Commande manuelle
This commit is contained in:
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# Blender MTL File: '6-labyrinthe.blend'
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# Material Count: 6
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newmtl Bleu
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Ns 323.999994
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Ka 1.000000 1.000000 1.000000
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Kd 0.800000 0.800000 0.800000
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Ks 0.500000 0.500000 0.500000
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Ke 0.000000 0.000000 0.000000
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Ni 1.000000
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d 1.000000
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illum 2
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|
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newmtl Bouton
|
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Ns 323.999994
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Ka 1.000000 1.000000 1.000000
|
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Kd 0.800000 0.800000 0.800000
|
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Ks 0.500000 0.500000 0.500000
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Ke 0.000000 0.000000 0.000000
|
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Ni 1.000000
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d 1.000000
|
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illum 2
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|
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newmtl Brun
|
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Ns 323.999994
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Ka 1.000000 1.000000 1.000000
|
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Kd 0.800000 0.800000 0.800000
|
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Ks 0.500000 0.500000 0.500000
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Ke 0.000000 0.000000 0.000000
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Ni 1.000000
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d 1.000000
|
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illum 2
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|
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newmtl Noir
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Ns 323.999994
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Ka 1.000000 1.000000 1.000000
|
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Kd 0.800000 0.800000 0.800000
|
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Ks 0.500000 0.500000 0.500000
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Ke 0.000000 0.000000 0.000000
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Ni 1.000000
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d 1.000000
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illum 2
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newmtl Transparent
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Ns 323.999994
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Ka 1.000000 1.000000 1.000000
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Kd 0.800000 0.800000 0.800000
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Ks 0.500000 0.500000 0.500000
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Ke 0.000000 0.000000 0.000000
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Ni 1.000000
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d 1.000000
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illum 2
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newmtl Vert
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Ns 323.999994
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Ka 1.000000 1.000000 1.000000
|
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Kd 0.800000 0.800000 0.800000
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Ks 0.500000 0.500000 0.500000
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Ke 0.000000 0.000000 0.000000
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Ni 1.000000
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d 1.000000
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illum 2
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File diff suppressed because it is too large
Load Diff
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@ -0,0 +1,253 @@
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g# Copyright (c) 2016, Xilinx, Inc.
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# SPDX-License-Identifier: BSD-3-Clause
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import math
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from . import Arduino
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from . import ARDUINO_GROVE_I2C
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ARDUINO_GROVE_IMU_PROGRAM = "arduino_grove_imu.bin"
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CONFIG_IOP_SWITCH = 0x1
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GET_ACCL_DATA = 0x3
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GET_GYRO_DATA = 0x5
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GET_COMPASS_DATA = 0x7
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GET_TEMPERATURE = 0xB
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GET_PRESSURE = 0xD
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RESET = 0xF
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def _reg2float(reg):
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"""Converts 32-bit register value to floats in Python.
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Parameters
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----------
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reg: int
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A 32-bit register value read from the mailbox.
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Returns
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-------
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float
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A float number translated from the register value.
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"""
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if reg == 0:
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return 0.0
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sign = (reg & 0x80000000) >> 31 & 0x01
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exp = ((reg & 0x7f800000) >> 23) - 127
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if exp == 0:
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man = (reg & 0x007fffff) / pow(2, 23)
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else:
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man = 1 + (reg & 0x007fffff) / pow(2, 23)
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result = pow(2, exp) * man * ((sign * -2) + 1)
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return float("{0:.2f}".format(result))
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def _reg2int(reg):
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"""Converts 32-bit register value to signed integer in Python.
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Parameters
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----------
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reg: int
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A 32-bit register value read from the mailbox.
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Returns
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-------
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int
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A signed integer translated from the register value.
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"""
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result = -(reg >> 31 & 0x1) * (1 << 31)
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for i in range(31):
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result += (reg >> i & 0x1) * (1 << i)
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return result
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class Grove_IMU(object):
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"""This class controls the Grove IIC IMU.
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Grove IMU 10DOF is a combination of grove IMU 9DOF (MPU9250) and grove
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barometer sensor (BMP180). MPU-9250 is a 9-axis motion tracking device
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that combines a 3-axis gyroscope, 3-axis accelerometer, 3-axis
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magnetometer and a Digital Motion Processor (DMP). BMP180 is a high
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precision, low power digital pressure sensor. Hardware version: v1.1.
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Attributes
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----------
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microblaze : Arduino
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Microblaze processor instance used by this module.
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"""
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def __init__(self, mb_info, gr_pin):
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"""Return a new instance of an Grove IMU object.
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Parameters
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----------
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mb_info : dict
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A dictionary storing Microblaze information, such as the
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IP name and the reset name.
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gr_pin: list
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A group of pins on arduino-grove shield.
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"""
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if gr_pin not in [ARDUINO_GROVE_I2C]:
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raise ValueError("Group number can only be I2C.")
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self.microblaze = Arduino(mb_info, ARDUINO_GROVE_IMU_PROGRAM)
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self.reset()
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def reset(self):
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"""Reset all the sensors on the grove IMU.
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Returns
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-------
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None
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"""
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self.microblaze.write_blocking_command(RESET)
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def get_accl(self):
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"""Get the data from the accelerometer.
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Returns
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-------
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list
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A list of the acceleration data along X-axis, Y-axis, and Z-axis.
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"""
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self.microblaze.write_blocking_command(GET_ACCL_DATA)
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data = self.microblaze.read_mailbox(0, 3)
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[ax, ay, az] = [_reg2int(i) for i in data]
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return [float("{0:.2f}".format(ax / 16384)),
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float("{0:.2f}".format(ay / 16384)),
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float("{0:.2f}".format(az / 16384))]
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def get_gyro(self):
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"""Get the data from the gyroscope.
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Returns
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-------
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list
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A list of the gyro data along X-axis, Y-axis, and Z-axis.
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"""
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self.microblaze.write_blocking_command(GET_GYRO_DATA)
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data = self.microblaze.read_mailbox(0, 3)
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[gx, gy, gz] = [_reg2int(i) for i in data]
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return [float("{0:.2f}".format(gx * 250 / 32768)),
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float("{0:.2f}".format(gy * 250 / 32768)),
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float("{0:.2f}".format(gz * 250 / 32768))]
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def get_compass(self):
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"""Get the data from the magnetometer.
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Returns
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-------
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list
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A list of the compass data along X-axis, Y-axis, and Z-axis.
