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Measure And Display The Angular Velocity With Pmod Gyro

About the project

This project shows how to use Pmod GYRO and Arduino Uno to measure and display the angular velocity. In this app, 3 components (x, y, z) of the gyroscope are displayed in the serial monitor.

Project info

Difficulty: Easy

Platforms: Arduino, Digilent

Estimated time: 1 hour

License: GNU General Public License, version 3 or later (GPL3+)

Items used in this project

Hardware components

	Pmod GYRO	x 1
	Arduino Uno - R3	x 1

Software apps and online services

Arduino

Story

This is a demo project for the Digilent Pmod GYRO. The X, Y and Z components of the angular velocity are measured and displayed on the Serial monitor. To control the Pmod, an Arduino UNO is used, which also sends the data to the computer. To communicate with the peripheral device, I2C communication protocol is used, which is made simpler by the usage of the L3G4200D Arduino Library. Measurements are integrated to get the deviations from the initial position, then displayed with the help of the serial plotter.

Schematics, diagrams and documents

Pmod GYRO and Arduino Uno Fritzing Image

Code

Pmod GYRO and Arduino Uno Code

/************************************************************************

  Test of the Pmod GYRO

*************************************************************************

  Description: Pmod_GYRO
  The 3 components X, Y, and Z of the gyroscope
  are displayed in the serial monitor

  Material
  1. Arduino Uno
  2. Pmod GYRO (download library: https://github.com/jarzebski/Arduino-L3G4200D )

  Wiring
  Module<----------> Arduino
  VCC     to        3V3
  GND     to        GND
  SCL     to        A5 (SCL)
  SDA     to        A4 (SDA)

************************************************************************/

#include <Wire.h> //including library for I2C communication
#include <L3G4200D.h> //including library for Pmod control

#define TIME_STEP 0.01  //define delays after measurement (sec)

L3G4200D gyroscope; //create object for gyroscope

//global variables
float pitch = 0;
float roll = 0;
float yaw = 0;

void setup() {
  Serial.begin(115200); //serial initialization

  //set scale 2000 dps and 400HZ Output data rate (cut-off 50)
  gyroscope.begin(L3G4200D_SCALE_2000DPS, L3G4200D_DATARATE_400HZ_50);

  //calibrate gyroscope. The calibration must be at rest.
  gyroscope.calibrate(100);
}

void loop() {
  unsigned long timer = millis(); //get current time

  Vector norm = gyroscope.readNormalize();  //get normalized values

  //calculate the integral of pitch, roll and yaw
  pitch = pitch + norm.YAxis * TIME_STEP;
  roll = roll + norm.XAxis * TIME_STEP;
  yaw = yaw + norm.ZAxis * TIME_STEP;

  //display values in a plotter-compatible format
  Serial.print("pitch:");
  Serial.print(pitch);
  Serial.print(",");
  Serial.print("roll:");
  Serial.print(roll);
  Serial.print(",");
  Serial.print("yaw:");
  Serial.println(yaw);

  //wait to full TIME_STEP period
  delay((TIME_STEP * 1000) - (millis() - timer));
}

Credits

Digilent Inc

Digilent Inc., a National Instruments company, is a leader in the design, manufacture and worldwide distribution of FPGA development boards and Test and Measurement devices for both industry and education. Since our founding in 2000, Digilent has partnered with different leading semiconductor companies including Xilinx, Microchip, Analog Devices, ISSI and Texas Instruments to bring products with the latest embedded & electronics technology. Our expert team of engineers, combined with our manufacturing services and worldwide distribution has made us an ideal partner for several leading technology providers. We want to enable our partners to be successful through well designed, high quality and well manufactured hardware.

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Measure And Display The Angular Velocity With Pmod Gyro

About the project

Project info