接线图
MPU6050 与 Arduino UNO 之间的连线图：
实物图：
演示视频：
Arduino代码，用来获取加速度计的各项数据
这里需要安装MPU6050的库文件
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// MPU-6050 Short Example Sketch // By Arduino User JohnChi // August 17, 2014 // Public Domain #include const int MPU_addr=0x68; // I2C address of the MPU-6050 int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ; void setup(){ Wire.begin(); Wire.beginTransmission(MPU_addr); Wire.write(0x6B); // PWR_MGMT_1 register Wire.write(0); // set to zero (wakes up the MPU-6050) Wire.endTransmission(true); Serial.begin(9600); } void loop(){ Wire.beginTransmission(MPU_addr); Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H) Wire.endTransmission(false); Wire.requestFrom(MPU_addr,14,true); // request a total of 14 registers AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L) AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L) AcZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L) Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L) GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L) GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L) GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L) Serial.print(AcX); Serial.print(","); Serial.print(AcY); Serial.print(","); Serial.print(AcZ); Serial.print(","); Serial.print(Tmp/340.00 36.53); //equation for temperature in degrees C from datasheet Serial.print(","); Serial.print(GyX); Serial.print(","); Serial.print(GyY); Serial.print(","); Serial.println(GyZ); delay(50); } |
Python代码，可以3D展示加速度计的姿态。如果不想用Python，还可以用Processing，之后有Processing的代码。
需要安装额外的运行环境。
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""" 成功运行 """ #!/usr/bin/python import pygame from OpenGL.GL import * from OpenGL.GLU import * from math import radians from pygame.locals import * # 导入通信的模块 import serial # 创建串口通信，串口号要换成自己的 ser = serial.Serial('COM17', 9600, timeout=0.5) SCREEN_SIZE = (1024, 768) SCALAR = .5 SCALAR2 = 0.2 def resize(width, height): glViewport(0, 0, width, height) glMatrixMode(GL_PROJECTION) glLoadIdentity() gluPerspective(45.0, float(width) / height, 0.001, 10.0) glMatrixMode(GL_MODELVIEW) glLoadIdentity() gluLookAt(0.0, 1.0, -5.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0) def init(): glEnable(GL_DEPTH_TEST) glClearColor(0.0, 0.0, 0.0, 0.0) glShadeModel(GL_SMOOTH) glEnable(GL_BLEND) glEnable(GL_POLYGON_SMOOTH) glHint(GL_POLYGON_SMOOTH_HINT, GL_NICEST) glEnable(GL_COLOR_MATERIAL) glEnable(GL_LIGHTING) glEnable(GL_LIGHT0) glLightfv(GL_LIGHT0, GL_AMBIENT, (0.3, 0.3, 0.3, 1.0)); def read_values(): # 读取串口的信息 val = ser.readline().decode('utf-8') # 以逗号来分割传入的数据 parsed = val.split(',') # 去除末尾的数据 parsed = [x.rstrip() for x in parsed] if(len(parsed) > 2): # 把数据转化为数字类型 parsed = [eval(x) for x in parsed] return parsed else: return [0,0,0,0,0] def run(): pygame.init() screen = pygame.display.set_mode(SCREEN_SIZE, HWSURFACE | OPENGL | DOUBLEBUF) resize(*SCREEN_SIZE) init() clock = pygame.time.Clock() cube = Cube((0.0, 0.0, 0.0), (.5, .5, .7)) angle = 0 while True: then = pygame.time.get_ticks() for event in pygame.event.get(): if event.type == QUIT: return if event.type == KEYUP and event.key == K_ESCAPE: return values = read_values() x_angle = values[0]/ 131 print(x_angle) y_angle = values[1]/ 131 print(y_angle) glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT) glColor((1., 1., 1.)) glLineWidth(1) glBegin(GL_LINES) for x in range(-20, 22, 2): glVertex3f(x / 10., -1, -1) glVertex3f(x / 10., -1, 1) for x in range(-20, 22, 2): glVertex3f(x / 10., -1, 1) glVertex3f(x / 10., 1, 1) for z in range(-10, 12, 2): glVertex3f(-2, -1, z / 10.) glVertex3f(2, -1, z / 10.) for z in range(-10, 12, 2): glVertex3f(-2, -1, z / 10.) glVertex3f(-2, 1, z / 10.) for z in range(-10, 12, 2): glVertex3f(2, -1, z / 10.) glVertex3f(2, 1, z / 10.) for y in range(-10, 12, 2): glVertex3f(-2, y / 10., 1) glVertex3f(2, y / 10., 1) for y in range(-10, 12, 2): glVertex3f(-2, y / 10., 1) glVertex3f(-2, y / 10., -1) for y in range(-10, 12, 2): glVertex3f(2, y / 10., 1) glVertex3f(2, y / 10., -1) glEnd() glPushMatrix() glRotate(float(x_angle), 1, 0, 0) glRotate(-float(y_angle), 0, 0, 1) cube.render() glPopMatrix() pygame.display.flip() class