SunFounder Da Vinci Kit Bedienungsanleitung Seite 265

int read_word_2c(int
{
val;
int
val = wiringPiI2CReadReg8(fd, addr);
val = val << 8;
val += wiringPiI2CReadReg8(fd, addr+1);
if (val >= 0x8000)
val = -(65536 -
val;
return
}
double dist(double
{
return sqrt((a a) +
*
}
double get_y_rotation(double
{
double radians;
radians = atan2(x, dist(y, z));
return -(radians
*
}
double get_x_rotation(double
{
double radians;
radians = atan2(y, dist(x, z));
return (radians (180.0
*
}
int main()
{
fd = wiringPiI2CSetup (0x68);
wiringPiI2CWriteReg8
printf("set 0x6B=%X\n",wiringPiI2CReadReg8 (fd,0x6B));
while(1) {
gyroX = read_word_2c(0x43);
gyroY = read_word_2c(0x45);
gyroZ = read_word_2c(0x47);
gyroX_scaled =
gyroY_scaled =
gyroZ_scaled =
//Print values for the X, Y, and Z axes of the gyroscope sensor.
printf("My gyroX_scaled:
delay(100);
printf("My gyroY_scaled:
delay(100);
printf("My gyroZ_scaled:
delay(100);
acclX = read_word_2c(0x3B);
acclY = read_word_2c(0x3D);
1.8. 2 Eingabe
addr)
val);
a, double b)
(b b));
*
x, double
(180.0 / M_PI));
x, double
/ M_PI));
(fd,0x6B,0x00);//disable sleep mode
gyroX / 131.0;
gyroY / 131.0;
gyroZ / 131.0;
%f\n", gyroY X_scaled);
%f\n", gyroY Y_scaled);
%f\n", gyroY Z_scaled);
y, double z)
y, double z)
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