DFRobot DFR0209 Quick Start Manual

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6 Dof Shield (DFR0209)

Contents



1 Introduction



2 Specification



3 Pinout Diagram



4 Example Code

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5 Older revision fix

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.

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Summary of Contents for DFRobot DFR0209

Page 1 6 Dof Shield (DFR0209) Contents  1 Introduction  2 Specification  3 Pinout Diagram  4 Example Code  5 Older revision fix 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.
Page 2 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. http://www.dfrobot.com/image/data/DFR0209/6%20Dof%20shield%20library.zip...
Page 3 : Roy from DFRobot // # Date : 10.12.2013 // # Product name: 6 Dof shield for Arduino // # Product SKU : DFR0209 // # Version : 0.1 // # Description: // # The sketch for driving the 6 Dof shield for Arduino via I2C interface #include <FreeSixIMU.h>...
Page 4 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:");...
Page 5 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;...

DFRobot DFR0209 Quick Start Manual

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1 Introduction

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