Instructables
Picture of Car No. 05 Fourth Stage (Strawberry version)

 

Car No.05 is the project aiming to make a programmed automatic driving car.

In First Stage, I assembled a smaller turning radius R/C chassis and made a relationship table between steering servo value and turning radius.

In Second Stage, I made an Excel simulation program, to which car starting point, car starting direction and pass points were input, then from which steval and car direction were obtained as automatic driving data.

In Third Stage, I attached PC on car body, made Tachometers and automatic driving control system (plain-vanilla version) was tested.


In this Fourth Stage, further automatic driving system (strawberry version) is tested.

Direction measurement using censor is applied in this Strawberry version.

Various types of sensor are tested for direction measurement.

Code names of Tochiotome(gyro HS-EG3), Amaou(3-axis digital compass.HMC5843), Hinoshizuku1(3-axis gyro ITG-3200) and Hinoshizuku2(IMU Digital Combo Board - 6 DOF ITG3200/ADXL345) are tested.

Finally, Hinoshizuku1(3-axis gyro ITG-3200) is applied for Strawberry version.

 

Carefully check the picture, fourth Arduino is attached above central one.

 

 
Remove these adsRemove these ads by Signing Up

Step 1: Sensors to be tested

Tochiotome

- gyro  HS-EG3 (+ Condenser 100uF, 0.10uF x 3, Resistance 100K ohm x 2)

 

Amaou

- 3-axis digital compass  HMC5843

 

Hinosizuku1

- 3-axis gyro  ITG-3200

 

Hinoshizuku2

- IMU Digital Combo Board - 6 DOF  ITG3200/ADXL345

 

Connection between Arduino and Desktop PC is by bluetooth. BlueSMiRF for Arduino side and Parani-UD100 for PC side are used.

 

Step 2: Tochiotome(gyro HS-EG3)

Set HS-EG3, condensers and resistances on Arduino. (Refer to the product spec. http://www.mecharoboshop.com/Products/STLJapan/Tsukasa21-Tsukasa41-Specific%281-2%29.pdf,  Vout --> A5)

 

Processing and Arduino codes

HS_EG3_P.pde

HS_EG3_A.pde

 

Upload Arduino code and run Processing code.

 

Rotate and move Arduino, and check azimuth shown in Processing screen.



 

It seems OK for slow movement, but for quick movement, this sensor cannot follow with.

 

 

smartlogix2 years ago
Can I run your code directly from Arduino while I don't have a C compiler with me?

I tried to, but it gave me an error that "FreeIMU1.cpp" was not found.
Kaeru no Ojisan (author)  smartlogix2 years ago
Hi!
Depress the above FreeIMU1.lzh and paste all files (except *.pde) in ../arduino-022/libraries/FreeIMU1 folder. (Make FreeIMU1 folder under libraries folder in arduino program folder.)
DebugUtils.h shall be in ../arduino-022/libraries/DebugUtils folder.
After that upload FreeIMU1_A.pde to your Arduino,

I got these files from the below site and modified for only ITG3200 use.
http://www.varesano.net/blog/fabio/initial-implementation-9-domdof-marg-imu-orientation-filter-adxl345-itg3200-and-hmc5843-a

If you are using Arduino UNO, kindly advise me whether this Hinoshizuku1 works or not in your UNO.
In my case, this Hinoshizuku1 works very well on Arduino Duemilanove, but NOT on Arduino UNO.

Good Luck!
Thanx, I downloaded your files + DebugUtils from the link you mentioned, everything compiled and uploaded now but it doesn't seem to work as the values on Serial monitor are not changing.

I am using Arduino Duemilanove and a 6DOF IMU which uses IT3200 as its gyro.

I have also changed Gyro address to 0x68 (at which normally my gyro reponds) in the respective header file but no luck.
Kaeru no Ojisan (author)  smartlogix2 years ago
HI!
I am afraid it seems beyond my control.
Just try varesano.net code and my Hinoshizuku2 code.
If both do not work, I have know idea.