mirror of
https://github.com/PotentiaRobotics/engine-software.git
synced 2025-04-21 12:30:16 -04:00
92 lines
3.7 KiB
C++
92 lines
3.7 KiB
C++
#include<Wire.h>
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const int MPU2=0x69,MPU1=0x68;
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int16_t AcX1,AcY1,AcZ1,Tmp1,GyX1,GyY1,GyZ1;
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int16_t AcX2,AcY2,AcZ2,Tmp2,GyX2,GyY2,GyZ2;
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//-------------------------------------------------\setup loop\------------------------------------------------------------
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void setup(){
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Wire.begin();
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Wire.beginTransmission(MPU1);
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Wire.write(0x6B);// PWR_MGMT_1 register
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Wire.write(0); // set to zero (wakes up the MPU-6050)
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Wire.endTransmission(true);Wire.begin();
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Wire.beginTransmission(MPU2);
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Wire.write(0x6B);// PWR_MGMT_1 register
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Wire.write(0); // set to zero (wakes up the MPU-6050)
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Wire.endTransmission(true);
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Serial.begin(9600);
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}
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//---------------------------------------------------\void loop\------------------------------------------------------------
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void loop(){
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//get values for first mpu having address of 0x68
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GetMpuValue1(MPU1);
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Serial.print(" ");
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Serial.print("|||");
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//get values for second mpu having address of 0x69
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GetMpuValue2(MPU2);
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Serial.println("");
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delay(1000);
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}
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//----------------------------------------------\user defined functions\--------------------------------------------------
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void GetMpuValue1(const int MPU){
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Wire.beginTransmission(MPU);
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Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
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Wire.endTransmission(false);
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Wire.requestFrom(MPU, 14, true); // request a total of 14 registers
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AcX1=Wire.read()<<8| Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
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AcY1=Wire.read()<<8| Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
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AcZ1=Wire.read()<<8| Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
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Tmp1=Wire.read()<<8| Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
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GyX1=Wire.read()<<8| Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
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GyY1=Wire.read()<<8| Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
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GyZ1=Wire.read()<<8| Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
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Serial.print("AcX = ");
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Serial.print(AcX1/16384.0);
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Serial.print(" | AcY = ");
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Serial.print(AcY1/16384.0);
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Serial.print(" | AcZ = ");
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Serial.print(AcZ1/16384.0);
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Serial.print(" | GyX = ");
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Serial.print(GyX1/131.0);
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Serial.print(" | GyY = ");
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Serial.print(GyY1/131.0);
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Serial.print(" | GyZ = ");
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Serial.println(GyZ1/131.0);
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}
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void GetMpuValue2(const int MPU){
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Wire.beginTransmission(MPU);
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Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
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Wire.endTransmission(false);
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Wire.requestFrom(MPU, 14, true); // request a total of 14 registers
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AcX2=Wire.read()<<8| Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
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AcY2=Wire.read()<<8| Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
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AcZ2=Wire.read()<<8| Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
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Tmp2=Wire.read()<<8| Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
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GyX2=Wire.read()<<8| Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
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GyY2=Wire.read()<<8| Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
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GyZ2=Wire.read()<<8| Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
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Serial.print("AcX = ");
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Serial.print(AcX2);
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Serial.print(" | AcY = ");
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Serial.print(AcY2);
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Serial.print(" | AcZ = ");
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Serial.print(AcZ2);
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Serial.print(" | GyX = ");
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Serial.print(GyX2);
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Serial.print(" | GyY = ");
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Serial.print(GyY2);
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Serial.print(" | GyZ = ");
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Serial.println(GyZ2);
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}
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