初始化提交

2024-07-20 22:09:06 +08:00
commit c247dd07a6
6876 changed files with 2743096 additions and 0 deletions
--- a/arduino-cli/libraries/MPU6050/MPU6050_accel_pitch_roll/MPU6050_accel_pitch_roll.ino
+++ b/arduino-cli/libraries/MPU6050/MPU6050_accel_pitch_roll/MPU6050_accel_pitch_roll.ino
@@ -0,0 +1,47 @@
+/*
+    MPU6050 Triple Axis Gyroscope & Accelerometer. Pitch & Roll Accelerometer Example.
+    Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
+    GIT: https://github.com/jarzebski/Arduino-MPU6050
+    Web: http://www.jarzebski.pl
+    (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include <Wire.h>
+#include <MPU6050.h>
+
+MPU6050 mpu;
+
+void setup() 
+{
+  Serial.begin(115200);
+
+  Serial.println("Initialize MPU6050");
+
+  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
+  {
+    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
+    delay(500);
+  }
+}
+
+void loop()
+{
+  // Read normalized values 
+  Vector normAccel = mpu.readNormalizeAccel();
+
+  // Calculate Pitch & Roll
+  int pitch = -(atan2(normAccel.XAxis, sqrt(normAccel.YAxis*normAccel.YAxis + normAccel.ZAxis*normAccel.ZAxis))*180.0)/M_PI;
+  int roll = (atan2(normAccel.YAxis, normAccel.ZAxis)*180.0)/M_PI;
+
+  // Output
+  Serial.print(" Pitch = ");
+  Serial.print(pitch);
+  Serial.print(" Roll = ");
+  Serial.print(roll);
+  
+  Serial.println();
+  
+  delay(10);
+}
+
+