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install IMU on minus

IMU

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#1 Caiman

Caiman

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Posté 10 juillet 2021 - 03:01

for this i am using ampu-9250/6500 IMU 

connect the 4 corresponding wires to the IMU

VCC to 3.3 / 3v

GND to GND

SCl to SCl

SDA to SDA

 

 

just like the color tracking setup you need to edit the frame.hpp   https://www.robot-ma...tracking-minus/

If You have already done this you can skip this step

ssh into the robot.
login pi 
 
run following command. Note: These number can differ per robot: for minus with pan, tilt and side-arms use these numbers
 
sudo nano /usr/local/vigiclient/opencv/frame.hpp
on #define REMOTEFRAMESIZE "number" up the number by 4
on #define TELEMETRYFRAMESIZE "number" up the number by 4
on #define NBCOMMANDS to "3"  
 
save this file by using the pressing "control X" pres "Y" for yes hit enter 
type the following commands 
sudo -s
cd / usr / local / vigiclient / opencv
./make.sh
you will see that the robot compiles a few things.
hit enter a few times  
when the following line appears the compiling is done "root @ raspberrypi: / usr / local / vigiclient / opencv #"
 
 
in the website go to hardware settings edit the following
go to cameras 
edit TYPE: to "Autopilot"
edit SOURCE: to "3"
now scroll all the way down.
exchange 
WRITEUSERDEVICE: to "1"
READUSERDEVICE: to "1"
 
a red and green icon should appear in the video feed of the robot 
if not reboot.
 
thanx for Firened and OdorousWo1f
 
 




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