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"""
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self.microblaze.write_blocking_command(GET_COMPASS_DATA)
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data = self.microblaze.read_mailbox(0, 3)
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[mx, my, mz] = [_reg2int(i) for i in data]
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return [float("{0:.2f}".format(mx * 1200 / 4096)),
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float("{0:.2f}".format(my * 1200 / 4096)),
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float("{0:.2f}".format(mz * 1200 / 4096))]
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def get_heading(self):
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"""Get the value of the heading.
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Returns
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-------
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float
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The angle deviated from the X-axis, toward the positive Y-axis.
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"""
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[mx, my, _] = self.get_compass()
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heading = 180 * math.atan2(my, mx) / math.pi
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if heading < 0:
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heading += 360
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return float("{0:.2f}".format(heading))
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def get_tilt_heading(self):
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"""Get the value of the tilt heading.
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Returns
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-------
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float
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The tilt heading value.
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"""
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[ax, ay, _] = self.get_accl()
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[mx, my, mz] = self.get_compass()
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try:
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pitch = math.asin(-ax)
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roll = math.asin(ay / math.cos(pitch))
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except ZeroDivisionError:
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raise RuntimeError("Value out of range or device not connected.")
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xh = mx * math.cos(pitch) + mz * math.sin(pitch)
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yh = mx * math.sin(roll) * math.sin(pitch) + \
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my * math.cos(roll) - mz * math.sin(roll) * math.cos(pitch)
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_ = -mx * math.cos(roll) * math.sin(pitch) + \
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my * math.sin(roll) + mz * math.cos(roll) * math.cos(pitch)
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tilt_heading = 180 * math.atan2(yh, xh) / math.pi
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if yh < 0:
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tilt_heading += 360
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return float("{0:.2f}".format(tilt_heading))
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def get_temperature(self):
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"""Get the current temperature in degree C.
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Returns
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-------
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float
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The temperature value.
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"""
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self.microblaze.write_blocking_command(GET_TEMPERATURE)
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value = self.microblaze.read_mailbox(0)
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return _reg2float(value)
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def get_pressure(self):
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"""Get the current pressure in Pa.
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Returns
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-------
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float
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The pressure value.
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"""
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self.microblaze.write_blocking_command(GET_PRESSURE)
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value = self.microblaze.read_mailbox(0)
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return _reg2float(value)
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def get_atm(self):
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"""Get the current pressure in relative atmosphere.
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Returns
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-------
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float
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The related atmosphere.
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"""
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return float("{0:.2f}".format(self.get_pressure() / 101325))
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def get_altitude(self):
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"""Get the current altitude.
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Returns
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-------
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float
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The altitude value.
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"""
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pressure = self.get_pressure()
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a = pressure / 101325
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b = 1 / 5.255
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c = 1 - pow(a, b)
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altitude = 44300 * c
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return float("{0:.2f}".format(altitude))
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import pyfirmata
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###############################################################################
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# servo-test.py :
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# @title: Test de pilotage d'un servomoteur par pyFirmata
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# @project: Blender-EduTech - Tutoriel : Tutoriel 6 : Labyrinthe à bille - Développement de jumeau numérique
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# @lang: fr
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# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>, Andre Nicolas <Nicolas.Andre@ac-grenoble.fr>
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# @copyright: Copyright (C) 2023 Philippe Roy
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# @license: GNU GPL
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###############################################################################
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# Communication avec la carte Arduino
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# carte = pyfirmata.Arduino('COM3') # Windows
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carte = pyfirmata.Arduino('/dev/ttyACM1') # GNU/Linux
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print("Communication Carte Arduino établie")
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servo = carte.get_pin('d:9:s') # Servomoteur sur la broche D9
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try :
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while True: # Boucle infinie
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print ("Angle :", servo.read())
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angle = int(input("Entrer un angle entre 10 et 170) : ")) # Demande à l’utilisateur d’entrer la valeur de l’angle
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if angle < 10 : # Si la valeur entrée est inférieure à 10° on bloque le servomoteur à 10°
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angle = 10
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elif angle > 170 : # Si la valeur entrée est supérieure à 170° on bloque le servomoteur à 170°
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angle = 170
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servo.write(angle) # Ecrit cette valeur sur la broche du servomoteur
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except :
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carte.exit()
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// I2Cdev library collection - Main I2C device class header file
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// Abstracts bit and byte I2C R/W functions into a convenient class
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// 6/9/2012 by Jeff Rowberg <jeff@rowberg.net>
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//
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// Changelog:
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// 2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire
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// - add compiler warnings when using outdated or IDE or limited I2Cdev implementation
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// 2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums)
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// 2011-10-03 - added automatic Arduino version detection for ease of use
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// 2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications
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// 2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x)
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// 2011-08-03 - added optional timeout parameter to read* methods to easily change from default
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// 2011-08-02 - added support for 16-bit registers
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// - fixed incorrect Doxygen comments on some methods
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// - added timeout value for read operations (thanks mem @ Arduino forums)
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// 2011-07-30 - changed read/write function structures to return success or byte counts
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// - made all methods static for multi-device memory savings
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// 2011-07-28 - initial release
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/* ============================================
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I2Cdev device library code is placed under the MIT license
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Copyright (c) 2012 Jeff Rowberg
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Permission is hereby granted, free of charge, to any person obtaining a copy
|
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of this software and associated documentation files (the "Software"), to deal
|
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in the Software without restriction, including without limitation the rights
|
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
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copies of the Software, and to permit persons to whom the Software is
|
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furnished to do so, subject to the following conditions:
|
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|
||||
The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
|
||||
|
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
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THE SOFTWARE.
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===============================================
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*/
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#ifndef _I2CDEV_H_
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#define _I2CDEV_H_
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// -----------------------------------------------------------------------------
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// I2C interface implementation setting
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// -----------------------------------------------------------------------------
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#define I2CDEV_IMPLEMENTATION I2CDEV_ARDUINO_WIRE
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// comment this out if you are using a non-optimal IDE/implementation setting
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// but want the compiler to shut up about it
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#define I2CDEV_IMPLEMENTATION_WARNINGS
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// -----------------------------------------------------------------------------
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// I2C interface implementation options
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// -----------------------------------------------------------------------------
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#define I2CDEV_ARDUINO_WIRE 1 // Wire object from Arduino
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#define I2CDEV_BUILTIN_NBWIRE 2 // Tweaked Wire object from Gene Knight's NBWire project
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// ^^^ NBWire implementation is still buggy w/some interrupts!
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#define I2CDEV_BUILTIN_FASTWIRE 3 // FastWire object from Francesco Ferrara's project
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// ^^^ FastWire implementation in I2Cdev is INCOMPLETE!
