陀螺儀 加速度計 MPU-6050

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MEMS陀螺儀(Gyroscope):
角速度計，測量單位 角速度(度/秒)
例如:
LPY530AL Dual


加速度感測器:
測量加速度的裝置，也就是g force
例如:
三軸加速度感測器 ADXL335

http://www.eettaiwan.com/ART_880 ... omead_1417248841196
https://www.youtube.com/watch?v=F50Fea3My1Q

MPU-6050
MPU6050 三軸陀螺儀+三軸加速度 6軸模組
規格
I²C函式庫http://www.i2cdevlib.com/devices/mpu6050#source
https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
http://ming-shian.blogspot.tw/20 ... pu6050row-data.html
http://gogoprivateryan.blogspot.tw/2014/07/mpu-6050-google.html

1. #include "I2Cdev.h"
   
2. #include "MPU6050.h"
   
3. #include "Wire.h"
   
4. #include <Servo.h>
   
5. 
   
6. MPU6050 accelgyro;
   
7. Servo servo1;
   
8. int16_t ax, ay, az;
   
9. int16_t gx, gy, gz;
   
10. int val;
    
11. int prev;
    
12. 
    
13. void setup() {
    
14.   Wire.begin();
    
15.   Serial.begin(38400);
    
16.   Serial.println("Initializing I2C devices...");
    
17.   accelgyro.initialize();
    
18.   servo1.attach(7);
    
19.   // verify connection
    
20.   Serial.println("Testing device connections...");
    
21.   Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");  
    
22. }
    
23. 
    
24. void loop() {
    
25.    // read raw accel/gyro measurements from device
    
26.   accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
    
27.   Serial.print("a/g:\t");
    
28.   Serial.print(ax); Serial.print("\t");
    
29.   Serial.print(ay); Serial.print("\t");
    
30.   Serial.print(az); Serial.print("\t");
    
31.   Serial.print(gx); Serial.print("\t");
    
32.   Serial.print(gy); Serial.print("\t");
    
33.   Serial.println(gz);
    
34.   val = map(ay,-17000,17000,0,179);
    
35.   if (val!=prev){
    
36.     servo1.write(val);
    
37.     prev=val;
    
38.   }
    
39.   delay(50);
    
40. }

複製代碼