Boussole⚓

Test de la boussole

Le miniQ 2WD possède également un circuit permettant d'obtenir son orientation.

Télécharger la librairie ici et tester le programme ci-dessous qui doit afficher les informations du capteur.

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/*
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  HMC5883L Triple Axis Digital Compass. Compass Example.
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  Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html
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  GIT: https://github.com/jarzebski/Arduino-HMC5883L
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  Web: http://www.jarzebski.pl
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  (c) 2014 by Korneliusz Jarzebski
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*/
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#include <Wire.h>
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#include <HMC5883L.h>
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HMC5883L compass;
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void setup()
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{
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  Serial.begin(9600);
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  // Initialize Initialize HMC5883L
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  Serial.println("Initialize HMC5883L");
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  while (!compass.begin())
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  {
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    Serial.println("Could not find a valid HMC5883L sensor, check wiring!");
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    delay(500);
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  }
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  // Set measurement range
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  compass.setRange(HMC5883L_RANGE_1_3GA);
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  // Set measurement mode
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  compass.setMeasurementMode(HMC5883L_CONTINOUS);
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  // Set data rate
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  compass.setDataRate(HMC5883L_DATARATE_30HZ);
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  // Set number of samples averaged
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  compass.setSamples(HMC5883L_SAMPLES_8);
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  // Set calibration offset. See HMC5883L_calibration.ino
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  compass.setOffset(0, 0);
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}
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void loop()
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{
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  Vector norm = compass.readNormalize();
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  // Calculate heading
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  float heading = atan2(norm.YAxis, norm.XAxis);
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  // Set declination angle on your location and fix heading
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  // You can find your declination on: http://magnetic-declination.com/
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  // (+) Positive or (-) for negative
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  // For Bytom / Poland declination angle is 4'26E (positive)
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  // Formula: (deg + (min / 60.0)) / (180 / M_PI);
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  float declinationAngle = (4.0 + (26.0 / 60.0)) / (180 / M_PI);
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  heading += declinationAngle;
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  // Correct for heading < 0deg and heading > 360deg
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  if (heading < 0)
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  {
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    heading += 2 * PI;
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  }
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  if (heading > 2 * PI)
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  {
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    heading -= 2 * PI;
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  }
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  // Convert to degrees
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  float headingDegrees = heading * 180/M_PI; 
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  // Output
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  Serial.print(" Heading = ");
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  Serial.print(heading);
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  Serial.print(" Degress = ");
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  Serial.print(headingDegrees);
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  Serial.println();
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  delay(100);
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}
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Expliquer précisément le fonctionnement de celui-ci :
Réaliser un programme qui fixe le robot en permanence vers le SUD. Si une perturbation survient il tourne sur lui-même en fonction.