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Phase 1:

  • Jan (Manager)
  • Jonas (Tester)
  • Mario (Dokumentation)

Phase 2:

  • Jan (Tester)
  • Jonas (Dokumentation)
  • Mario (Manager)


Sensoren & Kartierung

Adafruit BNO055 Absolute Orientation Sensor

Der BNO055-Sensor beinhaltet drei Accelerometer, drei Gyroscope und drei Magnetometer (jeweils X-, Y- und Z-Achse). Außerdem steht ein ARM-Cortex-M0 zur Verfügung, welcher mittels Sensor Fusion direkt auswertbare Daten liefert.

Folgende Daten stehen als Output zur Verfügung:

  • Absolute Orientation (Euler Vector, 100Hz)
Three axis orientation data based on a 360° sphere
  • Absolute Orientation (Quaterion, 100Hz)
Four point quaternion output for more accurate data manipulation Angular
  • Velocity Vector (100Hz)
Three axis of 'rotation speed' in rad/s
  • Acceleration Vector (100Hz)
Three axis of acceleration (gravity + linear motion) in m/s^2
  • Magnetic Field Strength Vector (20Hz)
Three axis of magnetic field sensing in micro Tesla (uT)
  • Linear Acceleration Vector (100Hz)
Three axis of linear acceleration data (acceleration minus gravity) in m/s^2
  • Gravity Vector (100Hz)
Three axis of gravitational acceleration (minus any movement) in m/s^2
  • Temperature (1Hz)
Ambient temperature in degrees celsius

Nachfolgendes Bild zeigt einen Testaufbau mit BNO055 und einem nRF52 Feather auf einem Steckbrett. Das nRF52 Feather kommuniziert über I2C mit dem BNO055.

Testaufbau mit BNO055 und einem nRF52 Feather auf einem Steckbrett

VL53L0X Time-Of-Flight Distance Sensor

Positionbestimmung mit einer optischen Maus

For the determination of the X-Y position we used a PS/2 optical mouse:

First we made the Mouse - Arduino Connections for our test: Vcc, Gnd, Data and Clock pins from the mouse were needed.

  • Basic overview of the PS/2 protocol of a mouse:

There are 2 counters that keep track of the X - Y position. They get inc/dec if movement is detected and get reset if a Data Packet is sent to the Host(Arduino).

The Data Packet is 3 bytes size, where the first byte are flags (overflow flags for the counters for example), bytes 2 and 3 is where X and Y movement is stored.

In Order to get the Data Packet the PS/2 protocol provides us with the Read Data Command:0xEB

You can read more about PS/2 mouse protocol here.Thanks this information and the "Computer Mouse Project" from were able to read the X-Y positions of the mouse!! Now we can get the absolute position by doing a Vector addition:

Mouse abs.pngVectors.jpg


Adafruit Learning Systems

BNO055 Datasheet