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August 16, 2020 10:02
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#include <Servo.h> | |
#include "I2Cdev.h" | |
#include "MPU6050_6Axis_MotionApps20.h" | |
Servo motor; | |
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE | |
#include "Wire.h" | |
#endif | |
MPU6050 mpu; | |
//#define OUTPUT_READABLE_QUATERNION | |
//#define OUTPUT_READABLE_EULER | |
#define OUTPUT_READABLE_YAWPITCHROLL | |
//#define OUTPUT_READABLE_REALACCEL | |
//#define OUTPUT_READABLE_WORLDACCEL | |
//#define OUTPUT_TEAPOT | |
#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6) | |
bool blinkState = false; | |
// MPU control/status vars | |
bool dmpReady = false; // set true if DMP init was successful | |
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU | |
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error) | |
uint16_t packetSize; // expected DMP packet size (default is 42 bytes) | |
uint16_t fifoCount; // count of all bytes currently in FIFO | |
uint8_t fifoBuffer[64]; // FIFO storage buffer | |
// orientation/motion vars | |
Quaternion q; // [w, x, y, z] quaternion container | |
VectorInt16 aa; // [x, y, z] accel sensor measurements | |
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements | |
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements | |
VectorFloat gravity; // [x, y, z] gravity vector | |
float euler[3]; // [psi, theta, phi] Euler angle container | |
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector | |
float gyroPos = 0; | |
int servoPos = 1500; | |
// packet structure for InvenSense teapot demo | |
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' }; | |
// ================================================================ | |
// === INTERRUPT DETECTION ROUTINE === | |
// ================================================================ | |
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high | |
void dmpDataReady() { | |
mpuInterrupt = true; | |
} | |
// ================================================================ | |
// === INITIAL SETUP === | |
// ================================================================ | |
void setup() { | |
motor.attach(5); | |
motor.writeMicroseconds(servoPos); | |
// join I2C bus (I2Cdev library doesn't do this automatically) | |
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE | |
Wire.begin(); | |
TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz) | |
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE | |
Fastwire::setup(400, true); | |
#endif | |
// initialize serial communication | |
// (115200 chosen because it is required for Teapot Demo output, but it's | |
// really up to you depending on your project) | |
Serial.begin(115200); | |
// initialize device | |
Serial.println(F("Initializing I2C devices...")); | |
mpu.initialize(); | |
// verify connection | |
Serial.println(F("Testing device connections...")); | |
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed")); | |
// wait for ready | |
Serial.println(F("\nSend any character to begin DMP programming and demo: ")); | |
while (Serial.available() && Serial.read()); // empty buffer | |
while (!Serial.available()); // wait for data | |
while (Serial.available() && Serial.read()); // empty buffer again | |
// load and configure the DMP | |
Serial.println(F("Initializing DMP...")); | |
devStatus = mpu.dmpInitialize(); | |
// supply your own gyro offsets here, scaled for min sensitivity | |
mpu.setXGyroOffset(220); | |
mpu.setYGyroOffset(76); | |
mpu.setZGyroOffset(-85); | |
mpu.setZAccelOffset(1788); // 1688 factory default for my test chip | |
// make sure it worked (returns 0 if so) | |
if (devStatus == 0) { | |
// turn on the DMP, now that it's ready | |
Serial.println(F("Enabling DMP...")); | |
mpu.setDMPEnabled(true); | |
// enable Arduino interrupt detection | |
Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)...")); | |
attachInterrupt(0, dmpDataReady, RISING); | |
mpuIntStatus = mpu.getIntStatus(); | |
// set our DMP Ready flag so the main loop() function knows it's okay to use it | |
Serial.println(F("DMP ready! Waiting for first interrupt...")); | |
dmpReady = true; | |
// get expected DMP packet size for later comparison | |
packetSize = mpu.dmpGetFIFOPacketSize(); | |
} else { | |
// ERROR! | |
// 1 = initial memory load failed | |
// 2 = DMP configuration updates failed | |
// (if it's going to break, usually the code will be 1) | |
Serial.print(F("DMP Initialization failed (code ")); | |
Serial.print(devStatus); | |
Serial.println(F(")")); | |
} | |
// configure LED for output | |
pinMode(LED_PIN, OUTPUT); | |
} | |
// ================================================================ | |
// === MAIN PROGRAM LOOP === | |
// ================================================================ | |
void loop() { | |
// if programming failed, don't try to do anything | |
