角速度+加速度

1、#include #define Acc 0x1D#define Gyr 0x69#define Mag 0x1E#define Gry_offset -13 / 陀螺儀偏移量#define Gyr_Gain 0.07 / 滿量程2000dps時靈敏度(dps/digital)#define pi 3.14159float angleG;unsigned long timer = 0; / 采樣時間void setup() sensor_init(); / 配置傳感器 Serial.begin(19200); / 開啟串口以便監(jiān)視數(shù)據(jù) delay(1000); void loop() long

2、 o_timer = timer; / 上一次采樣時間(ms) float Y_Accelerometer = gDat(Acc, 1); / 獲取向前的加速度 float Z_Accelerometer = gDat(Acc, 2); / 獲取向下的加速度 float angleA = atan(Y_Accelerometer / Z_Accelerometer) * 180 / pi; / 根據(jù)加速度分量得到的角度(degree) timer = millis(); / 當前時間(ms) int dt = timer - o_timer; / 微分時間 angleG = angleG +

3、Gyr_Gain * (gDat(Gyr, 0) + Gry_offset) * dt / 1000; / 對角速度積分得到的角度(degree) Serial.print(timer); Serial.print(,); Serial.print(angleA, 6); Serial.print(,); Serial.print(angleG, 6); Serial.print(;); / 輸出數(shù)據(jù) delay(10); int gDat(int device, int axis) / 讀九軸姿態(tài)傳感器寄存器函數(shù)/ For Arduino, by 黑馬/ 調用參數(shù)表/ type device

4、 axis/ 0 1 2/ ADXL345 Acc x y z/ L3G4200D Gyr x y z/ HMC5883L Mag x z y/ Example/ 00 #include / 01 #define Acc 0x1D;/ 02 #define Gyr 0x69;/ 03 #define Mag 0x1E;/ 04/ 05 void setup() / 06 sensor_init();/ 07 delay(1000);/ 08 / 09/ 10 void loop() / 11 int Z-Gyroscope;/ 12 Z-Gyroscope = gDat(Gyr, 2);/ 1

5、3 delay(50);/ 14 int v; byte vL, vH, address; / 存放byte數(shù)值 if (device = Acc) address = 0x32; / ADXL345的讀數(shù)地址 if (device = Gyr) address = 0xA8; / L3G4200D的讀數(shù)地址 if (device = Mag) address = 0x03; / HMC5883L的讀數(shù)地址 address = address + axis * 2; / 數(shù)據(jù)偏移-坐標軸 Wire.beginTransmission(device); / 開始傳輸數(shù)據(jù) Wire.send(ad

6、dress); / 發(fā)送指針 Wire.requestFrom(device, 2); / 請求2 byte數(shù)據(jù) while(Wire.available() 2); / 成功獲取前等待 vL = Wire.receive(); vH = Wire.receive(); / 讀取數(shù)據(jù) Wire.endTransmission(); / 結束傳輸 if (device = Mag) v = (vL 8) | vH; else v = (vH 8) | vL; / 將byte數(shù)據(jù)合并為Int return v; / 返回讀書值void sensor_init() / 配置九軸姿態(tài)傳感器 write

7、Register(Acc, 0x2D, 0b00001000); / 測量模式 / 配置ADXL345 writeRegister(Gyr, 0x20, 0b00001111); / 設置睡眠模式、x, y, z軸使能 writeRegister(Gyr, 0x21, 0b00000000); / 選擇高通濾波模式和高通截止頻率 writeRegister(Gyr, 0x22, 0b00000000); / 設置中斷模式 writeRegister(Gyr, 0x23, 0b00110000); / 設置量程(2000dps)、自檢狀態(tài)、SPI模式 writeRegister(Gyr, 0x24, 0b00000000); / FIFO & 高通濾波 / 配置L3G4200D(2000 deg/sec) writeRegister(Mag, 0x02, 0x00); / 連續(xù)測量 / 配置HMC5883Lvoid writeRegister(int device, byte