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// -----------------------------------------------------------------------------
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// Arduino-style "Serial.print" debug constant (uncomment to enable)
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// -----------------------------------------------------------------------------
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//#define I2CDEV_SERIAL_DEBUG
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#ifdef ARDUINO
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#if ARDUINO < 100
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#include "WProgram.h"
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#else
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#include "Arduino.h"
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#endif
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#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
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#include <Wire.h>
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#endif
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#else
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#include "ArduinoWrapper.h"
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#endif
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// support Arduino M0
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#ifndef BUFFER_LENGTH
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#define BUFFER_LENGTH 64
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#endif
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// 1000ms default read timeout (modify with "I2Cdev::readTimeout = [ms];")
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#define I2CDEV_DEFAULT_READ_TIMEOUT 1000
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class I2Cdev {
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public:
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I2Cdev();
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static int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t* data,
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uint16_t timeout = I2Cdev::readTimeout);
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static int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t* data,
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uint16_t timeout = I2Cdev::readTimeout);
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static int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t* data,
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uint16_t timeout = I2Cdev::readTimeout);
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static int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t* data,
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uint16_t timeout = I2Cdev::readTimeout);
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static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t* data, uint16_t timeout = I2Cdev::readTimeout);
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static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t* data, uint16_t timeout = I2Cdev::readTimeout);
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static int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data,
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uint16_t timeout = I2Cdev::readTimeout);
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static int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data,
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uint16_t timeout = I2Cdev::readTimeout);
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||||
|
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static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
|
||||
static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
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static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
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static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
|
||||
static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
|
||||
static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
|
||||
static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data);
|
||||
static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data);
|
||||
|
||||
static uint16_t readTimeout;
|
||||
};
|
||||
|
||||
#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
|
||||
//////////////////////
|
||||
// FastWire 0.2
|
||||
// This is a library to help faster programs to read I2C devices.
|
||||
// Copyright(C) 2011
|
||||
// Francesco Ferrara
|
||||
//////////////////////
|
||||
|
||||
/* Master */
|
||||
#define TW_START 0x08
|
||||
#define TW_REP_START 0x10
|
||||
|
||||
/* Master Transmitter */
|
||||
#define TW_MT_SLA_ACK 0x18
|
||||
#define TW_MT_SLA_NACK 0x20
|
||||
#define TW_MT_DATA_ACK 0x28
|
||||
#define TW_MT_DATA_NACK 0x30
|
||||
#define TW_MT_ARB_LOST 0x38
|
||||
|
||||
/* Master Receiver */
|
||||
#define TW_MR_ARB_LOST 0x38
|
||||
#define TW_MR_SLA_ACK 0x40
|
||||
#define TW_MR_SLA_NACK 0x48
|
||||
#define TW_MR_DATA_ACK 0x50
|
||||
#define TW_MR_DATA_NACK 0x58
|
||||
|
||||
#define TW_OK 0
|
||||
