Hi, I´m currently trying to build a simple system with the SEN0386 sensor and an Arduino Uno Rev4 Wifi.

My issue is that, using the example code from the "DFRobot_WT62PC" library with a freq of 10Hz, and without moving the sensor, I always get an acceleration value of around 313, sometimes on X axis and sometimes on Y:

Acc 0.05 313.39 9.80

Gyro 0.00 0.00 0.00

Angle 358.92 0.28 331.06

Acc 313.60 313.42 9.80

Gyro 0.00 0.00 0.00

Angle 358.93 0.01 192.99

Z axis acceleration seems to work properly though.

Another issue I´ve found is that whenever I move the sensor, gyroscope values suddenly go up to around 4000:

Acc 313.59 313.43 9.81

Gyro 3999.76 3999.94 0.00

Angle 354.36 359.17 74.60

Acc 305.03 309.87 3.26

Gyro 3.60 11.72 3985.05

Angle 312.79 59.04 2.30

Maybe I don´t understand how the sensor configuration workd, but I can´t seem to find a way to work it out.

Here´s the code I´m using:

/*!

* @brief Set the frequency of data output by the sensor, read the acceleration,

* @n angular velocity, and angle of X, Y, and Z axes.

* @n Experimental phenomenon: when the sensor starts, it outputs data at the set frequency and the data will be displayed on serial monitor.

* @url https://github.com/DFRobot/DFRobot_WT61PC

*/

#include <DFRobot_WT61PC.h>

#include <SoftwareSerial.h>

SoftwareSerial softSerial(/*rx =*/9, /*tx =*/10);

#define FPSerial softSerial

#if (defined(ARDUINO_AVR_UNO) || defined(ESP8266)) // Using a soft serial port

#include <SoftwareSerial.h>

SoftwareSerial softSerial(/*rx =*/10, /*tx =*/11);

#define FPSerial softSerial

#else

#define FPSerial Serial1

#endif

DFRobot_WT61PC sensor(&FPSerial);

void setup()

{

//Use Serial as debugging serial port

Serial.begin(115200);

#if (defined ESP32)

FPSerial.begin(9600, SERIAL_8N1, /*rx =*/D3, /*tx =*/D2);

#else

FPSerial.begin(9600);

#endif

/**

* @brief Revise the data output frequncy of sensor

* @param frequency - FREQUENCY_0_1HZ for 0.1Hz, FREQUENCY_0_5HZ for 0.5Hz, FREQUENCY_1HZ for 1Hz,

* @n FREQUENCY_2HZ for 2Hz, FREQUENCY_5HZ for 5Hz, FREQUENCY_10HZ for 10Hz,

* @n FREQUENCY_20HZ for 20Hz, FREQUENCY_50HZ for 50Hz, FREQUENCY_100HZ for 100Hz,

* @n FREQUENCY_125HZ for 125Hz, FREQUENCY_200HZ for 200Hz.

*/

sensor.modifyFrequency(FREQUENCY_10HZ);

}

void loop()

{

if (sensor.available()) {

Serial.print("Acc\t"); Serial.print(sensor.Acc.X); Serial.print("\t");

Serial.print(sensor.Acc.Y); Serial.print("\t"); Serial.println(sensor.Acc.Z); //acceleration information of X,Y,Z

Serial.print("Gyro\t"); Serial.print(sensor.Gyro.X); Serial.print("\t");

Serial.print(sensor.Gyro.Y); Serial.print("\t"); Serial.println(sensor.Gyro.Z); //angular velocity information of X,Y,Z

Serial.print("Angle\t"); Serial.print(sensor.Angle.X); Serial.print("\t");

Serial.print(sensor.Angle.Y); Serial.print("\t"); Serial.println(sensor.Angle.Z); //angle information of X, Y, Z

Serial.println();

}

}