Atsumi Toda
ドローン用計測制御基板の作り方 vol.1 ハードウェア編p.13掲載 角速度、加速度の表示
Dependencies: mbed MPU6050_alter
Revision 0:0a940ef5a5b2, committed 2019-12-30
- Comitter:
- Joeatsumi
- Date:
- Mon Dec 30 08:45:22 2019 +0000
- Commit message:
- 20191230
Changed in this revision
diff -r 000000000000 -r 0a940ef5a5b2 MPU6050.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050.lib Mon Dec 30 08:45:22 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/Joeatsumi/code/MPU6050_alter/#44c458576810
diff -r 000000000000 -r 0a940ef5a5b2 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Dec 30 08:45:22 2019 +0000
@@ -0,0 +1,69 @@
+//==================================================
+//Inertial measurement
+//MPU board: mbed LPC1768
+//Accelerometer +Gyro sensor : GY-521
+//2019/10/11 A.Toda
+//==================================================
+#include "mbed.h"
+#include "MPU6050.h"
+
+//==================================================
+#define RAD_TO_DEG 57.2957795f // 180 / π
+
+//==================================================
+//Port Setting
+MPU6050 mpu(p9, p10); //Accelerometer + Gyro
+ //(SDA,SCLK)
+
+Serial pc(USBTX, USBRX); //UART
+
+//==================================================
+//Accelerometer and gyro data
+//==================================================
+float acc[3]; //variables for accelerometer
+float gyro[3]; //variables for gyro
+
+//==================================================
+//Main
+//==================================================
+int main() {
+
+ //UART initialization
+ pc.baud(115200);
+
+ //Accelerometer and gyro setting
+ mpu.setAcceleroRange(0);//acceleration range is +-2G
+ mpu.setGyroRange(1);//gyro rate is +-500degree per second(dps)
+
+ while(1) {
+
+ //Aquisition sensor values
+ mpu.getAccelero(acc);//get acceleration (Accelerometer)
+ //x_axis acc[0]
+ //y_axis acc[1]
+ //z_axis acc[2]
+ mpu.getGyro(gyro); //get rate of angle(Gyro)
+ //x_axis gyro[0]
+ //y_axis gyro[1]
+ //z_axis gyro[2]
+
+ //Invertion for direction of Accelerometer axis
+ acc[0]*=(-1.0);
+ acc[2]*=(-1.0);
+
+ //Unit convertion of rate of angle(radian to degree)
+ gyro[0]*=RAD_TO_DEG;
+ gyro[0]*=(-1.0);
+
+ gyro[1]*=RAD_TO_DEG;
+
+ gyro[2]*=RAD_TO_DEG;
+ gyro[2]*=(-1.0);
+
+ //Display inertial values
+ pc.printf("a_x=%f,a_y=%f,a_z=%f,g_x=%f,g_y=%f,g_z=%f\r\n"
+ ,acc[0],acc[1],acc[2],gyro[0],gyro[1],gyro[2]);
+
+ wait(0.01);
+ }
+}
diff -r 000000000000 -r 0a940ef5a5b2 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Dec 30 08:45:22 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/e1686b8d5b90 \ No newline at end of file