Pigeon IMU

Technical Programming
1

I was wondering if you can get linear acceleration data from a pigeon imu. That would be useful if you wanted to do something like updating odometry if you got bumped to the side.

2

Yes, the Pigeon includes an accelerometer.

3

I know, but from looking at the docs, I don’t see a way to get linear acceleration, only rotational

4

FYI, although I do not know what you are using accelerometer for, but do note that accelerometers are not every accurate. So if you are trying to use it for precise control, I recommend finding an alternative solution.

5

Using acceleration to get translational position requires a double integration. This does not work well due to the noise.

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6

If you want to experiment with accelerometers the roboRIO has a couple built-in.

7

Thank you. I didn’t have a specific use in mind, I was just curious.

8

What I’ve decided to do is use the pigeons “getRawAccelerometer” method, and then ‘double integrate’ it to get a rough xy position. then, it will detect when we are bumped and do a rough correction, while triggering a limelight to use vision to more accurately update the normal odometry xy to continue following the path.

edit its actually “getBiasedAccelerometer”

9

Do you have documentation
on this?

10

I’m using a pigeon, but I looked it up and found it here: https://docs.wpilib.org/en/latest/docs/software/sensors/accelerometers-software.html#

BuiltInAccelerometer

The BuiltInAccelerometer class (Java, C++) provides access to the roboRIO’s own built-in accelerometer:

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