SunFounder Da Vinci Kit Bedienungsanleitung Seite 268

SunFounder Da Vinci Kit
Bemerkung: Sie können den folgenden Code Ändern/Zurücksetzen/ Kopieren/Ausführen/Stoppen. Zuvor müssen
Sie jedoch zu einem Quellcodepfad wie davinci-kit-for-raspberry-pi\\python gehen.
import smbus
import math
import time
# Power management registers
power_mgmt_1 = 0x6b
power_mgmt_2 = 0x6c
def read_byte(adr):
return bus.read_byte_data(address, adr)
def read_word(adr):
high = bus.read_byte_data(address, adr)
low = bus.read_byte_data(address, adr+1)
val = (high <<
return val
def read_word_2c(adr):
val = read_word(adr)
if (val >= 0x8000):
return -((65535
else:
return val
def dist(a,b):
return math.sqrt((a
def get_y_rotation(x,y,z):
radians = math.atan2(x, dist(y,z))
return -math.degrees(radians)
def get_x_rotation(x,y,z):
radians = math.atan2(y, dist(x,z))
return math.degrees(radians)
bus = smbus.SMBus(1)
address = 0x68
# Now wake the 6050 up as it starts in sleep mode
bus.write_byte_data(address, power_mgmt_1, 0)
while True:
time.sleep(0.1)
gyro_xout = read_word_2c(0x43)
gyro_yout = read_word_2c(0x45)
gyro_zout = read_word_2c(0x47)
print ("gyro_xout :
print ("gyro_yout :
print ("gyro_zout :
accel_xout = read_word_2c(0x3b)
264
8) + low
- val) + 1)
a)+(b b))
* *
# or bus = smbus.SMBus(1) for Revision 2 boards
# This is the address value read via the i2cdetect command
", gyro_xout,
", gyro_yout,
", gyro_zout,
" scaled: ", (gyro_xout
" scaled: ", (gyro_yout
" scaled: ", (gyro_zout
/ 131))
/ 131))
/ 131))
(Fortsetzung auf der nächsten Seite)
Kapitel 1. Über das Da Vinci Kit