Grove 6-Axis Accelerometer & Gyroscope: Understanding data output and if functioning correctly?

[junk225]

Hi there,



I have just plugged in a Grove v1 6-Axis Accelerometer & Gyroscope (BM1088) sensor to my Seeed Grove Hat on an Arduino Yun.



I am trying to understand what the values mean in relation to the sensor’s position, and how am i supposed to interpret them within my application - e.g. for the following output:

16:48:12.035 -> Accelerometer:

16:48:12.035 -> -179.44,948.12,224.67

16:48:12.035 -> Gyroscope:

16:48:12.035 -> 0.37,-0.85,-3.78

16:48:12.108 -> Accelerometer:

16:48:12.108 -> -184.57,945.56,219.91

16:48:12.108 -> Gyroscope:

16:48:12.108 -> 6.71,2.32,0.73

16:48:12.146 -> Accelerometer:

16:48:12.146 -> -184.75,946.29,217.16

16:48:12.146 -> Gyroscope:

16:48:12.146 -> 0.24,-4.27,1.59

16:48:12.220 -> Accelerometer:

16:48:12.220 -> -181.27,944.64,210.02

16:48:12.220 -> Gyroscope:

16:48:12.220 -> -0.85,-0.85,6.59

16:48:12.258 -> Accelerometer:

16:48:12.258 -> -185.85,948.12,219.18

16:48:12.258 -> Gyroscope:

16:48:12.258 -> -1.95,-1.71,-2.69

16:48:12.327 -> Accelerometer:

16:48:12.327 -> -186.04,945.74,214.23

16:48:12.327 -> Gyroscope:

16:48:12.327 -> -2.56,-0.24,1.10

16:48:12.363 -> Accelerometer:

16:48:12.363 -> -182.01,945.37,217.35

16:48:12.363 -> Gyroscope:

16:48:12.363 -> -5.62,0.49,3.54

16:48:12.430 -> Accelerometer:

16:48:12.430 -> -183.11,947.39,217.53

16:48:12.430 -> Gyroscope:

16:48:12.430 -> 7.81,4.27,-1.59

16:48:12.501 -> Accelerometer:

16:48:12.501 -> -183.84,946.11,216.25

16:48:12.501 -> Gyroscope:

16:48:12.501 -> -2.81,-2.81,-0.49

16:48:12.538 -> Accelerometer:

16:48:12.538 -> -178.71,946.11,215.70

16:48:12.538 -> Gyroscope:

16:48:12.538 -> -2.44,0.24,-0.73

16:48:12.614 -> Accelerometer:

16:48:12.614 -> -184.02,946.84,218.44

16:48:12.614 -> Gyroscope:

16:48:12.614 -> 4.15,-2.32,-2.69

16:48:12.651 -> Accelerometer:

16:48:12.651 -> -182.19,945.19,215.70

16:48:12.651 -> Gyroscope:

16:48:12.651 -> 1.71,-3.42,2.93

16:48:12.726 -> Accelerometer:

16:48:12.726 -> -180.91,943.54,218.26

16:48:12.726 -> Gyroscope:

16:48:12.726 -> 1.10,2.56,-3.78

16:48:12.759 -> Accelerometer:

16:48:12.759 -> -182.37,944.46,216.06

16:48:12.759 -> Gyroscope:

16:48:12.759 -> -2.69,-5.62,-5.49

16:48:12.833 -> Accelerometer:

16:48:12.833 -> -180.54,946.47,215.88

16:48:12.833 -> Gyroscope:

16:48:12.833 -> -2.32,2.56,6.35

16:48:12.870 -> Accelerometer:

16:48:12.870 -> -183.11,945.19,215.70

16:48:12.870 -> Gyroscope:

16:48:12.870 -> -0.12,0.00,-0.24

16:48:12.945 -> Accelerometer:

16:48:12.945 -> -184.39,944.27,220.28

16:48:12.945 -> Gyroscope:

16:48:12.945 -> -2.56,-1.95,4.88

16:48:12.982 -> Accelerometer:

16:48:12.982 -> -183.65,946.84,218.63

16:48:12.982 -> Gyroscope:

