Motion模块姿态测试示例

本示例给出了Motion获取姿态的一些基本方法 硬件清单 mCookie-Battery mCookie-Core MCookie-Motion 将Battery、Core、Motion模块堆叠在一起，通过MicroUSB数据线接入电脑。 测试MPU6050姿态传感器 打开文件->示例->_05_Microduino_10DOF->sensor_MPU6050的“MPU6050_raw”程序 文件:Motion-weather-bmp180.jpg 800px #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); } 将程序下载到核心，打开串口监视器，可以看到数据，前面三个对应的是X，Y，Z的角度，后三个对应的是X，Y，Z的加速度。 测试BMP180气压传感器 打开文件->示例->_05_Microduino_10DOF->sensor_BMP085的“BMP085_basic”程序 文件:Motion-weather-bmp180.jpg 800px 将程序下载到核心，打开串口监视器，可以看到温度，气压，海拔数据。 文件:Motion-weather-res.jpg 800px 返回MCookie-Motion界面 返回MCookie-Motion_Reference界面