Let's Make Robots!

Arduino code for simplified Kalman filter. Using a 5DOF IMU (accelerometer and gyroscope combo)

This might be useful for anyone building self-balancing robots or similar projects

This article introduces an  implementation of a simplified filtering algorithm that was inspired by Kalman filter. The Arduino code is tested using a 5DOF IMU unit from GadgetGangster - Acc_Gyro . The theory behind this algorithm was first introduced in my Imu Guide article.

Parts needed to complete the project:

- Arduino Duemilanove (or similar Arduino platform)
- Acc_Gyro 5DOF IMU board
- Protoshield (optional)
- Breadboard
- Hook-up wire 22AWG

The hook-up diagram is as follows:

Acc_Gyro <--->  Arduino
5V          <--->  5V 
GND      <--->  GND
AX       <--->  AN0
AY       <--->  AN1
AZ       <--->  AN2
GX4      <--->  AN3 
GY4      <--->  AN4  

Test results show algorithm is really eliminating some noise:



For complete article, source code and other downloads see:






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Do you mind if i throw some questions your way i might need some help as i am only knew at this. greatly appreciated.

I like what you have done and i am very interested in the data collection and chart. ( exactly what i am trying to do at the moment with a IR sensor)