#define TW_ERROR 1
|
||||
|
||||
class Fastwire {
|
||||
private:
|
||||
static boolean waitInt();
|
||||
|
||||
public:
|
||||
static void setup(int khz, boolean pullup);
|
||||
static byte write(byte device, byte address, byte value);
|
||||
static byte readBuf(byte device, byte address, byte* data, byte num);
|
||||
};
|
||||
#endif
|
||||
|
||||
#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
|
||||
// NBWire implementation based heavily on code by Gene Knight <Gene@Telobot.com>
|
||||
// Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html
|
||||
// Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html
|
||||
|
||||
#define NBWIRE_BUFFER_LENGTH 32
|
||||
|
||||
class TwoWire {
|
||||
private:
|
||||
static uint8_t rxBuffer[];
|
||||
static uint8_t rxBufferIndex;
|
||||
static uint8_t rxBufferLength;
|
||||
|
||||
static uint8_t txAddress;
|
||||
static uint8_t txBuffer[];
|
||||
static uint8_t txBufferIndex;
|
||||
static uint8_t txBufferLength;
|
||||
|
||||
// static uint8_t transmitting;
|
||||
static void (*user_onRequest)(void);
|
||||
static void (*user_onReceive)(int);
|
||||
static void onRequestService(void);
|
||||
static void onReceiveService(uint8_t*, int);
|
||||
|
||||
public:
|
||||
TwoWire();
|
||||
void begin();
|
||||
void begin(uint8_t);
|
||||
void begin(int);
|
||||
void beginTransmission(uint8_t);
|
||||
//void beginTransmission(int);
|
||||
uint8_t endTransmission(uint16_t timeout = 0);
|
||||
void nbendTransmission(void (*function)(int)) ;
|
||||
uint8_t requestFrom(uint8_t, int, uint16_t timeout = 0);
|
||||
//uint8_t requestFrom(int, int);
|
||||
void nbrequestFrom(uint8_t, int, void (*function)(int));
|
||||
void send(uint8_t);
|
||||
void send(uint8_t*, uint8_t);
|
||||
//void send(int);
|
||||
void send(char*);
|
||||
uint8_t available(void);
|
||||
uint8_t receive(void);
|
||||
void onReceive(void (*)(int));
|
||||
void onRequest(void (*)(void));
|
||||
};
|
||||
|
||||
#define TWI_READY 0
|
||||
#define TWI_MRX 1
|
||||
#define TWI_MTX 2
|
||||
#define TWI_SRX 3
|
||||
#define TWI_STX 4
|
||||
|
||||
#define TW_WRITE 0
|
||||
#define TW_READ 1
|
||||
|
||||
#define TW_MT_SLA_NACK 0x20
|
||||
#define TW_MT_DATA_NACK 0x30
|
||||
|
||||
#define CPU_FREQ 16000000L
|
||||
#define TWI_FREQ 100000L
|
||||
#define TWI_BUFFER_LENGTH 32
|
||||
|
||||
/* TWI Status is in TWSR, in the top 5 bits: TWS7 - TWS3 */
|
||||
|
||||
#define TW_STATUS_MASK (_BV(TWS7)|_BV(TWS6)|_BV(TWS5)|_BV(TWS4)|_BV(TWS3))
|
||||
#define TW_STATUS (TWSR & TW_STATUS_MASK)
|
||||
#define TW_START 0x08
|
||||
#define TW_REP_START 0x10
|
||||
#define TW_MT_SLA_ACK 0x18
|
||||
#define TW_MT_SLA_NACK 0x20
|
||||
#define TW_MT_DATA_ACK 0x28
|
||||
#define TW_MT_DATA_NACK 0x30
|
||||
#define TW_MT_ARB_LOST 0x38
|
||||
#define TW_MR_ARB_LOST 0x38
|
||||
#define TW_MR_SLA_ACK 0x40
|
||||
#define TW_MR_SLA_NACK 0x48
|
||||
#define TW_MR_DATA_ACK 0x50
|
||||
#define TW_MR_DATA_NACK 0x58
|
||||
#define TW_ST_SLA_ACK 0xA8
|
||||
#define TW_ST_ARB_LOST_SLA_ACK 0xB0
|
||||
#define TW_ST_DATA_ACK 0xB8
|
||||
#define TW_ST_DATA_NACK 0xC0
|
||||
#define TW_ST_LAST_DATA 0xC8
|
||||
#define TW_SR_SLA_ACK 0x60
|
||||
#define TW_SR_ARB_LOST_SLA_ACK 0x68
|
||||
#define TW_SR_GCALL_ACK 0x70
|
||||
#define TW_SR_ARB_LOST_GCALL_ACK 0x78
|
||||
#define TW_SR_DATA_ACK 0x80
|
||||
#define TW_SR_DATA_NACK 0x88
|
||||
#define TW_SR_GCALL_DATA_ACK 0x90
|
||||
#define TW_SR_GCALL_DATA_NACK 0x98
|
||||
#define TW_SR_STOP 0xA0
|
||||
#define TW_NO_INFO 0xF8
|
||||
#define TW_BUS_ERROR 0x00
|
||||
|
||||
//#define _MMIO_BYTE(mem_addr) (*(volatile uint8_t *)(mem_addr))
|
||||
//#define _SFR_BYTE(sfr) _MMIO_BYTE(_SFR_ADDR(sfr))
|
||||
|
||||
#ifndef sbi // set bit
|
||||
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
|
||||
#endif // sbi
|
||||
|
||||
#ifndef cbi // clear bit
|
||||
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
|
||||
#endif // cbi
|
||||
|
||||
extern TwoWire Wire;
|
||||
|
||||
#endif // I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
|
||||
|
||||
#endif /* _I2CDEV_H_ */
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,997 @@
|
|||
// I2Cdev library collection - MPU6050 I2C device class
|
||||
// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
|
||||
// 10/3/2011 by Jeff Rowberg <jeff@rowberg.net>
|
||||
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
|
||||
//
|
||||
// Changelog:
|
||||
// ... - ongoing debug release
|
||||
|
||||
// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
|
||||
// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
|
||||
// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
|
||||
|
||||
/* ============================================
|
||||
I2Cdev device library code is placed under the MIT license
|
||||
Copyright (c) 2012 Jeff Rowberg
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
THE SOFTWARE.
|
||||
===============================================
|
||||
*/
|
||||
|
||||
#ifndef _MPU6050_H_
|
||||
#define _MPU6050_H_
|
||||
|
||||
#include "I2Cdev.h"
|
||||
#include <avr/pgmspace.h>
|
||||
|
||||
//Magnetometer Registers
|
||||
#define MPU9150_RA_MAG_ADDRESS 0x0C
|
||||
#define MPU9150_RA_MAG_XOUT_L 0x03
|
||||
#define MPU9150_RA_MAG_XOUT_H 0x04
|
||||
#define MPU9150_RA_MAG_YOUT_L 0x05
|
||||
#define MPU9150_RA_MAG_YOUT_H 0x06
