80 lines
2.0 KiB
C++
80 lines
2.0 KiB
C++
#include <MPU9250_asukiaaa.h>
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#ifdef _ESP32_HAL_I2C_H_
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#define SDA_PIN 21
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#define SCL_PIN 22
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#endif
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MPU9250_asukiaaa mySensor;
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float aX, aY, aZ, aSqrt, gX, gY, gZ, mDirection, mX, mY, mZ;
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void setup() {
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Serial.begin(115200);
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while(!Serial);
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Serial.println("started");
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#ifdef _ESP32_HAL_I2C_H_ // For ESP32
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Wire.begin(SDA_PIN, SCL_PIN);
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mySensor.setWire(&Wire);
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#endif
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mySensor.beginAccel();
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mySensor.beginGyro();
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mySensor.beginMag();
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// You can set your own offset for mag values
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// mySensor.magXOffset = -50;
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// mySensor.magYOffset = -55;
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// mySensor.magZOffset = -10;
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}
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void loop() {
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uint8_t sensorId;
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if (mySensor.readId(&sensorId) == 0) {
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Serial.println("sensorId: " + String(sensorId));
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} else {
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Serial.println("Cannot read sensorId");
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}
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if (mySensor.accelUpdate() == 0) {
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aX = mySensor.accelX();
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aY = mySensor.accelY();
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aZ = mySensor.accelZ();
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aSqrt = mySensor.accelSqrt();
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Serial.println("accelX: " + String(aX));
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Serial.println("accelY: " + String(aY));
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Serial.println("accelZ: " + String(aZ));
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Serial.println("accelSqrt: " + String(aSqrt));
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} else {
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Serial.println("Cannod read accel values");
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}
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if (mySensor.gyroUpdate() == 0) {
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gX = mySensor.gyroX();
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gY = mySensor.gyroY();
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gZ = mySensor.gyroZ();
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Serial.println("gyroX: " + String(gX));
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Serial.println("gyroY: " + String(gY));
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Serial.println("gyroZ: " + String(gZ));
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} else {
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Serial.println("Cannot read gyro values");
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}
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if (mySensor.magUpdate() == 0) {
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mX = mySensor.magX();
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mY = mySensor.magY();
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mZ = mySensor.magZ();
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mDirection = mySensor.magHorizDirection();
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Serial.println("magX: " + String(mX));
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Serial.println("maxY: " + String(mY));
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Serial.println("magZ: " + String(mZ));
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Serial.println("horizontal direction: " + String(mDirection));
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} else {
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Serial.println("Cannot read mag values");
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}
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Serial.println("at " + String(millis()) + "ms");
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Serial.println(""); // Add an empty line
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delay(500);
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}
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