Jon's Place

Friday, February 2, 2007

IMU and Squeak

I love Squeak. You can do really cool stuff with it. In very little time. Take this morning, for instance. I got up at 5:30, and by 8:00 I built a multi-sequence graphing window that feeds off my logs, and shows the behaviour of the IMU as the robot is moving. The image to the right is a graph of the 3-axis accelerometer readings as MicroRaptor stands up, and starts a walk sequence.

I can add more entries to these graphs as well, as the second graph shows. This graph has the full 6 axis IMU output. In case you were wondering, I'm using a 6-axis IMU borrowed from the Brain Engineering Lab. The graphs are all dynamically generated directly from the log information, with no manual interaction required.

1 Comments:

  • hello John;
    I'm doing my IMU with 9DOF (3 axis acc, 3 axis gyro, and 3 axis magnectic sensor)! And Now;I'm coding it using kalman filter! I have refer to kalman code only using matrix 2x2 to implement kalman filter!If you don;t mind please give me some document about your implements in IMU and your result!Thank for you helping

    By Blogger Huynh bao, At February 20, 2010 at 10:28 AM  

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