Balancimg MPU6050 by LEDs on PWM
It is possible to observe the MPU6050 data on serial. If serial termimal is not started then still LED application runs.
There are 4 LEDs on LPC1768. So the first 3 LEDs are assign to accelerometer X, Y and Z. The last LED can drive by user. Default it lights a bit. If you want to turn it off then change the value as "190" to "180" on this line: myled4 = cos(190*2.0*3.13/360) * 0.5 + 0.5; If you want to turn it on (full) then change the value as "190" to "0" on above code line.
main.cpp@0:9a1aae56ed19, 2013-10-13 (annotated)
- Committer:
- LORDTEK
- Date:
- Sun Oct 13 12:01:33 2013 +0000
- Revision:
- 0:9a1aae56ed19
Balancing MPU6050 by LEDs
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
LORDTEK | 0:9a1aae56ed19 | 1 | #include "mbed.h" |
LORDTEK | 0:9a1aae56ed19 | 2 | #include "math.h" // to use cos() function for LED4 |
LORDTEK | 0:9a1aae56ed19 | 3 | #include "MPU6050.h" |
LORDTEK | 0:9a1aae56ed19 | 4 | |
LORDTEK | 0:9a1aae56ed19 | 5 | PwmOut myled1(LED1); |
LORDTEK | 0:9a1aae56ed19 | 6 | PwmOut myled2(LED2); |
LORDTEK | 0:9a1aae56ed19 | 7 | PwmOut myled3(LED3); |
LORDTEK | 0:9a1aae56ed19 | 8 | PwmOut myled4(LED4); |
LORDTEK | 0:9a1aae56ed19 | 9 | |
LORDTEK | 0:9a1aae56ed19 | 10 | // to see 6050 data on Serial terminal |
LORDTEK | 0:9a1aae56ed19 | 11 | Serial pc(USBTX, USBRX); |
LORDTEK | 0:9a1aae56ed19 | 12 | MPU6050 mpu; |
LORDTEK | 0:9a1aae56ed19 | 13 | |
LORDTEK | 0:9a1aae56ed19 | 14 | int16_t ax, ay, az; |
LORDTEK | 0:9a1aae56ed19 | 15 | int16_t gx, gy, gz; |
LORDTEK | 0:9a1aae56ed19 | 16 | |
LORDTEK | 0:9a1aae56ed19 | 17 | int main(){ |
LORDTEK | 0:9a1aae56ed19 | 18 | myled1.period_ms(1); |
LORDTEK | 0:9a1aae56ed19 | 19 | myled2.period_ms(1); |
LORDTEK | 0:9a1aae56ed19 | 20 | myled3.period_ms(1); |
LORDTEK | 0:9a1aae56ed19 | 21 | myled4.period_ms(1); |
LORDTEK | 0:9a1aae56ed19 | 22 | |
LORDTEK | 0:9a1aae56ed19 | 23 | pc.printf("MPU6050 test\n\n"); |
LORDTEK | 0:9a1aae56ed19 | 24 | pc.printf("MPU6050 initialize \n"); |
LORDTEK | 0:9a1aae56ed19 | 25 | |
LORDTEK | 0:9a1aae56ed19 | 26 | mpu.initialize(); |
LORDTEK | 0:9a1aae56ed19 | 27 | pc.printf("MPU6050 testConnection \n"); |
LORDTEK | 0:9a1aae56ed19 | 28 | |
LORDTEK | 0:9a1aae56ed19 | 29 | bool mpu6050TestResult = mpu.testConnection(); |
LORDTEK | 0:9a1aae56ed19 | 30 | if(mpu6050TestResult){ |
LORDTEK | 0:9a1aae56ed19 | 31 | pc.printf("MPU6050 test passed \n"); |
LORDTEK | 0:9a1aae56ed19 | 32 | } else{ |
LORDTEK | 0:9a1aae56ed19 | 33 | pc.printf("MPU6050 test failed \n"); |
LORDTEK | 0:9a1aae56ed19 | 34 | } |
LORDTEK | 0:9a1aae56ed19 | 35 | while(1){ |
LORDTEK | 0:9a1aae56ed19 | 36 | wait(0.2); |
LORDTEK | 0:9a1aae56ed19 | 37 | mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); |
LORDTEK | 0:9a1aae56ed19 | 38 | pc.printf("%d\t%d\t%d\t%d\t%d\t%d\n",ax,ay,az,gx,gy,gz); |
LORDTEK | 0:9a1aae56ed19 | 39 | |
LORDTEK | 0:9a1aae56ed19 | 40 | myled1 = abs(ax) / 16384.0; |
LORDTEK | 0:9a1aae56ed19 | 41 | myled2 = abs(ay) / 16384.0; |
LORDTEK | 0:9a1aae56ed19 | 42 | myled3 = abs(az) / 16384.0; |
LORDTEK | 0:9a1aae56ed19 | 43 | myled4 = cos(190*2.0*3.13/360) * 0.5 + 0.5; // to see efect of the value which is 0,0076 on LED4 |
LORDTEK | 0:9a1aae56ed19 | 44 | } |
LORDTEK | 0:9a1aae56ed19 | 45 | } |