104 lines
3.1 KiB
C++
104 lines
3.1 KiB
C++
/*
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MPU6050 Triple Axis Gyroscope & Accelerometer. Simple Gyroscope Example.
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Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
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GIT: https://github.com/jarzebski/Arduino-MPU6050
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Web: http://www.jarzebski.pl
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(c) 2014 by Korneliusz Jarzebski
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*/
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#include <Wire.h>
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#include <MPU6050.h>
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MPU6050 mpu;
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void setup()
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{
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Serial.begin(115200);
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// Initialize MPU6050
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Serial.println("Initialize MPU6050");
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while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
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{
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Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
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delay(500);
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}
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// If you want, you can set gyroscope offsets
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// mpu.setGyroOffsetX(155);
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// mpu.setGyroOffsetY(15);
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// mpu.setGyroOffsetZ(15);
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// Calibrate gyroscope. The calibration must be at rest.
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// If you don't want calibrate, comment this line.
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mpu.calibrateGyro();
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// Set threshold sensivty. Default 3.
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// If you don't want use threshold, comment this line or set 0.
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mpu.setThreshold(3);
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// Check settings
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checkSettings();
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}
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void checkSettings()
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{
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Serial.println();
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Serial.print(" * Sleep Mode: ");
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Serial.println(mpu.getSleepEnabled() ? "Enabled" : "Disabled");
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Serial.print(" * Clock Source: ");
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switch(mpu.getClockSource())
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{
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case MPU6050_CLOCK_KEEP_RESET: Serial.println("Stops the clock and keeps the timing generator in reset"); break;
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case MPU6050_CLOCK_EXTERNAL_19MHZ: Serial.println("PLL with external 19.2MHz reference"); break;
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case MPU6050_CLOCK_EXTERNAL_32KHZ: Serial.println("PLL with external 32.768kHz reference"); break;
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case MPU6050_CLOCK_PLL_ZGYRO: Serial.println("PLL with Z axis gyroscope reference"); break;
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case MPU6050_CLOCK_PLL_YGYRO: Serial.println("PLL with Y axis gyroscope reference"); break;
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case MPU6050_CLOCK_PLL_XGYRO: Serial.println("PLL with X axis gyroscope reference"); break;
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case MPU6050_CLOCK_INTERNAL_8MHZ: Serial.println("Internal 8MHz oscillator"); break;
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}
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Serial.print(" * Gyroscope: ");
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switch(mpu.getScale())
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{
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case MPU6050_SCALE_2000DPS: Serial.println("2000 dps"); break;
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case MPU6050_SCALE_1000DPS: Serial.println("1000 dps"); break;
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case MPU6050_SCALE_500DPS: Serial.println("500 dps"); break;
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case MPU6050_SCALE_250DPS: Serial.println("250 dps"); break;
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}
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Serial.print(" * Gyroscope offsets: ");
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Serial.print(mpu.getGyroOffsetX());
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Serial.print(" / ");
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Serial.print(mpu.getGyroOffsetY());
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Serial.print(" / ");
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Serial.println(mpu.getGyroOffsetZ());
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Serial.println();
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}
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void loop()
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{
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Vector rawGyro = mpu.readRawGyro();
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Vector normGyro = mpu.readNormalizeGyro();
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Serial.print(" Xraw = ");
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Serial.print(rawGyro.XAxis);
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Serial.print(" Yraw = ");
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Serial.print(rawGyro.YAxis);
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Serial.print(" Zraw = ");
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Serial.println(rawGyro.ZAxis);
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Serial.print(" Xnorm = ");
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Serial.print(normGyro.XAxis);
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Serial.print(" Ynorm = ");
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Serial.print(normGyro.YAxis);
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Serial.print(" Znorm = ");
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Serial.println(normGyro.ZAxis);
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delay(10);
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}
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