fixed issue with GY-521 reading interpreted incorrectly for front arm by the driver

Author: maxosprojects

application/python/DobotSDK.py

@@ -115,7 +115,7 @@ def _initializeAccelerometers(self):
 			foreAngle = self._driver.accelToRadians(accelForeX, accelOffsets[1])
 		else:
 			rearAngle = math.pi / 2.0 - self._driver.accel3DXToRadians(accelRearX, accelRearY, accelRearZ)
-			foreAngle = self._driver.accel3DXToRadians(accelForeX, accelForeY, accelForeZ)
+			foreAngle = -self._driver.accel3DXToRadians(accelForeX, accelForeY, accelForeZ)
 		self._baseSteps = long(0)
 		self._rearSteps = long((rearAngle / math.pi / 2.0) * rearArmActualStepsPerRevolution + 0.5)
 		self._foreSteps = long((foreAngle / math.pi / 2.0) * foreArmActualStepsPerRevolution + 0.5)

application/python/calibration-tool.py

@@ -54,8 +54,8 @@ def toEndEffectorHeight(rear, fore):
 				ret[1], ret[4]))
 		else:
 			print("Rear arm: {0:6.2f} | Forearm: {1:6.2f} | End effector height: {2:7.2f} | Raw rear arm: {3:6d} {4:6d} {5:6d} | Raw forearm: {6:6d} {7:6d} {8:6d}".format(\
-				driver.accel3DXToAngle(ret[1], ret[2], ret[3]), driver.accel3DXToAngle(ret[4], ret[5], ret[6]),\
-				toEndEffectorHeight(driver.accel3DXToRadians(ret[1], ret[2], ret[3]), driver.accel3DXToRadians(ret[4], ret[5], ret[6])),\
+				driver.accel3DXToAngle(ret[1], ret[2], ret[3]), -driver.accel3DXToAngle(ret[4], ret[5], ret[6]),\
+				toEndEffectorHeight(driver.accel3DXToRadians(ret[1], ret[2], ret[3]), -driver.accel3DXToRadians(ret[4], ret[5], ret[6])),\
 				ret[1], ret[2], ret[3], ret[4], ret[5], ret[6]))
 	else:
 		print('Error occurred reading data')

firmware/src/ramps/ramps.h

@@ -58,9 +58,9 @@ RAMPS version routines.
 #define Z_ENABLE_PORT      PORTA
 #define Z_ENABLE_DDR       DDRA
 
+#define ACCEL_SWITCH_PIN PORTA1
 #define ACCEL_SWITCH_PORT PORTA
 #define ACCEL_SWITCH_PORTIN PINA
-#define ACCEL_SWITCH_PIN PORTA1
 
 #define LASER_PIN PORTB4
 #define LASER_PORT PORTB