doing double integration to getdistance traveled

[artdutra04]

Originally Posted by eccmaster

Has anybody been able to do double integration with readings from the accelerometer in the kop? How do you do double integration in easy c?

The key to the integration is precise, interrupt-driven timing.

When you take the acceleometer output, you can use the formula v_f = v_f + (a * t) every time through the program loop. If you use precise timing, you know the set time interval, you know the acceleration, and you know the initial velocity (this was v_f the previous time through the loop), so you can solve for the new final velocity.

From here, we plug this into the distance formula of d_f = d_f + (v_f * t). This formula finds out how far the robot would have traveled at velocity v_f for time t, and then adds that onto the previous distance.

With a dual-axis accelerometer, you will need two separate sets of these equations, one for both the x and y dimensions.