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GYROSCOPES
A gyroscope is a tool that figures out how something is twisting or turning—like if a toy plane tilts up, down, or spins around. It’s great for stuff like drones staying balanced, robots knowing which way they’re headed, or your phone flipping the screen when you turn it.
KALMAN FILTER
A Kalman filter is like a smart helper that takes messy, wobbly data from sensors—like how fast something’s spinning or moving—and cleans it up to figure out what’s really going on. Imagine you’re trying to guess where a ball is rolling, but your eyes keep getting blurry; it mixes what you think will happen next with what you actually see to get a better answer.
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MOdule
9 DOF GYROSCOPE
L3GD20 :
- Use: Motion tracking in robotics, drones.
- What: 3-axis gyroscope.
- Does: Measures rotation speed (X, Y, Z).
- Key Specs: ±250 to ±2000 dps, I2C at 0x69, 16-bit.
LSM303 :
- What: 3-axis accelerometer + 3-axis magnetometer.
- Does: Measures acceleration (tilt/motion) and magnetic fields (compass).
- Key Specs: Accel ±2g–16g (0x19), Mag ±1.3–8.1 gauss (0x1E), I2C.
- Use: Orientation in wearables, navigation.
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eLETRICAL SETUP
ELETRICAL SETUP
ESP32 L3GD20
——- ——-
3.3V —- VCC
GND —- GND
GPIO 21 —- SDA
GPIO 22 —- SCL
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Visualization
PC Python code connects to a esp32 via a serial port, it uses a Kalman filter to smooth out the noisy data, and displays a 3D cube on the screen that tilts and spins to match the sensor’s movements. It reads 9 numbers per line (rotation, tilt, and magnetic info), cleans them up to track orientation, and updates the cube about 45 times a second using VisPy, a visualization tool. It’s a simple way to test and watch how sensors track motion in real time, with an axis and grid for reference.
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DOMEN SNUDERL 