|
||||
#define MPU9150_RA_MAG_ZOUT_L 0x07
|
||||
#define MPU9150_RA_MAG_ZOUT_H 0x08
|
||||
|
||||
#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board
|
||||
#define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC)
|
||||
#define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW
|
||||
|
||||
#define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
|
||||
#define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
|
||||
#define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
|
||||
#define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN
|
||||
#define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN
|
||||
#define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN
|
||||
#define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
|
||||
#define MPU6050_RA_XA_OFFS_L_TC 0x07
|
||||
#define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS
|
||||
#define MPU6050_RA_YA_OFFS_L_TC 0x09
|
||||
#define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
|
||||
#define MPU6050_RA_ZA_OFFS_L_TC 0x0B
|
||||
#define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
|
||||
#define MPU6050_RA_XG_OFFS_USRL 0x14
|
||||
#define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
|
||||
#define MPU6050_RA_YG_OFFS_USRL 0x16
|
||||
#define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR
|
||||
#define MPU6050_RA_ZG_OFFS_USRL 0x18
|
||||
#define MPU6050_RA_SMPLRT_DIV 0x19
|
||||
#define MPU6050_RA_CONFIG 0x1A
|
||||
#define MPU6050_RA_GYRO_CONFIG 0x1B
|
||||
#define MPU6050_RA_ACCEL_CONFIG 0x1C
|
||||
#define MPU6050_RA_FF_THR 0x1D
|
||||
#define MPU6050_RA_FF_DUR 0x1E
|
||||
#define MPU6050_RA_MOT_THR 0x1F
|
||||
#define MPU6050_RA_MOT_DUR 0x20
|
||||
#define MPU6050_RA_ZRMOT_THR 0x21
|
||||
#define MPU6050_RA_ZRMOT_DUR 0x22
|
||||
#define MPU6050_RA_FIFO_EN 0x23
|
||||
#define MPU6050_RA_I2C_MST_CTRL 0x24
|
||||
#define MPU6050_RA_I2C_SLV0_ADDR 0x25
|
||||
#define MPU6050_RA_I2C_SLV0_REG 0x26
|
||||
#define MPU6050_RA_I2C_SLV0_CTRL 0x27
|
||||
#define MPU6050_RA_I2C_SLV1_ADDR 0x28
|
||||
#define MPU6050_RA_I2C_SLV1_REG 0x29
|
||||
#define MPU6050_RA_I2C_SLV1_CTRL 0x2A
|
||||
#define MPU6050_RA_I2C_SLV2_ADDR 0x2B
|
||||
#define MPU6050_RA_I2C_SLV2_REG 0x2C
|
||||
#define MPU6050_RA_I2C_SLV2_CTRL 0x2D
|
||||
#define MPU6050_RA_I2C_SLV3_ADDR 0x2E
|
||||
#define MPU6050_RA_I2C_SLV3_REG 0x2F
|
||||
#define MPU6050_RA_I2C_SLV3_CTRL 0x30
|
||||
#define MPU6050_RA_I2C_SLV4_ADDR 0x31
|
||||
#define MPU6050_RA_I2C_SLV4_REG 0x32
|
||||
#define MPU6050_RA_I2C_SLV4_DO 0x33
|
||||
#define MPU6050_RA_I2C_SLV4_CTRL 0x34
|
||||
#define MPU6050_RA_I2C_SLV4_DI 0x35
|
||||
#define MPU6050_RA_I2C_MST_STATUS 0x36
|
||||
#define MPU6050_RA_INT_PIN_CFG 0x37
|
||||
#define MPU6050_RA_INT_ENABLE 0x38
|
||||
#define MPU6050_RA_DMP_INT_STATUS 0x39
|
||||
#define MPU6050_RA_INT_STATUS 0x3A
|
||||
#define MPU6050_RA_ACCEL_XOUT_H 0x3B
|
||||
#define MPU6050_RA_ACCEL_XOUT_L 0x3C
|
||||
#define MPU6050_RA_ACCEL_YOUT_H 0x3D
|
||||
#define MPU6050_RA_ACCEL_YOUT_L 0x3E
|
||||
#define MPU6050_RA_ACCEL_ZOUT_H 0x3F
|
||||
#define MPU6050_RA_ACCEL_ZOUT_L 0x40
|
||||
#define MPU6050_RA_TEMP_OUT_H 0x41
|
||||
#define MPU6050_RA_TEMP_OUT_L 0x42
|
||||
#define MPU6050_RA_GYRO_XOUT_H 0x43
|
||||
#define MPU6050_RA_GYRO_XOUT_L 0x44
|
||||
#define MPU6050_RA_GYRO_YOUT_H 0x45
|
||||
#define MPU6050_RA_GYRO_YOUT_L 0x46
|
||||
#define MPU6050_RA_GYRO_ZOUT_H 0x47
|
||||
#define MPU6050_RA_GYRO_ZOUT_L 0x48
|
||||
#define MPU6050_RA_EXT_SENS_DATA_00 0x49
|
||||
#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
|
||||
#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
|
||||
#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
|
||||
#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
|
||||
#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
|
||||
#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
|
||||
#define MPU6050_RA_EXT_SENS_DATA_07 0x50
|
||||
#define MPU6050_RA_EXT_SENS_DATA_08 0x51
|
||||
#define MPU6050_RA_EXT_SENS_DATA_09 0x52
|
||||
#define MPU6050_RA_EXT_SENS_DATA_10 0x53
|
||||
#define MPU6050_RA_EXT_SENS_DATA_11 0x54
|
||||
#define MPU6050_RA_EXT_SENS_DATA_12 0x55
|
||||
#define MPU6050_RA_EXT_SENS_DATA_13 0x56
|
||||
#define MPU6050_RA_EXT_SENS_DATA_14 0x57
|
||||
#define MPU6050_RA_EXT_SENS_DATA_15 0x58
|
||||
#define MPU6050_RA_EXT_SENS_DATA_16 0x59
|
||||
#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
|
||||
#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
|
||||
#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
|
||||
#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
|
||||
#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
|
||||
#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
|
||||
#define MPU6050_RA_EXT_SENS_DATA_23 0x60
|
||||
#define MPU6050_RA_MOT_DETECT_STATUS 0x61
|
||||
#define MPU6050_RA_I2C_SLV0_DO 0x63
|
||||
#define MPU6050_RA_I2C_SLV1_DO 0x64
|
||||
#define MPU6050_RA_I2C_SLV2_DO 0x65
|
||||
#define MPU6050_RA_I2C_SLV3_DO 0x66
|
||||
#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67
|
||||
#define MPU6050_RA_SIGNAL_PATH_RESET 0x68
|
||||
#define MPU6050_RA_MOT_DETECT_CTRL 0x69
|
||||
#define MPU6050_RA_USER_CTRL 0x6A
|
||||
#define MPU6050_RA_PWR_MGMT_1 0x6B
|
||||
#define MPU6050_RA_PWR_MGMT_2 0x6C
