Grove - Single Axis Analog Gyro

The Grove – Signal Axis Analog Gyro is based on an angular velocity sensor (Murata-ENC-03R) that uses the phenomenon of Coriolis force. It can only measure the X-axis angular velocity, which is different from other 3-Axis gyro, but with a higher speed. It can be used for the position control and attitude control like the self-balanced 2WD.

Model: SEN05091P



With Arduino

The module detects one-axis rotation with analog signal.

High-pass filter and low-pass filter circuit are applied to reduce the temperature drift and suppress the output noise.

Before the measurement of the angular velocity, a reference value(the sensor output at Angular Velocity=0) is required.

This value is 1.35V in default. But in order to get more accurate reference values, before the measurement,a calibration is necessary.

In this calibration, the output voltage when angular velocity =0 been sampled 200 times,

and then the average of these data will be treated as the reference value.

  1. Connect it to A0 port of Grove - Base Shield, of cause any pin of the analog pins would be OK.
  2. Plug the Grove - Base Shield into Arduino/Seeeduino and connect them to PC using a USB cable.
  3. Upload the below code.Please click here if you do not know how to upload.

int sensorPin = A0;             // select the input pin for the sensor

float reference_Value=0;

int sensorValue = 0;            // variable to store the value coming from the sensor

void setup() {

    int i;
    float sum=0;
    pinMode(sensorPin, INPUT);
    Serial.println("Please do not rotate it before calibrate!");
    Serial.println("Get the reference value:");
        // read the value from the sensor:
        sensorValue = analogRead(sensorPin);
        sum += sensorValue;
    reference_Value = sum/1000.0;
    Serial.println("Now you can begin your test!");

void loop() 

    double angularVelocity;
    sensorValue = analogRead(sensorPin);
    angularVelocity =((double)(sensorValue-reference_Value)*4930.0)/1023.0/0.67; //get the angular velocity
    Serial.println(" ");
4. Now, it is time to the calibration. Put the sensor on your desk horizontally, and then press the Reset button on the Seeeduino, and then Open the serial tool:

5. As you see the "Now you can begin your test", that means the calibration done. You can use the sensor now. Rotating direction can reference the following picture:

With Raspberry Pi

1.You should have got a raspberry pi and a grovepi or grovepi+.
2.You should have completed configuring the development enviroment, otherwise follow here.

4.Navigate to the demos' directory:

   cd yourpath/GrovePi/Software/Python/
   nano   # "Ctrl+x" to exit #
import time
import grovepi

# Connect the Grove Single Axis Analog Gyro to analog port A0
sensor = 0


# calibration
print "calibrating..."
sum = 0
errors = 0
for x in range(0, 100):
        # Get sensor value
        v = grovepi.analogRead(sensor)
        sum += v
    except IOError:
        print "Error"
        errors += 1

if errors == 100:
    print "unable to calibrate"
    raise SystemExit

reference_value = sum / (100 - errors)

print "finished calibrating"
print "reference_value =", reference_value

# ready
while True:
        # Get sensor value
        sensor_value = grovepi.analogRead(sensor)

        # Calculate angular velocity (deg/s)
        velocity = ((float)(sensor_value - reference_value) * 4930.0) / 1023.0 / 0.67

        print "sensor_value =", sensor_value, " velocity =", velocity

    except IOError:
        print "Error"

5.Run the demo.

   sudo python


Grove - Signal Axis Analog Gyro Eagle File
Signal Axis Analog Gyro datasheet
Demo code on github

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