Home Code Arduino and L3G4200D three-axis gyroscope example

Arduino and L3G4200D three-axis gyroscope example

by shedboy71

In this example we connect a L3G4200D three-axis gyroscope module to an Arduino Uno

First lets look at some information about the sensor from the manufacturer

The L3G4200D is a low-power three-axis gyroscope providing three different user selectable full scales (±250/±500/±2000 dps).It includes a sensing element and an IC interface able to provide the detected angular rate to the external world through a digital interface (I2C/SPI).

The sensing element is manufactured using specialized micromachining processes, while the IC interface is realized using a CMOS technology that allows designing a dedicated circuit which is trimmed to better match the sensing element characteristics.

Features

  • Three selectable full scales (±250/500/2000 dps)
  • I2C/SPI digital output interface
  • 16 bit rate value data output
  • Two digital output lines (interrupt and dataready)
  • Integrated low and high pass filters with user selectable bandwidth
  • Embedded self-test
  • Wide supply voltage, 2.4 V to 3.6 V
  • Low voltage compatible IOs, 1.8 V
  • Embedded power-down and sleep mode
  • High shock survivability
  • Extended operating temperature range (-40 °C to +85 °C)

This was my sensor of choice that I used

Parts Required

Here are the parts I used

The sensor you can pick up in the $2 to $3 range

Name Link
Arduino Uno UNO R3 CH340G/ATmega328P, compatible for Arduino UNO
L3G4200D GY-50 L3G4200D Triple Axis Gyro Angular Velocity Sensor Module
Connecting wire Free shipping Dupont line 120pcs 20cm male to male + male to female and female to female jumper wire
sensor shield Expansion IO Board Sensor Shield

 

Schematic/Connection

My module had a built in 3.3v ldo voltage regulator which means you can connect 5v, make sure your module has this as well because the L3G4200D is only rated at 2.4 V to 3.6 V – exceeding that could damage the chip. You can of course use the 3.3v from the Arduino as well

Arduino and l3g4200 layout

Arduino and l3g4200 layout

Code Example

This example uses the library – https://github.com/jarzebski/Arduino-L3G4200D

This is one of the default examples when you install the library above, there are quite a few to browse

/*
    L3G4200D Triple Axis Gyroscope. Simple Example.
    Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-l3g4200d.html
    GIT: https://github.com/jarzebski/Arduino-L3G4200D
    Web: http://www.jarzebski.pl
    (c) 2014 by Korneliusz Jarzebski
*/
 
#include <Wire.h>
#include <L3G4200D.h>
 
L3G4200D gyroscope;
 
void setup() 
{
  Serial.begin(9600);
  Serial.println("Initialize L3G4200D");
 
  while(!gyroscope.begin(L3G4200D_SCALE_2000DPS, L3G4200D_DATARATE_400HZ_50))
  {
    Serial.println("Could not find a valid L3G4200D sensor, check wiring!");
    delay(500);
  }
 
  // Check selected scale
  Serial.print("Selected scale: ");
 
  switch(gyroscope.getScale())
  {
    case L3G4200D_SCALE_250DPS:
      Serial.println("250 dps");
      break;
    case L3G4200D_SCALE_500DPS:
      Serial.println("500 dps");
      break;
    case L3G4200D_SCALE_2000DPS:
      Serial.println("2000 dps");
      break;
    default:
      Serial.println("unknown");
      break;
  }
 
  // Check Output Data Rate and Bandwidth
  Serial.print("Output Data Rate: ");
 
  switch(gyroscope.getOdrBw())
  {
    case L3G4200D_DATARATE_800HZ_110:
      Serial.println("800HZ, Cut-off 110");
      break;
    case L3G4200D_DATARATE_800HZ_50:
      Serial.println("800HZ, Cut-off 50");
      break;
    case L3G4200D_DATARATE_800HZ_35:
      Serial.println("800HZ, Cut-off 35");
      break;
    case L3G4200D_DATARATE_800HZ_30:
      Serial.println("800HZ, Cut-off 30");
      break;
    case L3G4200D_DATARATE_400HZ_110:
      Serial.println("400HZ, Cut-off 110");
      break;
    case L3G4200D_DATARATE_400HZ_50:
      Serial.println("400HZ, Cut-off 50");
      break;
    case L3G4200D_DATARATE_400HZ_25:
      Serial.println("400HZ, Cut-off 25");
      break;
    case L3G4200D_DATARATE_400HZ_20:
      Serial.println("400HZ, Cut-off 20");
      break;
    case L3G4200D_DATARATE_200HZ_70:
      Serial.println("200HZ, Cut-off 70");
      break;
    case L3G4200D_DATARATE_200HZ_50:
      Serial.println("200HZ, Cut-off 50");
      break;
    case L3G4200D_DATARATE_200HZ_25:
      Serial.println("200HZ, Cut-off 25");
      break;
    case L3G4200D_DATARATE_200HZ_12_5:
      Serial.println("200HZ, Cut-off 12.5");
      break;
    case L3G4200D_DATARATE_100HZ_25:
      Serial.println("100HZ, Cut-off 25");
      break;
    case L3G4200D_DATARATE_100HZ_12_5:
      Serial.println("100HZ, Cut-off 12.5");
      break;
    default:
      Serial.println("unknown");
      break;
  }
 
  // Calibrate gyroscope. The calibration must be at rest.
  // If you don't want calibrate, comment this line.
  gyroscope.calibrate();
 
  // Set threshold sensivty. Default 3.
  // If you don't want use threshold, comment this line or set 0.
  gyroscope.setThreshold(3);
}
 
void loop()
{
  // Read normalized values
  Vector raw = gyroscope.readRaw();
 
  // Read normalized values in deg/sec
  Vector norm = gyroscope.readNormalize();
 
  // Output raw
  Serial.print(" Xraw = ");
  Serial.print(raw.XAxis);
  Serial.print(" Yraw = ");
  Serial.print(raw.XAxis);
  Serial.print(" Zraw = ");
  Serial.print(raw.YAxis);
 
  // Output normalized
  Serial.print(" Xnorm = ");
  Serial.print(norm.XAxis);
  Serial.print(" Ynorm = ");
  Serial.print(norm.YAxis);
  Serial.print(" ZNorm = ");
  Serial.print(norm.ZAxis);
 
  Serial.println();
}

Output

Here is what I saw in Serial monitor,l move the module around to see different values

Initialize L3G4200D
Selected scale: 2000 dps
Output Data Rate: 400HZ, Cut-off 50
Xraw = -632.00 Yraw = -632.00 Zraw = -379.00 Xnorm = 0.00 Ynorm = 0.00 ZNorm = 0.00
Xraw = -384.00 Yraw = -384.00 Zraw = -9.00 Xnorm = 0.00 Ynorm = 0.00 ZNorm = 0.00
Xraw = -1971.00 Yraw = -1971.00 Zraw = 4270.00 Xnorm = 0.00 Ynorm = 0.00 ZNorm = 0.00
Xraw = -41.00 Yraw = -41.00 Zraw = 6569.00 Xnorm = 0.00 Ynorm = 0.00 ZNorm = 0.00
Xraw = 825.00 Yraw = 825.00 Zraw = -5843.00 Xnorm = 0.00 Ynorm = 0.00 ZNorm = 0.00

 

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