Angle measurement using gyro, accelerometer and Arduino

The device is a rough prototype of what will eventually become a self balance robot, this is the second part of the hole thing (read accelerometer and control a motor to self balance). The first part with only the gyro can be found here.
On this instructable we will measure the angle using both gyro and accelerometer, and using a technique to merge both sensor to get a smooth signal. The technique is called "complementary filter".

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Step 1: What we gonna need:

Some part can be replace, and some modification at the code have to be made to fit your hardware.
On this project we will use:
- Breadboard
- Microcontroller, I used the Arduinoboard
- Wire
- Jumper Wires
- Gyroscope XV-8100
- Nunchuck Wii (for the accelerometer)
- Nunchuck Wii adapter for Arduino

Step 2: Building...

The circuit consists of a gyroscope connected direct to port 0 at your arduino and a nunchuck wii connect at the I2C port.

Assembling the gyro:

1. - plug the gyro at the breadboard
2. - wire ever thing:
- Vo pin from gyro connected to analog port0 at arduino (Light orange wire)
- G pin from gyro connected to ground (White wire)
- V+ pin from gyro connected to Vdd(3.3V) (Orange wire)

Assembling the accelerometer:

1. - plug the adapter at the nunchuck
2. - plug the nunchuck at the arduino using the adapter
3. - place the accel sensor like the photo above
ihelmi3 months ago
Nunchuck controller are use for what?? How can I use this, to combine with my pyranometer tracker?
otaviousp (author)  ihelmi3 months ago
Nunchuck controller has an internal integrated accelerometer.

You can use it for a variety of things, depend what are you doing or your need.
ontreus2 years ago
Desculpe-me, é que estou construindo um bicoptero e estou com um problema no equlibrio de todo o sistema, estudando seu codigo: angle_for_instructable.pde
Não vi nenhuma linha para a execução dos motores que vc usou no seu robô.
estes comandos estão em um outro arquivo a parte?
Obrigado pela atenção.
jgeidl3 years ago
The code link does not link to a .rar but to a .tmp file. Is the code link available somewhere else?


vivekchopra3 years ago
i need to build a human body sensor using an accelerometer and a gyroscope........and i am gonna use labVIEW as software for analysis.....can you please help me with the microcontroller part........should i go with lpc2138???

Is there any information about how that formula is derived, because I hate using things i dont fully understand
otaviousp (author)  skeleton11023 years ago
Read this instructable first, there is a plenty of information.

Any doubt feel free to ask.
I mean the one to calculate the angle using accelerometers.
paolo.mosna3 years ago
Sorry If i bother you but where can I buy the gyroscope device you used in your realization?
otaviousp (author)  paolo.mosna3 years ago
I bought this gyro at eBay. But is no longer available.
Accentrix4 years ago
Thanks for the explanation. I was waiting for someone to do this.
WyoJustin4 years ago
Thanks, I'll need this for my next project.

otaviousp (author)  WyoJustin4 years ago
Nice, xD
gellis30004 years ago
When I try to download the .rar, all I get is a .tmp file. I have tried 3 different browsers, how does this work?
otaviousp (author)  gellis30004 years ago
Try just renaming from .tmp to .rar