初始化提交

arduino-cli/libraries/MPU6050/MPU6050_gyro_pitch_roll_yaw/MPU6050_gyro_pitch_roll_yaw.ino

@@ -0,0 +1,65 @@
+/*
+    MPU6050 Triple Axis Gyroscope & Accelerometer. Pitch & Roll & Yaw Gyroscope 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;
+
+// Timers
+unsigned long timer = 0;
+float timeStep = 0.01;
+
+// Pitch, Roll and Yaw values
+float pitch = 0;
+float roll = 0;
+float yaw = 0;
+
+void setup() 
+{
+  Serial.begin(115200);
+
+  // Initialize MPU6050
+  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
+  {
+    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
+    delay(500);
+  }
+  
+  // Calibrate gyroscope. The calibration must be at rest.
+  // If you don't want calibrate, comment this line.
+  mpu.calibrateGyro();
+
+  // Set threshold sensivty. Default 3.
+  // If you don't want use threshold, comment this line or set 0.
+  mpu.setThreshold(3);
+}
+
+void loop()
+{
+  timer = millis();
+
+  // Read normalized values
+  Vector norm = mpu.readNormalizeGyro();
+
+  // Calculate Pitch, Roll and Yaw
+  pitch = pitch + norm.YAxis * timeStep;
+  roll = roll + norm.XAxis * timeStep;
+  yaw = yaw + norm.ZAxis * timeStep;
+
+  // Output raw
+  Serial.print(" Pitch = ");
+  Serial.print(pitch);
+  Serial.print(" Roll = ");
+  Serial.print(roll);  
+  Serial.print(" Yaw = ");
+  Serial.println(yaw);
+
+  // Wait to full timeStep period
+  delay((timeStep*1000) - (millis() - timer));
+}