takuya ichise / TI_MPU6050

Library receiving values from MPU6050

Dependencies:   MPU6050

Dependents:   TI_MPU6050_SAMPLE

  1. include "mbed.h"
  2. include "TI_MPU6050.h"

Example

include the mbed library with this snippet

TI_MPU6050 mpu6050;

DigitalOut led1(LED1);

int main() {
    mpu6050.setSleepEnabled(false);
    
    while(1) {
        if (mpu6050.isHorizontal()) {
            led1 = 1;
        } else {
            led1 = 0;
        }
        
        int verticalAngle = mpu6050.getVerticalAngle();
        printf("verticalAngle is %d\n\r", verticalAngle);
    }
}

TI_MPU6050.cpp

Committer:
tichise
Date:
2018-06-04
Revision:
1:bc1e8a435c95
Parent:
IS_MPU6050.cpp@ 0:81e5563b1ea1

File content as of revision 1:bc1e8a435c95:

#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);
}