takuya ichise
/
TI_MPU6050
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Revision 1:bc1e8a435c95, committed 2018-06-04
- Comitter:
- tichise
- Date:
- Mon Jun 04 22:41:56 2018 +0000
- Parent:
- 0:81e5563b1ea1
- Commit message:
- new
Changed in this revision
diff -r 81e5563b1ea1 -r bc1e8a435c95 IS_MPU6050.cpp
--- a/IS_MPU6050.cpp Mon Jun 04 17:22:09 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,73 +0,0 @@
-#include "IS_MPU6050.h"
-#include "mbed.h"
-
-IS_MPU6050::IS_MPU6050()
-{
- _mpu.initialize();
-
- bool result = _mpu.testConnection();
-
- if (result) {
- // printf("MPU6050 Test Connection passed\n\r");
- } else {
- // printf("MPU6050 Test Connection failed\n\r");
- }
-}
-
-int IS_MPU6050::getVerticalAngle()
-{
- int16_t ax, ay, az;
- int16_t gx, gy, gz;
-
- int i = 0;
- long x = 0;
- long y = 0;
- long z = 0;
-
- int repeatCount = 100;
-
- // 各データを100回読み込んで平均化
- for (i = 0; i < repeatCount; ++i) {
- _mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
-
- // printf("x:%d; y:%d; z:%d;\n\r",ax,ay,az);
-
- x = x + ax; // Ｘ軸を読み込む
- y = y + ay; // Ｙ軸を読み込む
- z = z + az; // Ｙ軸を読み込む
- }
-
- double avX = x / repeatCount;
- double avY = y / repeatCount;
-
- int verticalAngle = atan2(avX - 507, avY - 520) / 3.14159 * 180.0;
-
- return verticalAngle;
-}
-
-bool IS_MPU6050::isHorizontal()
-{
- int verticalAngle = getVerticalAngle();
-
- int baseAngle = 90;
- bool isHorizontal;
-
- if (verticalAngle < (baseAngle - 20)) {
- // printf("vertical Angle : %d;\n\r", verticalAngle);
-
- isHorizontal = false;
- } else if ((baseAngle + 20) < verticalAngle) {
- // printf("vertical Angle : %d;\n\r", verticalAngle);
-
- isHorizontal = false;
- } else {
- isHorizontal = true;
- }
-
- return isHorizontal;
-}
-
-void IS_MPU6050::setSleepEnabled(bool enabled)
-{
- _mpu.setSleepEnabled(enabled);
-}
diff -r 81e5563b1ea1 -r bc1e8a435c95 IS_MPU6050.h
--- a/IS_MPU6050.h Mon Jun 04 17:22:09 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,19 +0,0 @@
-#ifndef MBED_IS_MPU6050_H
-#define MBED_IS_MPU6050_H
-
-#include "mbed.h"
-#include "MPU6050.h" // https://os.mbed.com/users/garfieldsg/code/MPU6050/
-
-class IS_MPU6050
-{
-public:
- IS_MPU6050();
- int getVerticalAngle();
- bool isHorizontal();
- void setSleepEnabled(bool enabled);
-
-private:
- MPU6050 _mpu;
-};
-
-#endif
diff -r 81e5563b1ea1 -r bc1e8a435c95 TI_MPU6050.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TI_MPU6050.cpp Mon Jun 04 22:41:56 2018 +0000
@@ -0,0 +1,73 @@
+#include "TI_MPU6050.h"
+#include "mbed.h"
+
+TI_MPU6050::TI_MPU6050()
+{
+ _mpu.initialize();
+
+ bool result = _mpu.testConnection();
+
+ if (result) {
+ // printf("MPU6050 Test Connection passed\n\r");
+ } else {
+ // printf("MPU6050 Test Connection failed\n\r");
+ }
+}
+
+int TI_MPU6050::getVerticalAngle()
+{
+ int16_t ax, ay, az;
+ int16_t gx, gy, gz;
+
+ int i = 0;
+ long x = 0;
+ long y = 0;
+ long z = 0;
+
+ int repeatCount = 100;
+
+ // 各データを100回読み込んで平均化
+ for (i = 0; i < repeatCount; ++i) {
+ _mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
+
+ // printf("x:%d; y:%d; z:%d;\n\r",ax,ay,az);
+
+ x = x + ax; // Ｘ軸を読み込む
+ y = y + ay; // Ｙ軸を読み込む
+ z = z + az; // Ｙ軸を読み込む
+ }
+
+ double avX = x / repeatCount;
+ double avY = y / repeatCount;
+
+ int verticalAngle = atan2(avX - 507, avY - 520) / 3.14159 * 180.0;
+
+ return verticalAngle;
+}
+
+bool TI_MPU6050::isHorizontal()
+{
+ int verticalAngle = getVerticalAngle();
+
+ int baseAngle = 90;
+ bool isHorizontal;
+
+ if (verticalAngle < (baseAngle - 20)) {
+ // printf("vertical Angle : %d;\n\r", verticalAngle);
+
+ isHorizontal = false;
+ } else if ((baseAngle + 20) < verticalAngle) {
+ // printf("vertical Angle : %d;\n\r", verticalAngle);
+
+ isHorizontal = false;
+ } else {
+ isHorizontal = true;
+ }
+
+ return isHorizontal;
+}
+
+void TI_MPU6050::setSleepEnabled(bool enabled)
+{
+ _mpu.setSleepEnabled(enabled);
+}
diff -r 81e5563b1ea1 -r bc1e8a435c95 TI_MPU6050.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TI_MPU6050.h Mon Jun 04 22:41:56 2018 +0000
@@ -0,0 +1,19 @@
+#ifndef MBED_TI_MPU6050_H
+#define MBED_TI_MPU6050_H
+
+#include "mbed.h"
+#include "MPU6050.h" // https://os.mbed.com/users/garfieldsg/code/MPU6050/
+
+class TI_MPU6050
+{
+public:
+ TI_MPU6050();
+ int getVerticalAngle();
+ bool isHorizontal();
+ void setSleepEnabled(bool enabled);
+
+private:
+ MPU6050 _mpu;
+};
+
+#endif