dobot1_control.calibrate_accelerometers

open-dobot accelerometer calibration tool.

This tool continuously reports accelerometer readings and the angles calculated from them.

Use this tool to find offsets for your accelerometers.

To enable accelerometer reporting mode on FPGA, follow this procedure. No action is required on RAMPS, because GY-521 accelerometers can be read at any time there.

  1. Turn off power on the arm and disconnect the USB cable.

  2. Remove the accelerometers from the arm and put them on a flat surface that has no inclination.

  3. Connect the USB cable.

  4. Enable accelerometer reporting mode:

    1. Press and hold the “Sensor Calibration” button on the FPGA version, or ground pin D23 on AUX-4 on the RAMPS version.

    2. Press and release the “Reset” button.

    3. Start this tool while still holding the “Sensor Calibration” button on the FPGA version, or while keeping pin D23 grounded on the RAMPS version.

    4. Wait for accelerometer data to start flowing in your console.

    5. Release the “Sensor Calibration” button.

  5. Gently push down the accelerometers so that they lie evenly on the surface. Do not touch any contacts or leads. You can push them one by one; it is not necessary to push both at the same time.

  6. Note the “Raw” data reported for the accelerometers. These values are your accelerometer offsets.

  7. Turn off power on the arm, disconnect the USB cable, and mount the accelerometers back onto the arm.

author:

maxosprojects, March 18, 2016

author:

Ingo Breßler, April 11, 2026

license:

MIT

Functions

continuous_mode(driver, kinematics)

display_accelerometer_data(driver, ...)

main()

positions_mode(driver, kinematics, positions)

Calculates sensor offsets and conversion factors for the accelerometers based on measurements at specified cartesian positions.

toEndEffectorHeight(kinematics, rear, front)