Version 1.0.0
Inzwa I-LSM9DS1 Yimodyuli ephucukileyo yokulinganisa inertial ebandakanya a i-accelerometer, i-gyroscope kunye ne-magnetometer, zonke kwitshiphu enye. Esi sivamvo sisebenza ngeendlela ezininzi kwaye sisetyenziswa kwiiprojekthi ezifuna umlinganiselo wentshukumo kunye nokuqhelaniswa nesithuba esinamacala amathathu. Iqhelekile kwizicelo ezifana nezixhobo zokukhangela, ulawulo lwentshukumo kwiirobhothi, kunye neenkqubo zokwenyani ezongeziweyo.
Kwesi sikhokelo, siza kuphonononga ngokweenkcukacha ukuba isebenza njani, indlela yokudibanisa nayo Arduino kwaye yeyiphi imiba omawuyithathele ingqalelo xa utolika ukufunda kwakho. Ukongeza, siya kufunda indlela yokuyicwangcisa kusetyenziswa amathala eencwadi athile ukwenza uninzi lwamandla ayo.
Iimpawu zoluvo lwe-LSM9DS1
I-LSM9DS1 yinzwa 9 degrees yenkululeko (9DOF), okuthetha ukuba inokulinganisa intshukumo kwiiasi ezintathu usebenzisa abenzi boluvo abathathu:
- Isantya sokukhawulezisa: Ilinganisa isantya kwi-X, Y, kunye ne-axes engu-Z, ivumela ukuthambeka kunye nokubonwa kwesantya.
- I-Gyroscope: ilinganisa isantya se-angular kuzo zontathu ii-axes, ziluncedo ekubhaqeni iinguqu kuqhelaniso.
- Imagnethimitha: Ivumela ukumisela isalathiso sommandla wemagnethi woMhlaba, osebenza njengekhampasi yedijithali.
Le modyuli inxibelelana nomlawuli omncinci nge I2C okanye SPI kwaye inikezela ngoluhlu lokulinganisa olwahlukileyo kuluvo ngalunye:
- Isantya sokukhawulezisa: ±2g, ±4g, ±8g, ±16g
- I-Gyroscope: ±245 dps, ±500 dps, ±2000 dps
- Imagnethimitha: ±4 igesi, ±8 igesi, ±12 igesi, ±16 igesi
Ukuqhagamshela iLSM9DS1 kwiArduino
Ukusebenzisa i-LSM9DS1 sensor nge Arduino, kufuneka senze uxhulumaniso lomzimba usebenzisa iprotocol yonxibelelwano efanelekileyo. Le sensor ivumela iindlela ezimbini zonxibelelwano:
Uqhagamshelwano nge-I2C
Ukuba sisebenzisa ujongano I2C, siya kudibanisa izikhonkwane zoluvo ngolu hlobo lulandelayo:
- VCC: 3.3V
- GND:GND
- I-SDAI-A4 kwiibhodi ezisekwe kwi-ATmega328P (Arduino Uno, Nano, njalo njalo)
- SCL: A5 kwiibhodi ze-ATmega328P
Uqhagamshelwano ngeSPI
Kwimeko yokusebenzisa SPI, iya kudityaniswa ngolu hlobo lulandelayo:
- VCC: 3.3V
- GND:GND
- UMOSIIsiseko: D11
- MISOIsiseko: D12
- I-SCLKIsiseko: D13
- CS: I-pin yedijithali ekhethiweyo
Ukufakela ithala leencwadi kunye nekhowudi yokuqala
Ukuququzelela ukusetyenziswa kwe I-LSM9DS1, I-Arduino inelayibrari esemthethweni esinokuyifaka kwi UMlawuli weThala leeNcwadi. Khangela nje «Arduino_LSM9DS1» kwaye uyifake.
Nje ukuba ifakelwe, sinokulayisha le khowudi yovavanyo ilandelayo:
#include void setup() {Serial.begin(115200);while (!Serial);if (!IMU.begin()) {Serial.println("Error al iniciar el IMU.");while (1);}}void loop() {float x, y, z;if (IMU.magneticFieldAvailable()) {IMU.readMagneticField(x, y, z);Serial.print("Campo magnetico: ");Serial.print(x); Serial.print(", ");Serial.print(y); Serial.print(", ");Serial.println(z);}delay(500);}Le khowudi ifundeka i amandla kazibuthe Ifunyenwe yimagnetometer kwaye iboniswe kwimonitha yothotho.
Ukutolikwa kwamaxabiso afunyenweyo
Idatha efunyenwe yi I-LSM9DS1 Ngamanani amanani amele imilinganiselo yokwenyani yomzimba:
- I-accelerometer ibuyisela amaxabiso kwi-g (umxhuzulane woMhlaba).
- I-gyroscope ilinganisa isantya se-angular kwi-dps (iidigri ngesekhondi).
- Imagnetometer ilinganisa ubunzulu bemagnethi kwimicroteslas (µT).
Ukudibanisa le datha kwiprojekthi yokwenyani, kuyacetyiswa ukuba kusetyenziswe ubuchule obufana ne-sensor fusion usebenzisa i-Kalman okanye izihluzi ezongezelelweyo.
Usetyenziso lwe-LSM9DS1
Le sensor ingasetyenziswa kwiiprojekthi ezininzi ezahlukeneyo, ezinje:
- Iikhampasi zeDijithali: usebenzisa amaxabiso emagnetometer ukumisela indlela.
- iinkqubo zokukhangela: Ukudibanisa i-accelerometer kunye ne-gyroscope ukulinganisa ukufuduka.
- Ulawulo lwentshukumo: kwiirobhothi kunye nezixhobo zeVR zokubona ukuthambeka kunye nokujikeleza.
Ngenxa yokuguquguquka kwayo, i I-LSM9DS1 Sisixhobo esiphambili ekuyilweni kweeprojekthi ezifuna ulwazi oluchanekileyo lokuhamba kunye nokuqhelaniswa.
I-LSM9DS1 lolona khetho lubalaseleyo lokulinganisa intshukumo kunye nokuqhelaniswa nokuchaneka okuphezulu. Ukudityaniswa kwayo kunye Arduino Kulula ukubulela kumathala eencwadi athile, evumela ukufumana idatha yexesha lokwenyani ukukhawulezisa, ukujikeleza y amandla kazibuthe. Ngokulungelelaniswa okufanelekileyo kunye nokutolikwa kwedatha, usetyenziso oluphezulu kwi-robotics, ukuhamba kunye nokusebenzisana nokusingqongileyo kunokuphuhliswa.