陀螺仪和加速度仪是定位的主要模块,通过陀螺仪和加速度仪就可以很好地获取物体运动及位置的相关数据,配合磁力计和气压计、GPS等模块可以组成更加精确定位的部件。
MUP-6050 breakout 板使用 InvenSense MPU-6050 6轴(3+3)芯片,使用I2C连接,使用非常方便。

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mpu-6050

InvenSense MPU-6050官方数据

http://www.invensense.com/products/motion-tracking/6-axis/
http://www.invensense.com/products/motion-tracking/6-axis/mpu-6050/
本教程以在Arduino IDE 串口监视器中获取基本的三轴数据为目的,不使用Processing等软件。

电路连接:(有两个Analog Pin的设备均可)

Untitled_Sketch_bb.png
  • VCC → 3.3V
  • GND → GND
  • SCL → A5
  • SDA → A4
  • XDA → 留空
  • XCL → 留空
  • ADO → GND
  • INT → D2

Library 库

直接在I2C的库里找到MPU-6050文件夹,复制到Arduino的 Library 文件夹下,重启 Arduino IDE就可以使用
(如之前没有使用过I2C,需要把I2Cdev也一并复制过去)

Arduino 代码

打开IDE,选择“文件” → “示例” → “MPU6050” → “Examples” → “MPU6050_DMP6”
或者直接拷贝下面的代码到IDE里:

// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include "I2Cdev.h"

#include "MPU6050_6Axis_MotionApps20.h"
//#include "MPU6050.h" // not necessary if using MotionApps include file

// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
   #include "Wire.h"
#endif

// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 mpu;
//MPU6050 mpu(0x69); // <-- use for AD0 high

/* =========================================================================
  NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch
  depends on the MPU-6050's INT pin being connected to the Arduino's
  external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is
  digital I/O pin 2.
* ========================================================================= */

/* =========================================================================
  NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error
  when using Serial.write(buf, len). The Teapot output uses this method.
  The solution requires a modification to the Arduino USBAPI.h file, which
  is fortunately simple, but annoying. This will be fixed in the next IDE
  release. For more info, see these links:

  [http://arduino.cc/forum/index.php/topic](http://arduino.cc/forum/index.php/topic),109987.0.html
  [http://code.google.com/p/ardui ... 3D958](http://code.google.com/p/arduino/issues/detail?id=958)
* ========================================================================= */

// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual
// quaternion components in a [w, x, y, z] format (not best for parsing
// on a remote host such as Processing or something though)
//#define OUTPUT_READABLE_QUATERNION

// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles
// (in degrees) calculated from the quaternions coming from the FIFO.
// Note that Euler angles suffer from gimbal lock (for more info, see
// [http://en.wikipedia.org/wiki/Gimbal_loc](http://en.wikipedia.org/wiki/Gimbal_loc)k)
//#define OUTPUT_READABLE_EULER

// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/
// pitch/roll angles (in degrees) calculated from the quaternions coming
// from the FIFO. Note this also requires gravity vector calculations.
// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
// more info, see: [http://en.wikipedia.org/wiki/Gimbal_loc](http://en.wikipedia.org/wiki/Gimbal_loc)k)
#define OUTPUT_READABLE_YAWPITCHROLL

// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration
// components with gravity removed. This acceleration reference frame is
// not compensated for orientation, so +X is always +X according to the
// sensor, just without the effects of gravity. If you want acceleration
// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.
//#define OUTPUT_READABLE_REALACCEL

// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration
// components with gravity removed and adjusted for the world frame of
// reference (yaw is relative to initial orientation, since no magnetometer
// is present in this case). Could be quite handy in some cases.
//#define OUTPUT_READABLE_WORLDACCEL

// uncomment "OUTPUT_TEAPOT" if you want output that matches the
// format used for the InvenSense teapot demo
//#define OUTPUT_TEAPOT

#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState = false;

// MPU control/status vars
bool dmpReady = false;  // set true if DMP init was successful
uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount;     // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars
Quaternion q;           // [w, x, y, z]         quaternion container
VectorInt16 aa;         // [x, y, z]            accel sensor measurements
VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements
VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements
VectorFloat gravity;    // [x, y, z]            gravity vector
float euler[3];         // [psi, theta, phi]    Euler angle container
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '

打开串口监视器,出现以下代码:

 Initializing I2C devices...
Testing device connections...
MPU6050 connection failed

Send any character to begin DMP programming and demo: 

在串口监视器中输入任何字符,点发送后,开始获取数据。