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Grove-Single Axis Analog Gyro

The Grove – Signal Axis Analog Gyro is based on an angular velocity sensor (Murata-ENC-03R) that uses the phenomenon of Coriolis force. It can only measure the X-axis angular velocity, which is different from other 3-Axis gyro, but with a higher speed. It can be used for the position control and attitude control like the self-balanced 2WD.

Model: SEN05091P

Feature​

  • Input Voltage: 3.3V/5V

  • Standard Grove Interface

  • Light Weight

  • High Speed

  • Measure X-axis Angular Velocity

Demonstration​

With Arduino​

The module detects one-axis rotation with analog signal. High-pass filter and low-pass filter circuit are applied to reduce the temperature drift and suppress the output noise. Before the measurement of the angular velocity, a reference value(the sensor output at Angular Velocity=0) is required. This value is 1.35V in default. But in order to get more accurate reference values, before the measurement,a calibration is necessary. In this calibration, the output voltage when angular velocity =0 been sampled 200 times, and then the average of these data will be treated as the reference value.

1.Connect it to A0 port of Grove - Base Shield, of cause any pin of the analog pins would be OK.

2.Plug the Grove - Base Shield into Arduino/Seeeduino and connect them to PC using a USB cable.

3.Upload the below code.Please click here if you do not know how to upload.

    int sensorPin = A0; // select the input pin for the sensor

    float reference_Value=0;

    int sensorValue = 0; // variable to store the value coming from the sensor

    void setup()
    {

        int i;
        float sum=0;
        pinMode(sensorPin, INPUT);
        Serial.begin(9600);
        Serial.println("Please do not rotate it before calibrate!");
        Serial.println("Get the reference value:");

    for(i=0;i<1000;i++)
    {
        // read the value from the sensor:
        sensorValue = analogRead(sensorPin);
        sum += sensorValue;
        delay(5);
    }
    reference_Value = sum/1000.0;
    Serial.println(reference_Value);
    Serial.println("Now you can begin your test!");
    }

    void loop()
    {
        double angularVelocity;
        sensorValue = analogRead(sensorPin);
        angularVelocity =((double)(sensorValue-reference_Value)*4930.0)/1023.0/0.67; //get the angular velocity
        Serial.print(angularVelocity);
        Serial.println("deg/s");
        Serial.println(" ");
        delay(10);
    }
  1. Now, it is time to the calibration. Put the sensor on your desk horizontally ，and then press the Reset button on the Seeeduino, and then Open the serial tool:

  1. As you see the "Now you can begin your test", that means the calibration done. You can use the sensor now. Rotating direction can reference the following picture:

With Raspberry Pi​

  1. You should have got a raspberry pi and a grovepi or grovepi+.

  2. You should have completed configuring the development enviroment, otherwise follow here.

  3. Connection

  • Plug the sensor to grovepi socket A0 by using a grove cable.

  1. Navigate to the demos' directory:

    cd yourpath/GrovePi/Software/Python/

  • To see the code
    nano grovesingleaxisanaloggyro.py # "Ctrl+x" to exit #

    import time
    import grovepi

    #Connect the Grove Single Axis Analog Gyro to analog port A0
    #SIG,NC,VCC,GND
    sensor = 0

    grovepi.pinMode(sensor,"INPUT")

    #calibration
    print "calibrating..."

    sum = 0

    errors = 0

    for x in range(0, 100):

      try:
          #Get sensor value
          v = grovepi.analogRead(sensor)
          sum += v
          #time.sleep(.05)
      except IOError:
          print "Error"
          errors += 1

    if errors == 100:

       print "unable to calibrate"

       raise SystemExit

    reference_value = sum / (100 - errors)

    print "finished calibrating"
    print "reference_value =", reference_value

    #ready

    while True:
        try:
            #Get sensor value
            sensor_value = grovepi.analogRead(sensor)

            #Calculate angular velocity (deg/s)
            velocity = ((float)(sensor_value - reference_value) * 4930.0) / 1023.0 / 0.67

            print "sensor_value =", sensor_value, " velocity =", velocity
            time.sleep(.5)

        except IOError:
        print "Error"

5.Run the demo.

sudo python grovesingleaxisanaloggyro.py

Schematic Online Viewer​

Resource​

[Eagle] Grove - Signal Axis Analog Gyro Eagle

[PDF] Grove - Signal Axis Analog Gyro Sch

[PDF] Grove - Signal Axis Analog Gyro PCB

[Datasheet] File Signal Axis Analog Gyro datasheet

[Code] Demo code on github

Tech Support & Product Discussion​

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