2017年12月18日 (一) 06:34 Radiumray9

2017-12-18T06:34:01Z

Radiumray9：创建页面，内容为“
'''accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);'''

'''作用'''
2017-12-18T06:32:14Z

创建页面，内容为“ '''accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);''' '''作用'''</…”

新页面

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

'''作用'''
得到原始的加速度和角速度

'''参数'''
ax：加速度x

ay：加速度y

az：加速度z

gx：角速度x

gy：角速度y

gz：角速度z

'''示例'''
<source lang="cpp">

#include <MPU6050.h>

// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 accelgyro;

int16_t ax, ay, az;
int16_t gx, gy, gz;

#define LED_PIN 13
bool blinkState = false;

void setup() {
// join I2C bus (I2Cdev library doesn't do this automatically)
Wire.begin();

// initialize serial communication
// (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
// it's really up to you depending on your project)
Serial.begin(115200);

// initialize device
Serial.println("Initializing I2C devices...");
accelgyro.initialize();

// verify connection
Serial.println("Testing device connections...");
Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");

// configure Arduino LED for
pinMode(LED_PIN, OUTPUT);
}

void loop() {
// read raw accel/gyro measurements from device
accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

// these methods (and a few others) are also available
//accelgyro.getAcceleration(&ax, &ay, &az);
//accelgyro.getRotation(&gx, &gy, &gz);

// display tab-separated accel/gyro x/y/z values
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);

// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
}

</source>

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