Koala 2.5 User Manual Rev 1.1
19
4.5
Accelerometer
The accelerometer mounted on the Koala 2.5 is a LSM9DS0 from ST.
This device includes in one package a 3D accelerometer, a 3D
gyroscope and a 3D magnetometer.
The position of the device on the Koala is indicated below. The device
is exactly at the middle of the wheels but not exactly on the rotation
center (28.5mm in front). The device is located on the bottom of the
main PCB.
Figure 4.6: Position of the LSM9DS0
The accelerometer is oriented with the pin 1 to the front right; this
returns a positive value for X axis when going forward. The Y axis is
positive on the right, and finally Z axis is positive with the gravity.
Figure 4.7: Direction of detectable accelerations (TOP view)
The accelerometer returns 16 bits data with a range of +/-2g. This
means a value of 1g will return a value of 16’384. The data rate is
configured to 100Hz, as the dsPIC of the Koala refreshes 10 values at
a time, the output on the Pico-ITX serial port will be 10 values (of
each axis) sent every 100ms (if auto mode activated).
Содержание Koala 2.5
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Страница 9: ...Koala 2 5 User Manual Rev 1 1 6 Figure 3 3 Bottom view 13 Gear Box 14 Docking station connection...
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Страница 50: ...Koala 2 5 User Manual Rev 1 1 47 Figure 6 2 Right view Figure 6 3 Front view...
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