SunFounder Da Vinci Kit Bedienungsanleitung Seite 321

dist(a,b):
def
return math.sqrt((a
get_y_rotation(x,y,z):
def
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))
math.degrees(radians)
return
def mpu6050():
accel_xout = read_word_2c(0x3b)
accel_yout = read_word_2c(0x3d)
accel_zout = read_word_2c(0x3f)
accel_xout_scaled
accel_yout_scaled
accel_zout_scaled
angle=get_y_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled)
return angle
#Stepper Motor
def rotary(direction):
if(direction ==
for j in range(4):
for i in
GPIO.output(motorPin[i],0x99>>j
time.sleep(stepSpeed)
elif(direction
for j in range(4):
for i in
GPIO.output(motorPin[i],0x99<<j
time.sleep(stepSpeed)
def setup():
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
for i in motorPin:
GPIO.setup(i, GPIO.OUT)
def loop():
while True:
angle=mpu6050()
if angle >=45
rotary('a')
elif angle <=-45:
rotary('c')
def destroy():
GPIO.cleanup()
if __name__ == '__main__':
setup()
try:
1.9. 3 Erweiterung
a)+(b b))
* *
= accel_xout / 16384.0
= accel_yout / 16384.0
= accel_zout / 16384.0
'c'):
range(4):
== 'a'):
range(4):
:
SunFounder Da Vinci Kit
(Fortsetzung der vorherigen Seite)
& (0x08>>i))
& (0x80>>i))
(Fortsetzung auf der nächsten Seite)
317