User manual

JM3 Engineering Inh. J. Maisel Dobelweg 18, D-85567 Grafing / Munich

Email: JHM@JM3-Engineering.de

Version: 2.30 Oct 21, 2013 page: 1

3D Accelerometer

for RP6 Robot, but also useable for RP6 WIFI, ARUDINO

and ASURO

Introduction:

General purpose 3D accelerometer module for robots. This 3D accelerometer can

determine the absolute angle of your robot, e.g. Roll and Pitch value can be easily

calculated by a microcontroller. In addition you can calculate the vector of a collision

impulse. This information can be used to move around an obstacle.

Hint: Often, the differences between a Gyro and an Accelerometer is not clear and

got mixed up.

Here a clarification:

A gyroscope is very good in finding the rate of an angular change, but can’t detect an

absolute angle – but an accelerometer does!

1.) PIN OUT Accelerometer Module:

PIN1 CS/SPI enable

PIN2 SO/SDO (I2C address)

PIN3 INT1

PIN4 GND

PIN5 SI/SDA

PIN6 SPC/SCL

PIN7 INT2

PIN8 VCC

R3 -> a 0-Ohm resistor R2 -> a 0-Ohm resistor will

will route INT_2 to pin 7. route INT_1 to pin 3.

PIN8 PIN1

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3D Accelerometer for RP6 Robot, but also useable for RP6 WIFI, ARUDINO and ASURO Introduction: General purpose 3D accelerometer module for robots. This 3D accelerometer can determine the absolute angle of your robot, e.g. Roll and Pitch value can be easily calculated by a microcontroller. In addition you can calculate the vector of a collision impulse. This information can be used to move around an obstacle. Hint: Often, the differences between a Gyro and an Accelerometer is not clear and got mixed up.
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.) Connecting to RP6 Robot The picture on the left shows the M32 board with an 8 pin DIL socket. The Accelerometer module fits on the boards as drop in solution. PIN1 PIN3 and PIN 7 on M32 Board are connected to Vdd ! Recommendation is to remove R2 and R3! Pin1 is on the lower right hand side on the picture below (hence DIL socket). VDD is 3.3 or 5.0 V nominal. 3.) Connecting to RP6WIFI, ASURO or ARUDINO Alternatively you can connect this module to the I2C Bus instead of SPI.
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2. RP6ControlLib.
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3.
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.) Software changes (I2C): The data access and initialization works over I2C Bus (for details on Registers and functions refer to the datasheet of the LIS302DLH. Add to your I2C implementation the following steps: 5.