DFR0209

DFR0209 Datasheet

6 Dof Shield DFR0209

Part	Datasheet
DFR0209	DFR0209 (pdf)

PDF Datasheet Preview
6 Dof Shield DFR0209 Contents Introduction This is a 6 Dof shield for Arduino, using the ADXL345 accelerometer and the ITG-3200 gyro.This IMU Combo shield also embeded a xbee sockets. So it's suitable for the projects that need bluetooth, wifi or Zigbee wireless communication.And the shield extends a pair of the encoders, the motor driver interface and 4 analog input connectors. It's aimed to run on the balancing robots or mobile platforms. The encoder and motor driver interfaces are the necessary parts of the your robots. Plugin the rotation sensors to the analog connectors, then you get the most easy way to adjust the system parameters and debug the platform. Specification • Working voltage 5v and 3.3v • Interface I2C SCL,SDA • Connecters: 2 way encoder connectors by using D2,D3,D8,D9 2 way motor driver connector by using D4,D5,D6,D7 4 way analog input connector A0~A3 • Embeded the ADXL345 accelerometer and the ITG-3200 gyro • Directly support Xbee and XBee form factor wifi,bluetooth and RF modules • Compatible with Arduino Uno DFRduino UNO • A programming switch used to disable wireless communication when programming • Size 65x55x20mm Pinout Diagram 6 Dof IMU Shield pinout Example Code Please download and install the library first. // # Editor Roy from DFRobot // # Date // # Product name 6 Dof shield for Arduino // # Product SKU DFR0209 // # Version // # Description: // # The sketch for driving the 6 Dof shield for Arduino via I2C interface #include <FreeSixIMU.h> #include <FIMU_ADXL345.h> #include <FIMU_ITG3200.h> #include <Wire.h> int16_t angle[2] // pitch & roll // Set the FreeSixIMU object FreeSixIMU sixDOF = FreeSixIMU int rawSixDof[6] void setup Serial.begin 9600 Wire.begin ; delay 5 sixDOF.init delay 5 ; //begin the IMU void loop sixDOF.getRawValues rawSixDof for int i=0 i<6 i++ //output the raw data switch i case 0 Serial.print "Acc.x :" break case 1: Serial.print "Acc.y :" break case 2 Serial.print "Acc.z :" break case 3 Serial.print "gyro.x :" break case 4 Serial.print "gyro.y :" break case 5 Serial.print "gyro.z :" break; default Serial.print "Err" ; Serial.println rawSixDof[i] Serial.println "" angle[0] = _atan2 rawSixDof[0],rawSixDof[2] angle[1] = _atan2 rawSixDof[1],rawSixDof[2] ; Serial.print "X:" Serial.println angle[0]/10.0 Serial.print "Y:" Serial.println angle[1]/10.0 Serial.println "" ; //pitch & roll delay 1000 ; int16_t _atan2 int32_t y, int32_t x //get the _atan2 float z = float y / x int16_t a if abs y < abs x a = 573 * z / 1.0f + 0.28f * z * z if x<0 if y<0 a -= 1800 else a += 1800 else a = 900 - 573 * z / z * z + 0.28f if y<0 a -= 1800 return a; alt fix wiring

PDF Datasheet Preview

6 Dof Shield DFR0209

Contents

Introduction

This is a 6 Dof shield for Arduino, using the ADXL345 accelerometer and the ITG-3200 gyro.This IMU Combo shield also embeded a xbee sockets. So it's suitable for the projects that need bluetooth, wifi or Zigbee wireless communication.And the shield extends a pair of the encoders, the motor driver interface and 4 analog input connectors. It's aimed to run on the balancing robots or mobile platforms. The encoder and motor driver interfaces are the necessary parts of the your robots. Plugin the rotation sensors to the analog connectors, then you get the most easy way to adjust the system parameters and debug the platform.

Specification
• Working voltage 5v and 3.3v
• Interface I2C SCL,SDA
• Connecters:
2 way encoder connectors by using D2,D3,D8,D9 2 way motor driver connector by using D4,D5,D6,D7 4 way analog input connector A0~A3
• Embeded the ADXL345 accelerometer and the ITG-3200 gyro
• Directly support Xbee and XBee form factor wifi,bluetooth and RF modules
• Compatible with Arduino Uno DFRduino UNO
• A programming switch used to disable wireless communication when programming
• Size 65x55x20mm

Pinout Diagram
6 Dof IMU Shield pinout

Example Code

Please download and install the library first.
// # Editor

Roy from DFRobot
// # Date
// # Product name 6 Dof shield for Arduino
// # Product SKU DFR0209
// # Version
// # Description:
// # The sketch for driving the 6 Dof shield for Arduino via I2C interface
#include <FreeSixIMU.h> #include <FIMU_ADXL345.h> #include <FIMU_ITG3200.h>
#include <Wire.h>
int16_t angle[2] // pitch & roll
// Set the FreeSixIMU object FreeSixIMU sixDOF = FreeSixIMU int rawSixDof[6] void setup

Serial.begin 9600 Wire.begin ;
delay 5 sixDOF.init delay 5 ;
//begin the IMU
void loop
sixDOF.getRawValues rawSixDof for int i=0 i<6 i++
//output the raw data
switch i
case 0 Serial.print "Acc.x :" break case 1:

Serial.print "Acc.y :" break case 2 Serial.print "Acc.z :" break case 3 Serial.print "gyro.x :" break case 4 Serial.print "gyro.y :" break case 5 Serial.print "gyro.z :" break;
default Serial.print "Err" ;

Serial.println rawSixDof[i] Serial.println "" angle[0] = _atan2 rawSixDof[0],rawSixDof[2] angle[1] = _atan2 rawSixDof[1],rawSixDof[2] ;

Serial.print "X:" Serial.println angle[0]/10.0 Serial.print "Y:" Serial.println angle[1]/10.0 Serial.println "" ;
//pitch & roll
delay 1000 ;
int16_t _atan2 int32_t y, int32_t x //get the _atan2
float z = float y / x int16_t a if abs y < abs x
a = 573 * z / 1.0f + 0.28f * z * z if x<0 if y<0 a -= 1800 else a += 1800 else a = 900 - 573 * z / z * z + 0.28f if y<0 a -= 1800 return a;
alt fix wiring

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Datasheet ID: DFR0209 508669