wheel encoders + mpu605 differential drive mobile robot Odometry
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Hello dear reader
I have been experimenting for months but coudln't get a precise solution to my problme, which is:
- I wish to detect ticks from my encoder in matlab code, Not Simulink. i can't find any function that does that. (Interrupts)
- I wish to find my robot's orientation from my MPU6050 sensor.
- How do i combine these outputs to get a good estimate of my robot's position to feed them to my closed loop controller in simulink.
- Have a wonderful day
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Respuestas (1)
Brian Fanous
el 6 de Sept. de 2022
You can read data from an mpu650 using an Arduino as described here:
If you simply want to determine orientation consider following this example
but use the imufilter or complementaryFilter as there is no magnetometer present in your setup.
If you would like to fuse wheel encoder ticks and IMU data you should consider using the insEKF filter
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