# 基隆xAUV Rabboni 教學 ###### tags: `基隆` `Rabboni` ![](https://i.imgur.com/qRXccdI.png) [TOC] ## Rabboni 簡介 Rabboni 是一個可以量測加速度和角速度的測量單元，又稱為六軸感測器，使用Rabboni你可以輕易的紀錄你的運動狀態 ! ### 關於六軸自由度 --- ![link text](https://www.allaboutcircuits.com/uploads/articles/The_translational_and_rotational_movements_that_combine_to_form_the_six_degrees_of_freedom..jpg) ### Rabboni 的旋轉方向 - Y軸為 LED 燈號的方向 - Z軸為 Rabboni 上方 ![Rabboni](https://i.imgur.com/YeOwX3Y.jpg) --- ![link text](https://i.imgur.com/zCVo9Ed.jpg) --- ### 運用於船體控制 ![six degree of freedom](https://i1.wp.com/johnclarkeonline.com/wp-content/uploads/2011/12/6-degrees-of-freedom.gif?ssl=1) --- # 實際DEMO #### 下載Rabboni App (Android) https://play.google.com/store/apps/details?id=com.sixaxis.koalla.koallaapp ![link text](https://i.imgur.com/Ec5TWdE.png) - 先把你的Rabboni翻到背面，看一下你的Mac Address - 連線時，請連到你自己的Rabboni `每個rabboni的MAC address都是獨一無二的,不要連到別人家的！` #### 點選手機錄製後，即可開始移動你的Rabboni ! ![reference link](https://i.imgur.com/2njvMBQ.jpg) --- #### 可以查看移動中的數據 ![link text](https://i.imgur.com/FudihjE.jpg) ## Reference [Six degree of freedom](https://www.allaboutcircuits.com/news/mems-six-degrees-of-freedom-sensors-built-cover-safety-bases-of-adas/) [船體控制](https://i1.wp.com/johnclarkeonline.com/wp-content/uploads/2011/12/6-degrees-of-freedom.gif?ssl=1) [Rabboni](https://play.google.com/store/apps/details?id=com.sixaxis.koalla.koallaapp&hl=zh_TWd)