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標題: 樹莓派采集Mpu6050數據 [打印本頁]
作者: Rockyhgy    時間: 2018-10-29 14:49
標題: 樹莓派采集Mpu6050數據
樹莓派采集Mpu6050數據，可算出翻滾角和俯仰角
  1. #!/usr/bin/python
  2. import smbus
  3. import math

  5. # Power management registers
  6. power_mgmt_1 = 0x6b
  7. power_mgmt_2 = 0x6c

  9. def read_byte(adr):
  10.     return bus.read_byte_data(address, adr)

  12. def read_word(adr):
  13.     high = bus.read_byte_data(address, adr)
  14.     low = bus.read_byte_data(address, adr+1)
  15.     val = (high << 8) + low
  16.     return val

  18. def read_word_2c(adr):
  19.     val = read_word(adr)
  20.     if (val >= 0x8000):
  21.         return -((65535 - val) + 1)
  22.     else:
  23.         return val

  25. def dist(a,b):
  26.     return math.sqrt((a*a)+(b*b))

  28. def get_y_rotation(x,y,z):
  29.     radians = math.atan2(x, dist(y,z))
  30.     return -math.degrees(radians)

  32. def get_x_rotation(x,y,z):
  33.     radians = math.atan2(y, dist(x,z))
  34.     return math.degrees(radians)

  36. bus = smbus.SMBus(0) # or bus = smbus.SMBus(1) for Revision 2 boards
  37. address = 0x68       # This is the address value read via the i2cdetect command

  39. # Now wake the 6050 up as it starts in sleep mode
  40. bus.write_byte_data(address, power_mgmt_1, 0)

  42. print "gyro data"
  43. print "---------"

  45. gyro_xout = read_word_2c(0x43)
  46. gyro_yout = read_word_2c(0x45)
  47. gyro_zout = read_word_2c(0x47)

  49. print "gyro_xout: ", gyro_xout, " scaled: ", (gyro_xout / 131)
  50. print "gyro_yout: ", gyro_yout, " scaled: ", (gyro_yout / 131)
  51. print "gyro_zout: ", gyro_zout, " scaled: ", (gyro_zout / 131)

  53. print()
  54. print "accelerometer data"
  55. print "------------------"

  57. accel_xout = read_word_2c(0x3b)
  58. accel_yout = read_word_2c(0x3d)
  59. accel_zout = read_word_2c(0x3f)

  61. accel_xout_scaled = accel_xout / 16384.0
  62. accel_yout_scaled = accel_yout / 16384.0
  63. accel_zout_scaled = accel_zout / 16384.0

  65. print "accel_xout: ", accel_xout, " scaled: ", accel_xout_scaled
  66. print "accel_yout: ", accel_yout, " scaled: ", accel_yout_scaled
  67. print "accel_zout: ", accel_zout, " scaled: ", accel_zout_scaled

  69. print "x rotation: " , get_x_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled)
  70. print "y rotation: " , get_y_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled)

復制代碼


MPU6050.doc

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