LORDTEK LORDTEK
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.
Diff: main.cpp
- Revision:
- 0:9a1aae56ed19
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Oct 13 12:01:33 2013 +0000
@@ -0,0 +1,45 @@
+#include "mbed.h"
+#include "math.h" // to use cos() function for LED4
+#include "MPU6050.h"
+
+PwmOut myled1(LED1);
+PwmOut myled2(LED2);
+PwmOut myled3(LED3);
+PwmOut myled4(LED4);
+
+// to see 6050 data on Serial terminal
+Serial pc(USBTX, USBRX);
+MPU6050 mpu;
+
+int16_t ax, ay, az;
+int16_t gx, gy, gz;
+
+int main(){
+ myled1.period_ms(1);
+ myled2.period_ms(1);
+ myled3.period_ms(1);
+ myled4.period_ms(1);
+
+ pc.printf("MPU6050 test\n\n");
+ pc.printf("MPU6050 initialize \n");
+
+ mpu.initialize();
+ pc.printf("MPU6050 testConnection \n");
+
+ bool mpu6050TestResult = mpu.testConnection();
+ if(mpu6050TestResult){
+ pc.printf("MPU6050 test passed \n");
+ } else{
+ pc.printf("MPU6050 test failed \n");
+ }
+ while(1){
+ wait(0.2);
+ mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
+ pc.printf("%d\t%d\t%d\t%d\t%d\t%d\n",ax,ay,az,gx,gy,gz);
+
+ myled1 = abs(ax) / 16384.0;
+ myled2 = abs(ay) / 16384.0;
+ myled3 = abs(az) / 16384.0;
+ myled4 = cos(190*2.0*3.13/360) * 0.5 + 0.5; // to see efect of the value which is 0,0076 on LED4
+ }
+}
\ No newline at end of file