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https://github.com/PotentiaRobotics/engine-software.git
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118 lines
2.6 KiB
C++
118 lines
2.6 KiB
C++
// Basic demo for accelerometer readings from Adafruit MPU6050
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#include <Adafruit_MPU6050.h>
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#include <Adafruit_Sensor.h>
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#include <Wire.h>
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Adafruit_MPU6050 mpu;
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void setup(void) {
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Serial.begin(115200);
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while (!Serial)
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delay(10); // will pause Zero, Leonardo, etc until serial console opens
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Serial.println("Adafruit MPU6050 test!");
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// Try to initialize!
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if (!mpu.begin()) {
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Serial.println("Failed to find MPU6050 chip");
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while (1) {
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delay(10);
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}
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}
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Serial.println("MPU6050 Found!");
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mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
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Serial.print("Accelerometer range set to: ");
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switch (mpu.getAccelerometerRange()) {
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case MPU6050_RANGE_2_G:
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Serial.println("+-2G");
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break;
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case MPU6050_RANGE_4_G:
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Serial.println("+-4G");
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break;
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case MPU6050_RANGE_8_G:
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Serial.println("+-8G");
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break;
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case MPU6050_RANGE_16_G:
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Serial.println("+-16G");
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break;
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}
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mpu.setGyroRange(MPU6050_RANGE_500_DEG);
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Serial.print("Gyro range set to: ");
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switch (mpu.getGyroRange()) {
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case MPU6050_RANGE_250_DEG:
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Serial.println("+- 250 deg/s");
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break;
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case MPU6050_RANGE_500_DEG:
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Serial.println("+- 500 deg/s");
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break;
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case MPU6050_RANGE_1000_DEG:
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Serial.println("+- 1000 deg/s");
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break;
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case MPU6050_RANGE_2000_DEG:
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Serial.println("+- 2000 deg/s");
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break;
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}
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mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
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Serial.print("Filter bandwidth set to: ");
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switch (mpu.getFilterBandwidth()) {
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case MPU6050_BAND_260_HZ:
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Serial.println("260 Hz");
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break;
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case MPU6050_BAND_184_HZ:
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Serial.println("184 Hz");
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break;
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case MPU6050_BAND_94_HZ:
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Serial.println("94 Hz");
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break;
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case MPU6050_BAND_44_HZ:
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Serial.println("44 Hz");
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break;
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case MPU6050_BAND_21_HZ:
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Serial.println("21 Hz");
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break;
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case MPU6050_BAND_10_HZ:
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Serial.println("10 Hz");
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break;
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case MPU6050_BAND_5_HZ:
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Serial.println("5 Hz");
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break;
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}
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Serial.println("");
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delay(100);
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}
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void loop() {
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/* Get new sensor events with the readings */
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sensors_event_t a, g, temp;
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mpu.getEvent(&a, &g, &temp);
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/* Print out the values */
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Serial.print("Acceleration X: ");
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Serial.print(a.acceleration.x);
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Serial.print(", Y: ");
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Serial.print(a.acceleration.y);
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Serial.print(", Z: ");
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Serial.print(a.acceleration.z);
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Serial.println(" m/s^2");
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Serial.print("Rotation X: ");
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Serial.print(g.gyro.x);
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Serial.print(", Y: ");
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Serial.print(g.gyro.y);
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Serial.print(", Z: ");
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Serial.print(g.gyro.z);
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Serial.println(" rad/s");
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Serial.print("Temperature: ");
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Serial.print(temp.temperature);
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Serial.println(" degC");
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Serial.println("");
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delay(500);
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}
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