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/* I2C interface MPU6050 demo
* powered by 零知實驗室
*/
#include "MPU6050.h"
// 默認I2C地址為 0x68
// AD0 low = 0x68
// AD0 high = 0x69
MPU6050 accelgyro;
int16_t ax, ay, az;//三軸加速度值
int16_t gx, gy, gz;//三軸陀螺儀值
float nax,nay,naz;
float ngx,ngy,ngz;//轉換后的實際值
#define LED_PIN LED_BUILTIN
bool blinkState = false;
void setup() {
Serial.begin(9600);
// MPU6050初始化設置
Serial.println("Initializing I2C devices...");
accelgyro.initialize();
// verify connection
Serial.println("Testing device connections...");
if(accelgyro.testConnection()){
Serial.println("MPU6050 connection successful");
}else{
Serial.println("MPU6050 connection failed");
}
//使用LED進行指示
pinMode(LED_PIN, OUTPUT);
// accelgyro.setFullScaleAccelRange(MPU6050_ACCEL_FS_16);//加速度參數
// accelgyro.setFullScaleGyroRange(MPU6050_GYRO_FS_500);//陀螺儀
}
void loop() {
// 獲取原始的數值：三軸加速度值和三軸陀螺儀數值
accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
// 分別獲取
//accelgyro.getAcceleration(&ax, &ay, &az);
//accelgyro.getRotation(&gx, &gy, &gz);
// 顯示打印
Serial.print(" acc:\t");
Serial.print(ax); Serial.print("\t");
Serial.print(ay); Serial.print("\t");
Serial.print(az); Serial.print("\t");
Serial.print("\t gyro:\t");
Serial.print(gx); Serial.print("\t");
Serial.print(gy); Serial.print("\t");
Serial.println(gz);
//實際數值轉換
accelgyro.readNormalizeAccel(&nax,&nay,&naz);
accelgyro.readNormalizeGyro(&ngx,&ngy,&ngz);
Serial.print("Normalize acc:\t");
Serial.print(nax); Serial.print("\t");
Serial.print(nay); Serial.print("\t");
Serial.print(naz); Serial.print("\t");
Serial.print("\t Normalize gyro:\t");
Serial.print(ngx); Serial.print("\t");
Serial.print(ngy); Serial.print("\t");
Serial.println(ngz);
// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
delay(300);
}

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