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WEEK 12

EXPERIMENT ON THE REDUCING THE NOISE

Through all the experiment that had been done from finding the angle of the seat until controlling the actuator motor with IMU sensor, the only problem faced is that the reading of the angle will have some noise detected from the serial monitor. This noise are also known as ‘drift’ for IMU sensor reading. This caused the reading of the angle are not accurate and precise causing the actuator motor moving even there is no movement had been done on the wheelchair. According to the previous experiment that had been done, the angle were plotted in a graphical view to see the drift effect from the reading.

Graphical Chart of the IMU reading

The solution for this problem is to add some filter to the code that controlled the IMU sensor. The additional code as below:

Additional coding for filtering the reading of the IMU

After adding the code for filtering the drift of the reading angle, the data collected are more stable and precise compared to the old reading of angle based on figure below:

Drift effect is reduced after the filter is added

Thus, the experiment is done with the additional code for reducing the drift effect which will make the actuator motor moved the wheelchair’s seat smoothly without any shaking and stabled.