takuya ichise
Library receiving values from MPU6050
- include "mbed.h"
- include "TI_MPU6050.h"
Example
include the mbed library with this snippet
TI_MPU6050 mpu6050;
DigitalOut led1(LED1);
int main() {
mpu6050.setSleepEnabled(false);
while(1) {
if (mpu6050.isHorizontal()) {
led1 = 1;
} else {
led1 = 0;
}
int verticalAngle = mpu6050.getVerticalAngle();
printf("verticalAngle is %d\n\r", verticalAngle);
}
}
Revision 0:81e5563b1ea1, committed 2018-06-04
- Comitter:
- tichise
- Date:
- Mon Jun 04 17:22:09 2018 +0000
- Child:
- 1:bc1e8a435c95
- Commit message:
- new
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/IS_MPU6050.cpp Mon Jun 04 17:22:09 2018 +0000
@@ -0,0 +1,73 @@
+#include "IS_MPU6050.h"
+#include "mbed.h"
+
+IS_MPU6050::IS_MPU6050()
+{
+ _mpu.initialize();
+
+ bool result = _mpu.testConnection();
+
+ if (result) {
+ // printf("MPU6050 Test Connection passed\n\r");
+ } else {
+ // printf("MPU6050 Test Connection failed\n\r");
+ }
+}
+
+int IS_MPU6050::getVerticalAngle()
+{
+ int16_t ax, ay, az;
+ int16_t gx, gy, gz;
+
+ int i = 0;
+ long x = 0;
+ long y = 0;
+ long z = 0;
+
+ int repeatCount = 100;
+
+ // 各データを100回読み込んで平均化
+ for (i = 0; i < repeatCount; ++i) {
+ _mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
+
+ // printf("x:%d; y:%d; z:%d;\n\r",ax,ay,az);
+
+ x = x + ax; // Ｘ軸を読み込む
+ y = y + ay; // Ｙ軸を読み込む
+ z = z + az; // Ｙ軸を読み込む
+ }
+
+ double avX = x / repeatCount;
+ double avY = y / repeatCount;
+
+ int verticalAngle = atan2(avX - 507, avY - 520) / 3.14159 * 180.0;
+
+ return verticalAngle;
+}
+
+bool IS_MPU6050::isHorizontal()
+{
+ int verticalAngle = getVerticalAngle();
+
+ int baseAngle = 90;
+ bool isHorizontal;
+
+ if (verticalAngle < (baseAngle - 20)) {
+ // printf("vertical Angle : %d;\n\r", verticalAngle);
+
+ isHorizontal = false;
+ } else if ((baseAngle + 20) < verticalAngle) {
+ // printf("vertical Angle : %d;\n\r", verticalAngle);
+
+ isHorizontal = false;
+ } else {
+ isHorizontal = true;
+ }
+
+ return isHorizontal;
+}
+
+void IS_MPU6050::setSleepEnabled(bool enabled)
+{
+ _mpu.setSleepEnabled(enabled);
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/IS_MPU6050.h Mon Jun 04 17:22:09 2018 +0000
@@ -0,0 +1,19 @@
+#ifndef MBED_IS_MPU6050_H
+#define MBED_IS_MPU6050_H
+
+#include "mbed.h"
+#include "MPU6050.h" // https://os.mbed.com/users/garfieldsg/code/MPU6050/
+
+class IS_MPU6050
+{
+public:
+ IS_MPU6050();
+ int getVerticalAngle();
+ bool isHorizontal();
+ void setSleepEnabled(bool enabled);
+
+private:
+ MPU6050 _mpu;
+};
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050.lib Mon Jun 04 17:22:09 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/garfieldsg/code/MPU6050/#1e0baaf91e96