Cube(object): def __init__(self, position, color): self.position = position self.color = color # Cube information num_faces = 6 vertices = [(-1.0, -0.05, 0.5), (1.0, -0.05, 0.5), (1.0, 0.05, 0.5), (-1.0, 0.05, 0.5), (-1.0, -0.05, -0.5), (1.0, -0.05, -0.5), (1.0, 0.05, -0.5), (-1.0, 0.05, -0.5)] normals = [(0.0, 0.0, 1.0), # front (0.0, 0.0, -1.0), # back ( 1.0, 0.0, 0.0), # right (-1.0, 0.0, 0.0), # left (0.0, 1.0, 0.0), # top (0.0, -1.0, 0.0)] # bottom vertex_indices = [(0, 1, 2, 3), # front (4, 5, 6, 7), # back (1, 5, 6, 2), # right (0, 4, 7, 3), # left (3, 2, 6, 7), # top (0, 1, 5, 4)] # bottom def render(self): then = pygame.time.get_ticks() glColor(self.color) vertices = self.vertices # Draw all 6 faces of the cube glBegin(GL_QUADS) for face_no in range(self.num_faces): glNormal3dv(self.normals[face_no]) v1, v2, v3, v4 = self.vertex_indices[face_no] glVertex(vertices[v1]) glVertex(vertices[v2]) glVertex(vertices[v3]) glVertex(vertices[v4]) glEnd() if __name__ == "__main__": run() |
Processing代码和模型文件
需要安装库文件。
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// I2C device class (I2Cdev) demonstration Processing sketch for MPU6050 DMP output // 6/20/2012 by Jeff Rowberg <jeff@rowberg.net> // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib // // Changelog: // 2012-06-20 - initial release /* ============================================ I2Cdev device library code is placed under the MIT license Copyright (c) 2012 Jeff Rowberg Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. =============================================== */ import processing.serial.*; import processing.opengl.*; import toxi.geom.*; import toxi.processing.*; // NOTE: requires ToxicLibs to be installed in order to run properly. // 1. Download from http://toxiclibs.org/downloads // 2. Extract into [userdir]/Processing/libraries // (location may be different on Mac/Linux) // 3. Run and bask in awesomeness ToxiclibsSupport gfx; Serial port; // The serial port char[] teapotPacket = new char[14]; // InvenSense Teapot packet int serialCount = 0; // current packet byte position int synced = 0; int interval = 0; float[] q = new float[4]; Quaternion quat = new Quaternion(1, 0, 0, 0); float[] gravity = new float[3]; float[] euler = new float[3]; float[] ypr = new float[3]; PShape s; String message = " Arduino Uno and GY-521"; PFont f; // The radius of a circle float r = 200; void setup() { // 300px square viewport using OpenGL rendering size(800, 600, P3D); gfx = new ToxiclibsSupport(this); //********** s = loadShape("f15.obj"); s.scale(14, 14, 14); s.rotateX(0); s.rotateY(0); s.rotateZ(3.13); f = createFont("Georgia",40,true); textFont(f); // The text must be centered! textAlign(CENTER); // setup lights and antialiasing lights(); smooth(2); // display serial port list for debugging/clarity println(Serial.list()); // get the first available port (use EITHER this OR the specific port code below) //String portName = Serial.list()[0]; // get a specific serial port (use EITHER this OR the first-available code above) String portName = "COM3"; // open the serial port port = new Serial(this, portName, 115200); // send single character to trigger DMP init/start // (expected by MPU6050_DMP6 example Arduino sketch) port.write('r'); } void draw() { if (millis() - interval > 1000) { // resend single character to trigger DMP init/start // in case the MPU is halted/reset while applet is running port.write('r'); interval = millis(); } // black background background(5,120,190); // translate everything to the middle of the viewport pushMatrix(); translate(width / 2, height / 2); // 3-step rotation from yaw/pitch/roll angles (gimbal lock!) // ...and other weirdness I haven't figured out yet //rotateY(-ypr[0]); //rotateZ(-ypr[1]); //rotateX(-ypr[2]); // toxiclibs direct angle/axis rotation from quaternion (NO gimbal lock!) // (axis order [1, 3, 2] and inversion [-1, 1, 1] is a consequence of // different coordinate system orientation assumptions between Processing // and InvenSense DMP) float[] axis = quat.toAxisAngle(); rotate(axis[0], -axis[1], axis[3], axis[2]); noStroke(); directionalLight(185, 200, 255, 0, 