Last active
July 19, 2017 05:24
-
-
Save Wei1234c/519bb51ca7a24bedcf0e to your computer and use it in GitHub Desktop.
MPU6050 + Servo
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
#include <Servo.h> | |
// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class | |
// 10/7/2011 by Jeff Rowberg <jeff@rowberg.net> | |
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib | |
// | |
// Changelog: | |
// 2013-05-08 - added multiple output formats | |
// - added seamless Fastwire support | |
// 2011-10-07 - initial release | |
/* ============================================ | |
I2Cdev device library code is placed under the MIT license | |
Copyright (c) 2011 Jeff Rowberg | |
Permission is hereby granted, free of charge, to any person obtaining a copy | |
of this software and associated documentation files (the "Software"), to deal | |
in the Software without restriction, including without limitation the rights | |
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | |
copies of the Software, and to permit persons to whom the Software is | |
furnished to do so, subject to the following conditions: | |
The above copyright notice and this permission notice shall be included in | |
all copies or substantial portions of the Software. | |
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | |
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | |
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | |
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | |
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | |
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN | |
THE SOFTWARE. | |
=============================================== | |
*/ | |
// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files | |
// for both classes must be in the include path of your project | |
#include "I2Cdev.h" | |
#include "MPU6050.h" | |
// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation | |
// is used in I2Cdev.h | |
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE | |
#include "Wire.h" | |
#endif | |
// class default I2C address is 0x68 | |
// specific I2C addresses may be passed as a parameter here | |
// AD0 low = 0x68 (default for InvenSense evaluation board) | |
// AD0 high = 0x69 | |
MPU6050 accelgyro; | |
//MPU6050 accelgyro(0x69); // <-- use for AD0 high | |
int16_t ax, ay, az; | |
int16_t gx, gy, gz; | |
// uncomment "OUTPUT_READABLE_ACCELGYRO" if you want to see a tab-separated | |
// list of the accel X/Y/Z and then gyro X/Y/Z values in decimal. Easy to read, | |
// not so easy to parse, and slow(er) over UART. | |
#define OUTPUT_READABLE_ACCELGYRO | |
// uncomment "OUTPUT_BINARY_ACCELGYRO" to send all 6 axes of data as 16-bit | |
// binary, one right after the other. This is very fast (as fast as possible | |
// without compression or data loss), and easy to parse, but impossible to read | |
// for a human. | |
//#define OUTPUT_BINARY_ACCELGYRO | |
#define LED_PIN 13 | |
bool blinkState = false; | |
// 加一個 Servo | |
Servo servo; | |
void setup() { | |
// join I2C bus (I2Cdev library doesn't do this automatically) | |
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE | |
Wire.begin(); | |
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE | |
Fastwire::setup(400, true); | |
#endif | |
// initialize serial communication | |
// (38400 chosen because it works as well at 8MHz as it does at 16MHz, but | |
// it's really up to you depending on your project) | |
Serial.begin(38400); | |
// Servo 連接到 pin 6 | |
servo.attach(6); | |
// initialize device | |
Serial.println("Initializing I2C devices..."); | |
accelgyro.initialize(); | |
// verify connection | |
Serial.println("Testing device connections..."); | |
Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed"); | |
// use the code below to change accel/gyro offset values | |
/* | |
Serial.println("Updating internal sensor offsets..."); | |
// -76 -2359 1688 0 0 0 | |
Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76 | |
Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359 | |
Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688 | |
Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0 | |
Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0 | |
Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0 | |
Serial.print("\n"); | |
accelgyro.setXGyroOffset(220); | |
accelgyro.setYGyroOffset(76); | |
accelgyro.setZGyroOffset(-85); | |
Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76 | |
Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359 | |
Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688 | |
Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0 | |
Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0 | |
Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0 | |
Serial.print("\n"); | |
*/ | |
// configure Arduino LED for | |
pinMode(LED_PIN, OUTPUT); | |
} | |
void loop() { | |
// read raw accel/gyro measurements from device | |
accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); | |
// these methods (and a few others) are also available | |
//accelgyro.getAcceleration(&ax, &ay, &az); | |
//accelgyro.getRotation(&gx, &gy, &gz); | |
#ifdef OUTPUT_READABLE_ACCELGYRO | |
// display tab-separated accel/gyro x/y/z values | |
// Serial.print("a/g:\t"); | |
// Serial.print(ax); Serial.print("\t"); | |
// Serial.print(ay); Serial.print("\t"); | |
// Serial.print(az); Serial.print("\t"); | |
// Serial.print(gx); Serial.print("\t"); | |
// Serial.print(gy); Serial.print("\t"); | |
// Serial.println(gz); | |
Serial.println(ax); | |
#endif | |
#ifdef OUTPUT_BINARY_ACCELGYRO | |
Serial.write((uint8_t)(ax >> 8)); Serial.write((uint8_t)(ax & 0xFF)); | |
Serial.write((uint8_t)(ay >> 8)); Serial.write((uint8_t)(ay & 0xFF)); | |
Serial.write((uint8_t)(az >> 8)); Serial.write((uint8_t)(az & 0xFF)); | |
Serial.write((uint8_t)(gx >> 8)); Serial.write((uint8_t)(gx & 0xFF)); | |
Serial.write((uint8_t)(gy >> 8)); Serial.write((uint8_t)(gy & 0xFF)); | |
Serial.write((uint8_t)(gz >> 8)); Serial.write((uint8_t)(gz & 0xFF)); | |
#endif | |
// 依據 ax 設定 servo 轉動的角度 | |
servo.write(map(ax, -15000,15000, 20, 160)); | |
// blink LED to indicate activity | |
blinkState = !blinkState; | |
digitalWrite(LED_PIN, blinkState); | |
} |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment