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Pololu-Romi-32U4-Carte-Capteur-Intertiel (voir la source)
Version du 21 mai 2019 à 19:05
, 21 mai 2019 à 19:05aucun résumé de modification
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== Capteur Intertiel ==
The Romi 32U4 Control Board includes on-board inertial sensors connected to the ATmega32U4’s I²C interface that can be used in advanced applications, such as helping detect collisions and determining the robot’s orientation. These sensors are part of the ST LSM6DS33 {{polpl|2736}}, which combines a 3-axis accelerometer and 3-axis gyro into a single package.
The inertial sensors are connected to the board’s I²C bus by default, but they can be disconnected by cutting the surface-mount jumpers labeled “IMU SDA Jmp” and “IMU SCL Jmp”. Level shifters built into the control board allow the ATmega32U4, operating at 5 V, to communicate with the 3.3 V sensors. If a Raspberry Pi is plugged into the control board, its I²C pins are connected to the 3.3 V side of the bus as well. (See Section 3.7 for more information about the Raspberry Pi interface.)
We recommend carefully reading the [https://www.pololu.com/file/0J1087/LSM6DS33.pdf LSM6DS33 datasheet] (1MB, pdf) to understand how these sensors work and how to use them.
== Utiliser la capteur ==
The Romi32U4 library (see Section 6) includes example programs that demonstrate how to use the sensors.
{{Pololu-Romi-32U4-TRAILER}}
{{Pololu-Romi-32U4-TRAILER}}