Gyro angle calc code
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// 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: | |
// 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. | |
===============================================*/ | |
// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation | |
// is used in I2Cdev.h | |
#include "Wire.h" | |
// 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" | |
// 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; | |
int16_t ax, ay, az; | |
int16_t gx, gy, gz; | |
#define LED_PIN 13 | |
bool blinkState = false; | |
// accelerometer values | |
int accel_reading; | |
int accel_corrected; | |
int accel_offset = 200; | |
float accel_angle; | |
float accel_scale = 1; // set to 0.01 | |
// gyro values | |
int gyro_offset = 151; // 151 | |
int gyro_corrected; | |
int gyro_reading; | |
float gyro_rate; | |
float gyro_scale = 0.02; // 0.02 by default - tweak as required | |
float gyro_angle; | |
float loop_time = 0.05; // 50ms loop | |
float angle = 0.00; // value to hold final calculated gyro angle | |
// time stamp variables | |
int last_update; | |
int cycle_time; | |
long last_cycle = 0; | |
void setup() { | |
// join I2C bus (I2Cdev library doesn't do this automatically) | |
Wire.begin(); | |
// initialize serial communication | |
Serial.begin(9600); | |
// 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"); | |
// 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); | |
// accelerometer_X_Axis angle calc | |
accel_reading = ax; | |
accel_corrected = accel_reading - accel_offset; | |
accel_corrected = map(accel_corrected, -16800, 16800, -90, 90); | |
accel_corrected = constrain(accel_corrected, -90, 90); | |
accel_angle = (float)(accel_corrected * accel_scale); | |
Serial.print(accel_angle); | |
Serial.print("\t"); | |
// gyro_Y_Axis angle calc | |
gyro_reading = gy; | |
gyro_corrected = (float)((gyro_reading/131) - gyro_offset); // 131 is sensivity of gyro from data sheet | |
gyro_rate = (gyro_corrected * gyro_scale) * -loop_time; // loop_time = 0.05 ie 50ms | |
gyro_angle = angle + gyro_rate; | |
// print values to serial monitor for checking | |
Serial.print(gyro_reading); | |
Serial.print("\t"); | |
Serial.print(gyro_corrected); | |
Serial.print("\t"); | |
Serial.print(gyro_angle); | |
Serial.print("\t"); | |
Serial.println(" "); | |
// blink LED to indicate activity | |
blinkState = !blinkState; | |
digitalWrite(LED_PIN, blinkState); | |
//timestamp | |
time_stamp(); | |
} | |
void time_stamp(){ | |
while ((millis() - last_cycle) < 50){ | |
delay(1); | |
} | |
// once loop cycle reaches 50ms, reset timer value and continue | |
cycle_time = millis() - last_cycle; | |
last_cycle = millis(); | |
} |
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what does this do? no values are changing with tilting 3 axis.