如何校准 bno055 陀螺仪传感器？

Question

对于我们的 FTC 机器人，我们正在尝试校准 BNO055 陀螺仪传感器，并且在 external/examples 下已经有一个TeleOp。

我想知道我们是否需要在每个字段上进行校准还是只进行一次？

Answer 1

您应该只需要校准一次陀螺仪。然后按 a 按钮保存该配置。确保在您的代码中通过添加链接到该校准的陀螺仪文件，

// Set the parameters for the gyro
params = new BNO055IMU.Parameters();
params.angleUnit           = BNO055IMU.AngleUnit.DEGREES;
params.accelUnit           = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
params.calibrationDataFile = "BNO055IMUCalibration.json"; // Make sure that you have run the calibrate teleop first!!
params.loggingEnabled      = true;
params.loggingTag          = "IMU";
params.accelerationIntegrationAlgorithm = new JustLoggingAccelerationIntegrator();

// Init the IMU make sure it is in the configuration on the phone as I2C BUS 0 named as imu
BNO055IMU imu = hardwareMap.get(BNO055IMU.class, "imu");
imu.initialize(params);

// Let the gyro initialize 
while(!isStopRequested() && imu.isGyroCalibrated()) {
    sleep(50);
    idle();
}