with your problem ... just e-mail me at
robostangs548@hotmail.com

Send me any specific questions you have about programming the gyro .... and perhaps about electronic wiring.

[Cory]

I am positive that 2 Gyros are allowed. At both inspections in Sacramento and SVR, inspectors saw that we were using two, noth on the robot and on the BOM. At SVR, we had an incredibly thorough inspection and they were also not questioned.

Cory

[Dave Flowerday]

Originally posted by Cory
I am positive that 2 Gyros are allowed. At both inspections in Sacramento and SVR, inspectors saw that we were using two, noth on the robot and on the BOM. At SVR, we had an incredibly thorough inspection and they were also not questioned.

Hmm.. unless you bought one gyro from Future or Digikey then I'm afraid you're violating the rules. Check page 28 of the Robot Rules - Yaw Rate Sensor Quantity 1 was included in the kit. If you follow the additional parts flow-chart you'll see that you'll end up in the box that says "Is the part an Additional Electronics Component (refer to rule K5)?" Rule K5 is the one that says it must come from Digikey or Future and no part can cost more than $100.

The fact that the inspectors didn't catch it doesn't make it legal - having been an inspector at Midwest I can tell you that inspectors don't have time to go through the whole list of rules and additional parts and everything - basically except for inspecting for obvious violations or safety problems we have to rely on the teams to follow the rules on their own.

BTW, what are you measuring with two gyros? I know we really wish we were able to use 2 so we could use one for our angular position and one for ramp detection... Is that what you're doing?