Set of scripts to do get angles from the 9dof sensor stick

acc_to_angles.ino

#include <Wire.h>
#include <I2Cdev.h>
#include <ADXL345.h>

ADXL345 acc;

void setup() {
  Serial.begin(9600);
  Wire.begin();
  acc.initialize();
  delay(100);
}

void loop() {
  int16_t aX, aY, aZ;
  acc.getAcceleration(&aX, &aY, &aZ);

  float gX = (float) aX / 1023.0 * 5;
  float gY = (float) aY / 1023.0 * 5;
  float gZ = (float) aZ / 1023.0 * 5;

  //Roll & Pitch Equations
  double roll  = (atan2(-gY, gZ)*180.0)/M_PI;
  double pitch = (atan2(gX, sqrt(gY*gY + gZ*gZ))*180.0)/M_PI;

  Serial.print(pitch);
  Serial.print(":");
  Serial.println(roll);

  delay(100);
}

acc_to_angles.md

#include <Wire.h> #include <I2Cdev.h> #include <ADXL345.h>

ADXL345 acc;

void setup() { Serial.begin(9600); Wire.begin(); acc.initialize(); delay(100); }

void loop() { int16_t aX, aY, aZ; acc.getAcceleration(&aX, &aY, &aZ);

float gX = (float) aX / 1023.0 * 5; float gY = (float) aY / 1023.0 * 5; float gZ = (float) aZ / 1023.0 * 5;

//Roll & Pitch Equations double roll = (atan2(-gY, gZ)180.0)/M_PI; double pitch = (atan2(gX, sqrt(gYgY + gZ*gZ))*180.0)/M_PI;

Serial.print(pitch); Serial.print(":"); Serial.println(roll);

delay(100); }

links.md

Pitch and Roll from accel - https://theccontinuum.com/2012/09/24/arduino-imu-pitch-roll-from-accelerometer/