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The Balance FilterA Simple Solution for Integrating Accelerometer and Gyroscope Measurements for a Balancing Platform Shane Colton <scolton@>Mentor, FRC 97Rev.1: Submitted as a Chief Delphi white paper - June 25, 2007.
Sensors2-Axis Accelerometer: Measures “acceleration,” but really force per unit mass. (F = ma, so a = F/m) Can be used to measure the force of gravity. Above, X-axis reads 0g, Y-axis reads -1g. Can be used to measure tilt:YXgYXgYXX reads slightly positive.X reads slightly negativeX now sees some gravity.Y sees slightly less gravity.Is Y useful information? Probably not:a) It is far less sensitive to small changes in angle than X.b) It does not depend on direction of tilt.Gyroscope: Measures angular rate (speed of rotation). Reads “zero” when stationary. Reads positive or negative when rotating:Gyro reads positive.Gyro reads negative.
Reading Values from the SensorsThe first step is to read in analog inputs (through the analog-to-digital converter, ADC) for each sensor and get them into useful units. This requires adjustment for offset and scale: The offset is easy to find: see what integer value the sensor reads when it is horizontal and/or stationary. If it flickers around, choose an average value. The offset should be a signed* int-type variable (or constant). The scale depends on the sensor. It is the factor by which to multiply to get to the desired units?. This can be found in the sensor datasheet or by experiment. It is sometimes called the sensor constant, gain, or sensitivity. The scale should be a float-type variable (or constant).x_acc_ADCsigned int-type, 10-bit (0-1023)read in from ADCgyro_ADC signed int-type, 10-bit (0-1023)read in from ADCx_acc = (float)(x_acc_ADC – x_acc_offset) * x_acc_scale;gyro = (float)(gyro_ADC – gyro_offset) * gyro_scale;x_accfloat-typegyrofloat-type*Even though neither the ADC result nor the offset can be negative, they will be subtracted, so it couldn’t hurt to make them signed variables now.?Units could be
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