if (!dmpReady) return; | |
// wait for MPU interrupt or extra packet(s) available | |
while (!mpuInterrupt && fifoCount < packetSize) { | |
// other program behavior stuff here | |
// . | |
// . | |
// . | |
// if you are really paranoid you can frequently test in between other | |
// stuff to see if mpuInterrupt is true, and if so, "break;" from the | |
// while() loop to immediately process the MPU data | |
// . | |
// . | |
// . | |
} | |
// reset interrupt flag and get INT_STATUS byte | |
mpuInterrupt = false; | |
mpuIntStatus = mpu.getIntStatus(); | |
// get current FIFO count | |
fifoCount = mpu.getFIFOCount(); | |
// check for overflow (this should never happen unless our code is too inefficient) | |
if ((mpuIntStatus & 0x10) || fifoCount == 1024) { | |
// reset so we can continue cleanly | |
mpu.resetFIFO(); | |
Serial.println(F("FIFO overflow!")); | |
// otherwise, check for DMP data ready interrupt (this should happen frequently) | |
} else if (mpuIntStatus & 0x02) { | |
// wait for correct available data length, should be a VERY short wait | |
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount(); | |
// read a packet from FIFO | |
mpu.getFIFOBytes(fifoBuffer, packetSize); | |
// track FIFO count here in case there is > 1 packet available | |
// (this lets us immediately read more without waiting for an interrupt) | |
fifoCount -= packetSize; | |
#ifdef OUTPUT_READABLE_QUATERNION | |
// display quaternion values in easy matrix form: w x y z | |
mpu.dmpGetQuaternion(&q, fifoBuffer); | |
Serial.print("quat\t"); | |
Serial.print(q.w); | |
Serial.print("\t"); | |
Serial.print(q.x); | |
Serial.print("\t"); | |
Serial.print(q.y); | |
Serial.print("\t"); | |
Serial.println(q.z); | |
#endif | |
#ifdef OUTPUT_READABLE_EULER | |
// display Euler angles in degrees | |
mpu.dmpGetQuaternion(&q, fifoBuffer); | |
mpu.dmpGetEuler(euler, &q); | |
Serial.print("euler\t"); | |
Serial.print(euler[0] * 180/M_PI); | |
Serial.print("\t"); | |
Serial.print(euler[1] * 180/M_PI); | |
Serial.print("\t"); | |
Serial.println(euler[2] * 180/M_PI); | |
#endif | |
#ifdef OUTPUT_READABLE_YAWPITCHROLL | |
gyroPos = (ypr[2] * 50)*-1; | |
servoPos = servoPos + gyroPos; | |
/* | |
if(gyroPos < 0) { | |
servoPos = servoPos + (gyroPos/2); | |
} else if(gyroPos > 0) { | |
servoPos = servoPos - (gyroPos/2); | |
} | |
*/ | |
if(servoPos < 0) servoPos = 0; | |
else if(servoPos > 3000) servoPos = 3000; | |
motor.writeMicroseconds(servoPos); | |
// display Euler angles in degrees | |
mpu.dmpGetQuaternion(&q, fifoBuffer); | |
mpu.dmpGetGravity(&gravity, &q); | |
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity); | |
Serial.print("ypr\t"); | |
Serial.print(ypr[0] * 180/M_PI); | |
Serial.print("\t"); | |
Serial.print(ypr[1] * 180/M_PI); | |
Serial.print("\t"); | |
Serial.print(ypr[2] * 180/M_PI); | |
Serial.print("\t"); | |
Serial.print(servoPos); | |
Serial.print("\t"); | |
Serial.print(ypr[1]); | |
Serial.print("\t"); | |
Serial.print(ypr[1]*180); | |
Serial.print("\t"); | |
Serial.print(ypr[1]*1000); | |
Serial.print("\n"); | |
//if (servoPos < 0) { servoPos = servoPos * -1; } | |
#endif | |
#ifdef OUTPUT_READABLE_REALACCEL | |
// display real acceleration, adjusted to remove gravity | |
mpu.dmpGetQuaternion(&q, fifoBuffer); | |
mpu.dmpGetAccel(&aa, fifoBuffer); | |
mpu.dmpGetGravity(&gravity, &q); | |
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); | |
Serial.print("areal\t"); | |
Serial.print(aaReal.x); | |
Serial.print("\t"); | |
Serial.print(aaReal.y); | |
Serial.print("\t"); | |
Serial.println(aaReal.z); | |
#endif | |
#ifdef OUTPUT_READABLE_WORLDACCEL | |
// display initial world-frame acceleration, adjusted to remove gravity | |
// and rotated based on known orientation from quaternion | |
mpu.dmpGetQuaternion(&q, fifoBuffer); | |
mpu.dmpGetAccel(&aa, fifoBuffer); | |
mpu.dmpGetGravity(&gravity, &q); | |
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); | |
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q); | |
Serial.print("aworld\t"); | |
Serial.print(aaWorld.x); | |
Serial.print("\t"); | |
Serial.print(aaWorld.y); | |
Serial.print("\t"); | |
Serial.println(aaWorld.z); | |
#endif | |
#ifdef OUTPUT_TEAPOT | |
// display quaternion values in InvenSense Teapot demo format: | |
teapotPacket[2] = fifoBuffer[0]; | |
teapotPacket[3] = fifoBuffer[1]; | |
teapotPacket[4] = fifoBuffer[4]; | |
teapotPacket[5] = fifoBuffer[5]; | |
teapotPacket[6] = fifoBuffer[8]; | |
teapotPacket[7] = fifoBuffer[9]; | |
teapotPacket[8] = fifoBuffer[12]; | |
teapotPacket[9] = fifoBuffer[13]; | |
Serial.write(teapotPacket, 14); | |
teapotPacket[11]++; // packetCount, loops at 0xFF on purpose | |
#endif | |
// blink LED to indicate activity | |
blinkState = !blinkState; | |
digitalWrite(LED_PIN, blinkState); | |
} | |
} |
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