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MPU-6050集成了3轴MEMS陀螺仪,3轴MEMS加速度计,以及一个可扩展的数字运动处理器DMP,可用IIC接口连接一个第三方的数字传感器。MPU-6050对陀螺仪和加速度计分别用了三个16位的ADC,将其测量的模拟量转化为可输出的数字量。为了精确跟踪快速和慢速的运动,传感器的测量范围都是用户可控的,陀螺仪可测范围为250,500,1000,2000/秒(dps),加速度计可测范围为2,4,8,16g。
名称 | 描述 |
---|---|
VDD | DC+5v |
GND | GND |
SCL | IIC串行时钟线/SPI串行时钟端口 |
SDA | IIC串行数据线/SPI串行数据输入 |
XDA | 连接其他IIC设备的主机数据口 |
XCL | 给IIC设备提供主时钟 |
ADO | IIC器件地址选择位/SPI串行数据输出 |
INT | 中断引脚 |
include "I2Cdev.h"include "MPU6050.h"if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE #include "Wire.h"endifMPU6050 accelgyro;int16_t ax, ay, az;int16_t gx, gy, gz;define OUTPUT_READABLE_ACCELGYROdefine LED_PIN 13bool blinkState = false;void setup() { #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE Wire.begin(); #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE Fastwire::setup(400, true); #endif Serial.begin(38400); Serial.println("Initializing I2C devices..."); accelgyro.initialize(); Serial.println("Testing device connections..."); Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed"); pinMode(LED_PIN, OUTPUT);}void loop() { accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); ifdef OUTPUT_READABLE_ACCELGYRO Serial.print("a/g:\t"); Serial.print(ax); Serial.print("\t"); Serial.print(ay); Serial.print("\t"); Serial.print(az); Serial.print("\t"); Serial.print(gx); Serial.print("\t"); Serial.print(gy); Serial.print("\t"); Serial.println(gz); endif ifdef OUTPUT_BINARY_ACCELGYRO Serial.write((uint8_t)(ax >> 8)); Serial.write((uint8_t)(ax & 0xFF)); Serial.write((uint8_t)(ay >> 8)); Serial.write((uint8_t)(ay & 0xFF)); Serial.write((uint8_t)(az >> 8)); Serial.write((uint8_t)(az & 0xFF)); Serial.write((uint8_t)(gx >> 8)); Serial.write((uint8_t)(gx & 0xFF)); Serial.write((uint8_t)(gy >> 8)); Serial.write((uint8_t)(gy & 0xFF)); Serial.write((uint8_t)(gz >> 8)); Serial.write((uint8_t)(gz & 0xFF)); endif blinkState = !blinkState; digitalWrite(LED_PIN, blinkState);
打开串口检测器,把波特率设置为38400
像MPU-6050这种带有SCL,SDA串行IIC接口的模块,可以连接Arduino的IIC接口通过例程进行简单使用,也方便对模块进行测试。
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