1, -1); ambientLight(120, 125, 185, 35, 24, 90); shape(s, 0, 0); popMatrix(); // Start in the center and draw the circle translate(width / 2, height / 2); noFill(); stroke(0); // We must keep track of our position along the curve float arclength = 0; // For every box for (int i = 0; i < message.length(); i ) { // Instead of a constant width, we check the width of each character. char currentChar = message.charAt(i); float w = textWidth(currentChar); // Each box is centered so we move half the width arclength = w/1.5; // Angle in radians is the arclength divided by the radius // Starting on the left side of the circle by adding PI float theta = PI arclength / r; pushMatrix(); // Polar to cartesian coordinate conversion translate(r*cos(theta), r*sin(theta)); // Rotate the box rotate(theta PI/2); // rotation is offset by 90 degrees // Display the character fill(0); text(currentChar,0,0); popMatrix(); // Move halfway again arclength = w/1.5; } } void serialEvent(Serial port) { interval = millis(); while (port.available() > 0) { int ch = port.read(); if (synced == 0 && ch != '$') return; // initial synchronization - also used to resync/realign if needed synced = 1; print ((char)ch); if ((serialCount == 1 && ch != 2) || (serialCount == 12 && ch != 'r') || (serialCount == 13 && ch != 'n')) { serialCount = 0; synced = 0; return; } if (serialCount > 0 || ch == '$') { teapotPacket[serialCount ] = (char)ch; if (serialCount == 14) { serialCount = 0; // restart packet byte position // get quaternion from data packet q[0] = ((teapotPacket[2] << 8) | teapotPacket[3]) / 16384.0f; q[1] = ((teapotPacket[4] << 8) | teapotPacket[5]) / 16384.0f; q[2] = ((teapotPacket[6] << 8) | teapotPacket[7]) / 16384.0f; q[3] = ((teapotPacket[8] << 8) | teapotPacket[9]) / 16384.0f; for (int i = 0; i < 4; i ) if (q[i] >= 2) q[i] = -4 q[i]; // set our toxilibs quaternion to new data quat.set(q[0], q[1], q[2], q[3]); // below calculations unnecessary for orientation only using toxilibs // calculate gravity vector gravity[0] = 2 * (q[1]*q[3] - q[0]*q[2]); gravity[1] = 2 * (q[0]*q[1] q[2]*q[3]); gravity[2] = q[0]*q[0] - q[1]*q[1] - q[2]*q[2] q[3]*q[3]; // calculate Euler angles euler[0] = atan2(2*q[1]*q[2] - 2*q[0]*q[3], 2*q[0]*q[0] 2*q[1]*q[1] - 1); euler[1] = -asin(2*q[1]*q[3] 2*q[0]*q[2]); euler[2] = atan2(2*q[2]*q[3] - 2*q[0]*q[1], 2*q[0]*q[0] 2*q[3]*q[3] - 1); // calculate yaw/pitch/roll angles ypr[0] = atan2(2*q[1]*q[2] - 2*q[0]*q[3], 2*q[0]*q[0] 2*q[1]*q[1] - 1); ypr[1] = atan(gravity[0] / sqrt(gravity[1]*gravity[1] gravity[2]*gravity[2])); ypr[2] = atan(gravity[1] / sqrt(gravity[0]*gravity[0] gravity[2]*gravity[2])); // output various components for debugging //println("q:t" round(q[0]*100.0f)/100.0f "t" round(q[1]*100.0f)/100.0f "t" round(q[2]*100.0f)/100.0f "t" round(q[3]*100.0f)/100.0f); //println("euler:t" euler[0]*180.0f/PI "t" euler[1]*180.0f/PI "t" euler[2]*180.0f/PI); //println("ypr:t" ypr[0]*180.0f/PI "t" ypr[1]*180.0f/PI "t" ypr[2]*180.0f/PI); } } } } void drawCylinder(float topRadius, float bottomRadius, float tall, int sides) { float angle = 0; float angleIncrement = TWO_PI / sides; beginShape(QUAD_STRIP); for (int i = 0; i < sides 1; i) { vertex(topRadius*cos(angle), 0, topRadius*sin(angle)); vertex(bottomRadius*cos(angle), tall, bottomRadius*sin(angle)); angle = angleIncrement; } endShape(); // If it is not a cone, draw the circular top cap if (topRadius != 0) { angle = 0; beginShape(TRIANGLE_FAN); // Center point vertex(0, 0, 0); for (int i = 0; i < sides 1; i ) { vertex(topRadius * cos(angle), 0, topRadius * sin(angle)); angle = angleIncrement; } endShape(); } // If it is not a cone, draw the circular bottom cap if (bottomRadius != 0) { angle = 0; beginShape(TRIANGLE_FAN); // Center point vertex(0, tall, 0); for (int i = 0; i < sides 1; i ) { vertex(bottomRadius * cos(angle), tall, bottomRadius * sin(angle)); angle = angleIncrement; } endShape(); } } |
参考资料：
Arduino UNO – Mabioca （主要参考资料）
Pi_Self_Driving_Car/测试mpu6050.md at master · makelove/Pi_Self_Driving_Car (github.com)
Release 0021-complete · postspectacular/toxiclibs (github.com)
MPU-6050 6-axis accelerometer/gyroscope | I2C Device Library (i2cdevlib.com)
