SunFounder Da Vinci Kit Bedienungsanleitung Seite 266

SunFounder Da Vinci Kit
acclZ = read_word_2c(0x3F);
acclX_scaled =
acclY_scaled =
acclZ_scaled =
//Print the X, Y, and Z values of the acceleration sensor.
printf("My acclX_scaled:
delay(100);
printf("My acclY_scaled:
delay(100);
printf("My acclZ_scaled:
delay(100);
printf("My X rotation:
scaled));
delay(100);
printf("My Y rotation:
scaled));
delay(100);
delay(100);
}
return 0;
}
Code Erklärung
int read_word_2c(int
{
int val;
val = wiringPiI2CReadReg8(fd, addr);
val = val << 8;
val += wiringPiI2CReadReg8(fd, addr+1);
if (val >= 0x8000)
val = -(65536 -
return val;
}
Lesen Sie die von der MPU6050 gesendeten Sensordaten.
double get_y_rotation(double
{
double radians;
radians = atan2(x, dist(y, z));
return -(radians
*
}
Wir erhalten den Ablenkwinkel auf der Y-Achse.
double get_x_rotation(double
{
double radians;
radians = atan2(y, dist(x, z));
return (radians (180.0
*
}
262
acclX / 16384.0;
acclY / 16384.0;
acclZ / 16384.0;
%f\n", acclX_scaled);
%f\n", acclY_scaled);
%f\n", acclZ_scaled);
%f\n", get_x_rotation(acclX_scaled, acclY_scaled, acclZ_
%f\n", get_y_rotation(acclX_scaled, acclY_scaled, acclZ_
addr)
val);
x, double
(180.0 / M_PI));
x, double
/ M_PI));
y, double z)
y, double z)
(Fortsetzung der vorherigen Seite)
Kapitel 1. Über das Da Vinci Kit