|
||||
#define MPU6050_RA_BANK_SEL 0x6D
|
||||
#define MPU6050_RA_MEM_START_ADDR 0x6E
|
||||
#define MPU6050_RA_MEM_R_W 0x6F
|
||||
#define MPU6050_RA_DMP_CFG_1 0x70
|
||||
#define MPU6050_RA_DMP_CFG_2 0x71
|
||||
#define MPU6050_RA_FIFO_COUNTH 0x72
|
||||
#define MPU6050_RA_FIFO_COUNTL 0x73
|
||||
#define MPU6050_RA_FIFO_R_W 0x74
|
||||
#define MPU6050_RA_WHO_AM_I 0x75
|
||||
|
||||
#define MPU6050_TC_PWR_MODE_BIT 7
|
||||
#define MPU6050_TC_OFFSET_BIT 6
|
||||
#define MPU6050_TC_OFFSET_LENGTH 6
|
||||
#define MPU6050_TC_OTP_BNK_VLD_BIT 0
|
||||
|
||||
#define MPU6050_VDDIO_LEVEL_VLOGIC 0
|
||||
#define MPU6050_VDDIO_LEVEL_VDD 1
|
||||
|
||||
#define MPU6050_CFG_EXT_SYNC_SET_BIT 5
|
||||
#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
|
||||
#define MPU6050_CFG_DLPF_CFG_BIT 2
|
||||
#define MPU6050_CFG_DLPF_CFG_LENGTH 3
|
||||
|
||||
#define MPU6050_EXT_SYNC_DISABLED 0x0
|
||||
#define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1
|
||||
#define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2
|
||||
#define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3
|
||||
#define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4
|
||||
#define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5
|
||||
#define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6
|
||||
#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7
|
||||
|
||||
#define MPU6050_DLPF_BW_256 0x00
|
||||
#define MPU6050_DLPF_BW_188 0x01
|
||||
#define MPU6050_DLPF_BW_98 0x02
|
||||
#define MPU6050_DLPF_BW_42 0x03
|
||||
#define MPU6050_DLPF_BW_20 0x04
|
||||
#define MPU6050_DLPF_BW_10 0x05
|
||||
#define MPU6050_DLPF_BW_5 0x06
|
||||
|
||||
#define MPU6050_GCONFIG_FS_SEL_BIT 4
|
||||
#define MPU6050_GCONFIG_FS_SEL_LENGTH 2
|
||||
|
||||
#define MPU6050_GYRO_FS_250 0x00
|
||||
#define MPU6050_GYRO_FS_500 0x01
|
||||
#define MPU6050_GYRO_FS_1000 0x02
|
||||
#define MPU6050_GYRO_FS_2000 0x03
|
||||
|
||||
#define MPU6050_ACONFIG_XA_ST_BIT 7
|
||||
#define MPU6050_ACONFIG_YA_ST_BIT 6
|
||||
#define MPU6050_ACONFIG_ZA_ST_BIT 5
|
||||
#define MPU6050_ACONFIG_AFS_SEL_BIT 4
|
||||
#define MPU6050_ACONFIG_AFS_SEL_LENGTH 2
|
||||
#define MPU6050_ACONFIG_ACCEL_HPF_BIT 2
|
||||
#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3
|
||||
|
||||
#define MPU6050_ACCEL_FS_2 0x00
|
||||
#define MPU6050_ACCEL_FS_4 0x01
|
||||
#define MPU6050_ACCEL_FS_8 0x02
|
||||
#define MPU6050_ACCEL_FS_16 0x03
|
||||
|
||||
#define MPU6050_DHPF_RESET 0x00
|
||||
#define MPU6050_DHPF_5 0x01
|
||||
#define MPU6050_DHPF_2P5 0x02
|
||||
#define MPU6050_DHPF_1P25 0x03
|
||||
#define MPU6050_DHPF_0P63 0x04
|
||||
#define MPU6050_DHPF_HOLD 0x07
|
||||
|
||||
#define MPU6050_TEMP_FIFO_EN_BIT 7
|
||||
#define MPU6050_XG_FIFO_EN_BIT 6
|
||||
#define MPU6050_YG_FIFO_EN_BIT 5
|
||||
#define MPU6050_ZG_FIFO_EN_BIT 4
|
||||
#define MPU6050_ACCEL_FIFO_EN_BIT 3
|
||||
#define MPU6050_SLV2_FIFO_EN_BIT 2
|
||||
#define MPU6050_SLV1_FIFO_EN_BIT 1
|
||||
#define MPU6050_SLV0_FIFO_EN_BIT 0
|
||||
|
||||
#define MPU6050_MULT_MST_EN_BIT 7
|
||||
#define MPU6050_WAIT_FOR_ES_BIT 6
|
||||
#define MPU6050_SLV_3_FIFO_EN_BIT 5
|
||||
#define MPU6050_I2C_MST_P_NSR_BIT 4
|
||||
#define MPU6050_I2C_MST_CLK_BIT 3
|
||||
#define MPU6050_I2C_MST_CLK_LENGTH 4
|
||||
|
||||
#define MPU6050_CLOCK_DIV_348 0x0
|
||||
#define MPU6050_CLOCK_DIV_333 0x1
|
||||
#define MPU6050_CLOCK_DIV_320 0x2
|
||||
#define MPU6050_CLOCK_DIV_308 0x3
|
||||
#define MPU6050_CLOCK_DIV_296 0x4
|
||||
#define MPU6050_CLOCK_DIV_286 0x5
|
||||
#define MPU6050_CLOCK_DIV_276 0x6
|
||||
#define MPU6050_CLOCK_DIV_267 0x7
|
||||
#define MPU6050_CLOCK_DIV_258 0x8
|
||||
#define MPU6050_CLOCK_DIV_500 0x9
|
||||
#define MPU6050_CLOCK_DIV_471 0xA
|
||||
#define MPU6050_CLOCK_DIV_444 0xB
|
||||
#define MPU6050_CLOCK_DIV_421 0xC
|
||||
#define MPU6050_CLOCK_DIV_400 0xD
|
||||
#define MPU6050_CLOCK_DIV_381 0xE
|
||||
#define MPU6050_CLOCK_DIV_364 0xF
|
||||
|
||||
#define MPU6050_I2C_SLV_RW_BIT 7
|
||||
#define MPU6050_I2C_SLV_ADDR_BIT 6
|
||||
#define MPU6050_I2C_SLV_ADDR_LENGTH 7
|
||||
#define MPU6050_I2C_SLV_EN_BIT 7
|
||||
#define MPU6050_I2C_SLV_BYTE_SW_BIT 6
|
||||
#define MPU6050_I2C_SLV_REG_DIS_BIT 5
|
||||
#define MPU6050_I2C_SLV_GRP_BIT 4
|
||||
#define MPU6050_I2C_SLV_LEN_BIT 3
|
||||
#define MPU6050_I2C_SLV_LEN_LENGTH 4
|
||||
|
||||
#define MPU6050_I2C_SLV4_RW_BIT 7
|
||||
#define MPU6050_I2C_SLV4_ADDR_BIT 6
|
||||
#define MPU6050_I2C_SLV4_ADDR_LENGTH 7
|
||||
#define MPU6050_I2C_SLV4_EN_BIT 7
|
||||
#define MPU6050_I2C_SLV4_INT_EN_BIT 6
|
||||
#define MPU6050_I2C_SLV4_REG_DIS_BIT 5
|
||||
#define MPU6050_I2C_SLV4_MST_DLY_BIT 4
|
||||
#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5
|
||||
|
||||
#define MPU6050_MST_PASS_THROUGH_BIT 7
|
||||
#define MPU6050_MST_I2C_SLV4_DONE_BIT 6
|
||||
#define MPU6050_MST_I2C_LOST_ARB_BIT 5
|
||||
#define MPU6050_MST_I2C_SLV4_NACK_BIT 4
|
||||
#define MPU6050_MST_I2C_SLV3_NACK_BIT 3
|
||||
#define MPU6050_MST_I2C_SLV2_NACK_BIT 2
|
||||
#define MPU6050_MST_I2C_SLV1_NACK_BIT 1
|
||||
#define MPU6050_MST_I2C_SLV0_NACK_BIT 0
|
||||
|
||||
#define MPU6050_INTCFG_INT_LEVEL_BIT 7
|
||||
#define MPU6050_INTCFG_INT_OPEN_BIT 6
|
||||
#define MPU6050_INTCFG_LATCH_INT_EN_BIT 5
|
||||
#define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4
