PDA

View Full Version : GYRO + accelero sensor Darwin-OP Framework (Raspberry Pi) for controlling Darwin-OP(without CM-730)



m_arifwijaya
08-03-2016, 11:31 AM
Please help me,
how can i use gyro value (connected raspberry's i2c) to control my darwin?
which parts of darwin-op's framework should I change?


thanks for your answer ^_^

r3n33
08-04-2016, 01:29 PM
A couple of hints:

You'll want some object within the framework to access the imu data. An available example for the CH Robotics UM7 IMU can be found here (https://github.com/Interbotix/HROS5-Framework/blob/22b70cc0bff69be7226c7f132e87b6623126bc21/Framework/src/UM7.cpp)

Then for starters a simple application for testing your new class.. for example (https://github.com/Interbotix/HROS5-Framework/blob/22b70cc0bff69be7226c7f132e87b6623126bc21/Linux/project/um7/main.cpp)

Once satisfied you'll want the new imu data in the MotionManager's process() (https://github.com/Interbotix/HROS5-Framework/blob/UM7/Framework/src/motion/MotionManager.cpp#L205) routine.

Good luck!

m_arifwijaya
08-07-2016, 11:34 AM
thanks r3n33, i will try it, i hope thats work hahaha