Chen Huan
/
MPU6050_Driver_Balance
平衡车的MPU6050驱动 C.H.
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main.cpp
00001 #include "mbed.h" 00002 #include "mpu6050.h" 00003 00004 00005 DigitalOut myled(LED1); 00006 Serial pc(SERIAL_TX, SERIAL_RX); 00007 00008 int main() { 00009 float pitch,roll,yaw; //欧拉角 00010 00011 MPU_Init(); //初始化MPU6050 00012 myled = 0; 00013 while(mpu_dmp_init()) 00014 { 00015 wait(0.2); 00016 myled = !myled; 00017 } 00018 while(1) 00019 { 00020 if(mpu_dmp_get_data(&pitch,&roll,&yaw)==0)//获取欧拉角 00021 { 00022 pc.printf("pitch: %.2f roll: %.2f yaw: %.2f\r\n", pitch,roll,yaw); 00023 } 00024 } 00025 }
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