|
||||
#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3
|
||||
#define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2
|
||||
#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1
|
||||
#define MPU6050_INTCFG_CLKOUT_EN_BIT 0
|
||||
|
||||
#define MPU6050_INTMODE_ACTIVEHIGH 0x00
|
||||
#define MPU6050_INTMODE_ACTIVELOW 0x01
|
||||
|
||||
#define MPU6050_INTDRV_PUSHPULL 0x00
|
||||
#define MPU6050_INTDRV_OPENDRAIN 0x01
|
||||
|
||||
#define MPU6050_INTLATCH_50USPULSE 0x00
|
||||
#define MPU6050_INTLATCH_WAITCLEAR 0x01
|
||||
|
||||
#define MPU6050_INTCLEAR_STATUSREAD 0x00
|
||||
#define MPU6050_INTCLEAR_ANYREAD 0x01
|
||||
|
||||
#define MPU6050_INTERRUPT_FF_BIT 7
|
||||
#define MPU6050_INTERRUPT_MOT_BIT 6
|
||||
#define MPU6050_INTERRUPT_ZMOT_BIT 5
|
||||
#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4
|
||||
#define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3
|
||||
#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2
|
||||
#define MPU6050_INTERRUPT_DMP_INT_BIT 1
|
||||
#define MPU6050_INTERRUPT_DATA_RDY_BIT 0
|
||||
|
||||
// TODO: figure out what these actually do
|
||||
// UMPL source code is not very obivous
|
||||
#define MPU6050_DMPINT_5_BIT 5
|
||||
#define MPU6050_DMPINT_4_BIT 4
|
||||
#define MPU6050_DMPINT_3_BIT 3
|
||||
#define MPU6050_DMPINT_2_BIT 2
|
||||
#define MPU6050_DMPINT_1_BIT 1
|
||||
#define MPU6050_DMPINT_0_BIT 0
|
||||
|
||||
#define MPU6050_MOTION_MOT_XNEG_BIT 7
|
||||
#define MPU6050_MOTION_MOT_XPOS_BIT 6
|
||||
#define MPU6050_MOTION_MOT_YNEG_BIT 5
|
||||
#define MPU6050_MOTION_MOT_YPOS_BIT 4
|
||||
#define MPU6050_MOTION_MOT_ZNEG_BIT 3
|
||||
#define MPU6050_MOTION_MOT_ZPOS_BIT 2
|
||||
#define MPU6050_MOTION_MOT_ZRMOT_BIT 0
|
||||
|
||||
#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7
|
||||
#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4
|
||||
#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3
|
||||
#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2
|
||||
#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1
|
||||
#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0
|
||||
|
||||
#define MPU6050_PATHRESET_GYRO_RESET_BIT 2
|
||||
#define MPU6050_PATHRESET_ACCEL_RESET_BIT 1
|
||||
#define MPU6050_PATHRESET_TEMP_RESET_BIT 0
|
||||
|
||||
#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5
|
||||
#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2
|
||||
#define MPU6050_DETECT_FF_COUNT_BIT 3
|
||||
#define MPU6050_DETECT_FF_COUNT_LENGTH 2
|
||||
#define MPU6050_DETECT_MOT_COUNT_BIT 1
|
||||
#define MPU6050_DETECT_MOT_COUNT_LENGTH 2
|
||||
|
||||
#define MPU6050_DETECT_DECREMENT_RESET 0x0
|
||||
#define MPU6050_DETECT_DECREMENT_1 0x1
|
||||
#define MPU6050_DETECT_DECREMENT_2 0x2
|
||||
#define MPU6050_DETECT_DECREMENT_4 0x3
|
||||
|
||||
#define MPU6050_USERCTRL_DMP_EN_BIT 7
|
||||
#define MPU6050_USERCTRL_FIFO_EN_BIT 6
|
||||
#define MPU6050_USERCTRL_I2C_MST_EN_BIT 5
|
||||
#define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4
|
||||
#define MPU6050_USERCTRL_DMP_RESET_BIT 3
|
||||
#define MPU6050_USERCTRL_FIFO_RESET_BIT 2
|
||||
#define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1
|
||||
#define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0
|
||||
|
||||
#define MPU6050_PWR1_DEVICE_RESET_BIT 7
|
||||
#define MPU6050_PWR1_SLEEP_BIT 6
|
||||
#define MPU6050_PWR1_CYCLE_BIT 5
|
||||
#define MPU6050_PWR1_TEMP_DIS_BIT 3
|
||||
#define MPU6050_PWR1_CLKSEL_BIT 2
|
||||
#define MPU6050_PWR1_CLKSEL_LENGTH 3
|
||||
|
||||
#define MPU6050_CLOCK_INTERNAL 0x00
|
||||
#define MPU6050_CLOCK_PLL_XGYRO 0x01
|
||||
#define MPU6050_CLOCK_PLL_YGYRO 0x02
|
||||
#define MPU6050_CLOCK_PLL_ZGYRO 0x03
|
||||
#define MPU6050_CLOCK_PLL_EXT32K 0x04
|
||||
#define MPU6050_CLOCK_PLL_EXT19M 0x05
|
||||
#define MPU6050_CLOCK_KEEP_RESET 0x07
|
||||
|
||||
#define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7
|
||||
#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2
|
||||
#define MPU6050_PWR2_STBY_XA_BIT 5
|
||||
#define MPU6050_PWR2_STBY_YA_BIT 4
|
||||
#define MPU6050_PWR2_STBY_ZA_BIT 3
|
||||
#define MPU6050_PWR2_STBY_XG_BIT 2
|
||||
#define MPU6050_PWR2_STBY_YG_BIT 1
|
||||
#define MPU6050_PWR2_STBY_ZG_BIT 0
|
||||
|
||||
#define MPU6050_WAKE_FREQ_1P25 0x0
|
||||
#define MPU6050_WAKE_FREQ_2P5 0x1
|
||||
#define MPU6050_WAKE_FREQ_5 0x2
|
||||
#define MPU6050_WAKE_FREQ_10 0x3
|
||||
|
||||
#define MPU6050_BANKSEL_PRFTCH_EN_BIT 6
|
||||
#define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5
|
||||
#define MPU6050_BANKSEL_MEM_SEL_BIT 4
|
||||
#define MPU6050_BANKSEL_MEM_SEL_LENGTH 5
|
||||
|
||||
#define MPU6050_WHO_AM_I_BIT 6
|
||||
#define MPU6050_WHO_AM_I_LENGTH 6
|
||||
|
||||
#define MPU6050_DMP_MEMORY_BANKS 8
|
||||
#define MPU6050_DMP_MEMORY_BANK_SIZE 256
|
||||
#define MPU6050_DMP_MEMORY_CHUNK_SIZE 16
|
||||
|
||||
// note: DMP code memory blocks defined at end of header file
|
||||
|
||||
class MPU6050 {
|
||||
public:
|
||||
MPU6050();
|
||||
MPU6050(uint8_t address);
|
||||
|
||||
void initialize();
|
||||
bool testConnection();
|
||||
|
||||
// AUX_VDDIO register
|
||||
uint8_t getAuxVDDIOLevel();
|
||||
void setAuxVDDIOLevel(uint8_t level);
|
||||
|
||||
// SMPLRT_DIV register
|
||||
uint8_t getRate();
|
||||
void setRate(uint8_t rate);
|
||||
|
||||
