mirror of
https://github.com/PotentiaRobotics/engine-software.git
synced 2025-04-09 23:00:21 -04:00
136 lines
3.0 KiB
C++
136 lines
3.0 KiB
C++
#include <Wire.h>
|
|
#include <Adafruit_MPU6050.h>
|
|
#include <Adafruit_Sensor.h>
|
|
|
|
Adafruit_MPU6050 mpu;
|
|
|
|
String x = "";
|
|
|
|
volatile int Val; // variable used by the master to sent data to the slave
|
|
|
|
void setup() {
|
|
Wire.begin(8); // Slave id #8
|
|
Wire.onRequest(requestEvent); // function to run when asking for data
|
|
//Wire.onReceive(receiveEvent); // what to do when receiving data
|
|
Serial.begin(115200); // serial for displaying data on your screen
|
|
|
|
while (!Serial)
|
|
delay(10); // will pause Zero, Leonardo, etc until serial console opens
|
|
|
|
Serial.println("Adafruit MPU6050 test!");
|
|
|
|
// Try to initialize!
|
|
if (!mpu.begin()) {
|
|
Serial.println("Failed to find MPU6050 chip");
|
|
while (1) {
|
|
delay(10);
|
|
}
|
|
}
|
|
Serial.println("MPU6050 Found!");
|
|
|
|
mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
|
|
Serial.print("Accelerometer range set to: ");
|
|
switch (mpu.getAccelerometerRange()) {
|
|
case MPU6050_RANGE_2_G:
|
|
Serial.println("+-2G");
|
|
break;
|
|
case MPU6050_RANGE_4_G:
|
|
Serial.println("+-4G");
|
|
break;
|
|
case MPU6050_RANGE_8_G:
|
|
Serial.println("+-8G");
|
|
break;
|
|
case MPU6050_RANGE_16_G:
|
|
Serial.println("+-16G");
|
|
break;
|
|
}
|
|
mpu.setGyroRange(MPU6050_RANGE_500_DEG);
|
|
Serial.print("Gyro range set to: ");
|
|
switch (mpu.getGyroRange()) {
|
|
case MPU6050_RANGE_250_DEG:
|
|
Serial.println("+- 250 deg/s");
|
|
break;
|
|
case MPU6050_RANGE_500_DEG:
|
|
Serial.println("+- 500 deg/s");
|
|
break;
|
|
case MPU6050_RANGE_1000_DEG:
|
|
Serial.println("+- 1000 deg/s");
|
|
break;
|
|
case MPU6050_RANGE_2000_DEG:
|
|
Serial.println("+- 2000 deg/s");
|
|
break;
|
|
}
|
|
|
|
mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
|
|
Serial.print("Filter bandwidth set to: ");
|
|
switch (mpu.getFilterBandwidth()) {
|
|
case MPU6050_BAND_260_HZ:
|
|
Serial.println("260 Hz");
|
|
break;
|
|
case MPU6050_BAND_184_HZ:
|
|
Serial.println("184 Hz");
|
|
break;
|
|
case MPU6050_BAND_94_HZ:
|
|
Serial.println("94 Hz");
|
|
break;
|
|
case MPU6050_BAND_44_HZ:
|
|
Serial.println("44 Hz");
|
|
break;
|
|
case MPU6050_BAND_21_HZ:
|
|
Serial.println("21 Hz");
|
|
break;
|
|
case MPU6050_BAND_10_HZ:
|
|
Serial.println("10 Hz");
|
|
break;
|
|
case MPU6050_BAND_5_HZ:
|
|
Serial.println("5 Hz");
|
|
break;
|
|
}
|
|
|
|
Serial.println("");
|
|
}
|
|
|
|
void loop() {
|
|
/* Get new sensor events with the readings */
|
|
sensors_event_t a, g, temp;
|
|
mpu.getEvent(&a, &g, &temp);
|
|
x = "";
|
|
|
|
/* Print out the values */
|
|
|
|
//x += "Acceleration X: ";
|
|
/*
|
|
x += String(a.acceleration.x, 3);
|
|
x += ", Y: ";
|
|
x += String(a.acceleration.y, 3);
|
|
x += ", Z: ";
|
|
x += String(a.acceleration.z, 3);
|
|
x += " m/s^2 ";
|
|
*/
|
|
|
|
x += String(g.gyro.x, 3);
|
|
x += " ";
|
|
x += String(g.gyro.y, 3);
|
|
x += " ";
|
|
x += String(g.gyro.z, 3);
|
|
x += " rad/s";
|
|
|
|
while(x.length() < 26)
|
|
{
|
|
x += " ";
|
|
}
|
|
Serial.println(x.length());
|
|
Serial.println(x);
|
|
delay(10);
|
|
}
|
|
|
|
// function: what to do when asked for data
|
|
void requestEvent() {
|
|
byte data[26];
|
|
for (byte i=0;i<26;i++)
|
|
{
|
|
data[i] = (byte)x.charAt(i);
|
|
}
|
|
Wire.write(data,sizeof(data));
|
|
}
|