[Arduino资料] 零知开源——MPU6050六轴传感器模块实践教程，轻松实现运动检测！

/* I2C interface MPU6050 demo

* powered by www.lingzhilab.com

*/

#include "MPU6050.h"

 

// 默认I2C地址为 0x68

// AD0 low = 0x68

// AD0 high = 0x69

 

MPU6050 accelgyro;

 

int16_t ax, ay, az;//三轴加速度值

int16_t gx, gy, gz;//三轴陀螺仪值

 

float nax,nay,naz;

float ngx,ngy,ngz;//转换后的实际值

 

#define LED_PIN LED_BUILTIN

bool blinkState = false;

 

void setup() {

 

    Serial.begin(9600);

 

    // MPU6050初始化设置

    Serial.println("Initializing I2C devices...");

    accelgyro.initialize();

 

    // verify connection

    Serial.println("Testing device connections...");

        if(accelgyro.testConnection()){

                Serial.println("MPU6050 connection successful");

        }else{

                Serial.println("MPU6050 connection failed");

        }

    

    //使用LED进行指示

    pinMode(LED_PIN, OUTPUT);

        

//        accelgyro.setFullScaleAccelRange(MPU6050_ACCEL_FS_16);//加速度参数

//        accelgyro.setFullScaleGyroRange(MPU6050_GYRO_FS_500);//陀螺仪

}

 

void loop() {

    // 获取原始的数值：三轴加速度值和三轴陀螺仪数值

    accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

 

    // 分别获取

    //accelgyro.getAcceleration(&ax, &ay, &az);

    //accelgyro.getRotation(&gx, &gy, &gz);

 

    // 显示打印

    Serial.print(" acc:\t");

    Serial.print(ax); Serial.print("\t");

    Serial.print(ay); Serial.print("\t");

    Serial.print(az); Serial.print("\t");

        Serial.print("\t gyro:\t");

    Serial.print(gx); Serial.print("\t");

    Serial.print(gy); Serial.print("\t");

    Serial.println(gz);

        

        //实际数值转换

        accelgyro.readNormalizeAccel(&nax,&nay,&naz);

        accelgyro.readNormalizeGyro(&ngx,&ngy,&ngz);

        Serial.print("Normalize acc:\t");

    Serial.print(nax); Serial.print("\t");

    Serial.print(nay); Serial.print("\t");

    Serial.print(naz); Serial.print("\t");

        Serial.print("\t Normalize gyro:\t");

    Serial.print(ngx); Serial.print("\t");

    Serial.print(ngy); Serial.print("\t");

    Serial.println(ngz);

 

    // blink LED to indicate activity

    blinkState = !blinkState;

    digitalWrite(LED_PIN, blinkState);

 

    delay(300);

}