16:48:12.982 -> 1.71,-4.03,-1.22

The code being run is as follows:

#include “BMI088.h”



float ax = 0, ay = 0, az = 0;

float gx = 0, gy = 0, gz = 0;

int16_t temp = 0;



void setup(void)

{

Wire.begin();

Serial.begin(115200);



while(!Serial);

Serial.println(“BMI088 Raw Data”);



while(1)

{

if(bmi088.isConnection())

{

bmi088.initialize();

Serial.println(“BMI088 is connected”);

break;

}

else Serial.println(“BMI088 is not connected”);



delay(2000);

}

}



void loop(void)

{

bmi088.getAcceleration(&ax, &ay, &az);

bmi088.getGyroscope(&gx, &gy, &gz);



Serial.println(“Accelerometer: “);

Serial.print(ax);

Serial.print(”,”);

Serial.print(ay);

Serial.print(",");

Serial.print(az);

Serial.print("\n");



Serial.println(“Gyroscope: “);

Serial.print(gx);

Serial.print(”,”);

Serial.print(gy);

Serial.print(",");

Serial.print(gz);



Serial.println();



delay(50);

}

Raw data above is great, but i have been searching for any information about how to meaningfully use it to determine the physical movement and orientation of the device itself - and as you can perhaps see from the Gyroscope the readings appear to be constantly changing even when the device is stationary - e.g. here is a capture of the device not moving and laying on top of desk:

16:58:46.739 -> Accelerometer:

16:58:46.739 -> -176.51,948.49,214.05

16:58:46.739 -> Gyroscope:

16:58:46.739 -> -1.10,3.78,4.52

16:58:46.772 -> Accelerometer:

16:58:46.772 -> -178.53,945.19,213.32

16:58:46.772 -> Gyroscope:

16:58:46.772 -> 0.24,-1.59,-2.08

16:58:46.847 -> Accelerometer:

16:58:46.847 -> -177.98,946.84,213.13

16:58:46.847 -> Gyroscope:

16:58:46.847 -> 4.27,4.64,1.95

16:58:46.885 -> Accelerometer:

16:58:46.885 -> -176.70,942.81,215.33

16:58:46.885 -> Gyroscope:

16:58:46.885 -> 5.37,-0.85,0.00

16:58:46.959 -> Accelerometer:

16:58:46.959 -> -179.81,951.60,211.49

16:58:46.959 -> Gyroscope:

16:58:46.959 -> 2.69,-0.61,4.15

16:58:46.996 -> Accelerometer:

16:58:46.996 -> -175.60,947.75,217.53

16:58:46.996 -> Gyroscope:

16:58:46.996 -> 3.54,2.81,5.86

16:58:47.068 -> Accelerometer:

16:58:47.068 -> -175.78,948.30,216.25

16:58:47.068 -> Gyroscope:

16:58:47.068 -> -0.49,3.54,3.05

16:58:47.102 -> Accelerometer:

16:58:47.102 -> -175.23,948.30,214.42

16:58:47.102 -> Gyroscope:

16:58:47.102 -> -2.20,-6.23,-1.34

16:58:47.176 -> Accelerometer:

16:58:47.176 -> -177.98,947.20,214.05

16:58:47.176 -> Gyroscope:

16:58:47.176 -> -0.98,-2.20,-9.16

16:58:47.213 -> Accelerometer:

16:58:47.213 -> -177.98,946.84,213.32

16:58:47.213 -> Gyroscope:

16:58:47.213 -> 2.08,5.74,2.20

Any help or advice appreciated…

[junk225]

Okay - just in case it helps others with the same questions, this helped me a lot: <LINK_TEXT text=“https://create.arduino.cc/projecthub/as … e&offset=8”>https://create.arduino.cc/projecthub/ashish_8284/gesture-controlled-car-b42f9f?ref=tag&ref_id=gyroscope&offset=8</LINK_TEXT> - will post my complete working code shortly but it is now running and giving me the gyroscope angles in something that i think makes sense…

[Gohil_Hardik]

please give me gyroscope angle code