1. Why is it a problem? 2. This is not getting called from the IOIO thread, so is unrelated to the delay. When you register a listener on the sensor manager you can choose the sample rate. On Feb 23, 2014 11:53 PM, "Jiexin Wang" <[email protected]> wrote:
> Another problem is ,now the sampling rate onSensorChanged is around > 0.005second. > Is that possible to set the sampling rate arount for example 0.01second by > doing thread.sleep(10) in the ioio loop()?? > > On Sunday, February 23, 2014 9:50:19 AM UTC+9, Ytai wrote: >> >> Yes. When estimating orientation, the gyro is fast, but drifts and the >> accelerometer is slow, but doesn't drift. So what I'm doing is setting the >> orientation every time I'm getting an acc reading and in between acc >> readings I'm integrating gyro samples. >> >> >> On Sat, Feb 22, 2014 at 2:51 AM, Jiexin Wang <[email protected]>wrote: >> >>> Hey Ytai, >>> >>> I got it. >>> You are using sensor fusion of gyro and acc right? >>> >>> Best, >>> Jx >>> >>> >>> On Saturday, February 22, 2014 5:03:57 PM UTC+9, Jiexin Wang wrote: >>>> >>>> Hey Ytai, >>>> >>>> I am trying to implement the lqr algorithm recently. Thank you very >>>> much for the sample code. It helps a lot. >>>> I have a question about the sensors you use, according to the code, you >>>> mainly used gyro sensor for getting error_, errorDeriv_, and errorInt_, >>>> which are enough for the three state variable for pid control. >>>> But what you use accelerometer for?? why getting another error_ and >>>> orientationX_? >>>> And actually are the two sensors working at the same time?? how this >>>> two sensors working in the same time domain?? >>>> Thank you. >>>> >>>> Best, >>>> Jiexin >>>> >>>> On Tuesday, February 11, 2014 1:38:34 AM UTC+9, Ytai wrote: >>>>> >>>>> It's a first order IIR filter (lowpass): >>>>> y[n] = 0.999*y[n-1] + 0.001*x[n] >>>>> >>>>> >>>>> On Sun, Feb 9, 2014 at 8:56 PM, Al B <[email protected]> wrote: >>>>> >>>>>> That makes more sense now. >>>>>> >>>>>> What about that 0.999 factor? Why do you need that? >>>>>> >>>>>> >>>>>> errorInt_ = (float) ((error_ * dt * 1e-9) + 0.999 * errorInt_); >>>>>> >>>>>> -- >>>>>> You received this message because you are subscribed to the Google >>>>>> Groups "ioio-users" group. >>>>>> To unsubscribe from this group and stop receiving emails from it, >>>>>> send an email to [email protected]. >>>>>> To post to this group, send email to [email protected]. >>>>>> Visit this group at http://groups.google.com/group/ioio-users. >>>>>> For more options, visit https://groups.google.com/groups/opt_out. >>>>>> >>>>> >>>>> -- >>> You received this message because you are subscribed to the Google >>> Groups "ioio-users" group. >>> To unsubscribe from this group and stop receiving emails from it, send >>> an email to [email protected]. >>> To post to this group, send email to [email protected]. >>> Visit this group at http://groups.google.com/group/ioio-users. >>> For more options, visit https://groups.google.com/groups/opt_out. >>> >> >> -- > You received this message because you are subscribed to the Google Groups > "ioio-users" group. > To unsubscribe from this group and stop receiving emails from it, send an > email to [email protected]. > To post to this group, send email to [email protected]. > Visit this group at http://groups.google.com/group/ioio-users. > For more options, visit https://groups.google.com/groups/opt_out. > -- You received this message because you are subscribed to the Google Groups "ioio-users" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To post to this group, send email to [email protected]. Visit this group at http://groups.google.com/group/ioio-users. For more options, visit https://groups.google.com/groups/opt_out.