// CONFIG register
|
||||
uint8_t getExternalFrameSync();
|
||||
void setExternalFrameSync(uint8_t sync);
|
||||
uint8_t getDLPFMode();
|
||||
void setDLPFMode(uint8_t bandwidth);
|
||||
|
||||
// GYRO_CONFIG register
|
||||
uint8_t getFullScaleGyroRange();
|
||||
void setFullScaleGyroRange(uint8_t range);
|
||||
|
||||
// ACCEL_CONFIG register
|
||||
bool getAccelXSelfTest();
|
||||
void setAccelXSelfTest(bool enabled);
|
||||
bool getAccelYSelfTest();
|
||||
void setAccelYSelfTest(bool enabled);
|
||||
bool getAccelZSelfTest();
|
||||
void setAccelZSelfTest(bool enabled);
|
||||
uint8_t getFullScaleAccelRange();
|
||||
void setFullScaleAccelRange(uint8_t range);
|
||||
uint8_t getDHPFMode();
|
||||
void setDHPFMode(uint8_t mode);
|
||||
|
||||
// FF_THR register
|
||||
uint8_t getFreefallDetectionThreshold();
|
||||
void setFreefallDetectionThreshold(uint8_t threshold);
|
||||
|
||||
// FF_DUR register
|
||||
uint8_t getFreefallDetectionDuration();
|
||||
void setFreefallDetectionDuration(uint8_t duration);
|
||||
|
||||
// MOT_THR register
|
||||
uint8_t getMotionDetectionThreshold();
|
||||
void setMotionDetectionThreshold(uint8_t threshold);
|
||||
|
||||
// MOT_DUR register
|
||||
uint8_t getMotionDetectionDuration();
|
||||
void setMotionDetectionDuration(uint8_t duration);
|
||||
|
||||
// ZRMOT_THR register
|
||||
uint8_t getZeroMotionDetectionThreshold();
|
||||
void setZeroMotionDetectionThreshold(uint8_t threshold);
|
||||
|
||||
// ZRMOT_DUR register
|
||||
uint8_t getZeroMotionDetectionDuration();
|
||||
void setZeroMotionDetectionDuration(uint8_t duration);
|
||||
|
||||
// FIFO_EN register
|
||||
bool getTempFIFOEnabled();
|
||||
void setTempFIFOEnabled(bool enabled);
|
||||
bool getXGyroFIFOEnabled();
|
||||
void setXGyroFIFOEnabled(bool enabled);
|
||||
bool getYGyroFIFOEnabled();
|
||||
void setYGyroFIFOEnabled(bool enabled);
|
||||
bool getZGyroFIFOEnabled();
|
||||
void setZGyroFIFOEnabled(bool enabled);
|
||||
bool getAccelFIFOEnabled();
|
||||
void setAccelFIFOEnabled(bool enabled);
|
||||
bool getSlave2FIFOEnabled();
|
||||
void setSlave2FIFOEnabled(bool enabled);
|
||||
bool getSlave1FIFOEnabled();
|
||||
void setSlave1FIFOEnabled(bool enabled);
|
||||
bool getSlave0FIFOEnabled();
|
||||
void setSlave0FIFOEnabled(bool enabled);
|
||||
|
||||
// I2C_MST_CTRL register
|
||||
bool getMultiMasterEnabled();
|
||||
void setMultiMasterEnabled(bool enabled);
|
||||
bool getWaitForExternalSensorEnabled();
|
||||
void setWaitForExternalSensorEnabled(bool enabled);
|
||||
bool getSlave3FIFOEnabled();
|
||||
void setSlave3FIFOEnabled(bool enabled);
|
||||
bool getSlaveReadWriteTransitionEnabled();
|
||||
void setSlaveReadWriteTransitionEnabled(bool enabled);
|
||||
uint8_t getMasterClockSpeed();
|
||||
void setMasterClockSpeed(uint8_t speed);
|
||||
|
||||
// I2C_SLV* registers (Slave 0-3)
|
||||
uint8_t getSlaveAddress(uint8_t num);
|
||||
void setSlaveAddress(uint8_t num, uint8_t address);
|
||||
uint8_t getSlaveRegister(uint8_t num);
|
||||
void setSlaveRegister(uint8_t num, uint8_t reg);
|
||||
bool getSlaveEnabled(uint8_t num);
|
||||
void setSlaveEnabled(uint8_t num, bool enabled);
|
||||
bool getSlaveWordByteSwap(uint8_t num);
|
||||
void setSlaveWordByteSwap(uint8_t num, bool enabled);
|
||||
bool getSlaveWriteMode(uint8_t num);
|
||||
void setSlaveWriteMode(uint8_t num, bool mode);
|
||||
bool getSlaveWordGroupOffset(uint8_t num);
|
||||
void setSlaveWordGroupOffset(uint8_t num, bool enabled);
|
||||
uint8_t getSlaveDataLength(uint8_t num);
|
||||
void setSlaveDataLength(uint8_t num, uint8_t length);
|
||||
|
||||
// I2C_SLV* registers (Slave 4)
|
||||
uint8_t getSlave4Address();
|
||||
void setSlave4Address(uint8_t address);
|
||||
uint8_t getSlave4Register();
|
||||
void setSlave4Register(uint8_t reg);
|
||||
void setSlave4OutputByte(uint8_t data);
|
||||
bool getSlave4Enabled();
|
||||
void setSlave4Enabled(bool enabled);
|
||||
bool getSlave4InterruptEnabled();
|
||||
void setSlave4InterruptEnabled(bool enabled);
|
||||
bool getSlave4WriteMode();
|
||||
void setSlave4WriteMode(bool mode);
|
||||
uint8_t getSlave4MasterDelay();
|
||||
void setSlave4MasterDelay(uint8_t delay);
|
||||
uint8_t getSlate4InputByte();
|
||||
|
||||
// I2C_MST_STATUS register
|
||||
bool getPassthroughStatus();
|
||||
bool getSlave4IsDone();
|
||||
bool getLostArbitration();
|
||||
bool getSlave4Nack();
|
||||
bool getSlave3Nack();
|
||||
bool getSlave2Nack();
|
||||
bool getSlave1Nack();
|
||||
bool getSlave0Nack();
|
||||
|
||||
// INT_PIN_CFG register
|
||||
bool getInterruptMode();
|
||||
void setInterruptMode(bool mode);
|
||||
bool getInterruptDrive();
|
||||
void setInterruptDrive(bool drive);
|
||||
bool getInterruptLatch();
|
||||
void setInterruptLatch(bool latch);
|
||||
bool getInterruptLatchClear();
|
||||
void setInterruptLatchClear(bool clear);
|
||||
bool getFSyncInterruptLevel();
|
||||
void setFSyncInterruptLevel(bool level);
|
||||
bool getFSyncInterruptEnabled();
|
||||
void setFSyncInterruptEnabled(bool enabled);
|
||||
bool getI2CBypassEnabled();
|
||||
void setI2CBypassEnabled(bool enabled);
|
||||
bool getClockOutputEnabled();
|
||||
void setClockOutputEnabled(bool enabled);
|
||||
|
||||
// INT_ENABLE register
|
||||
uint8_t getIntEnabled();
|
||||
void setIntEnabled(uint8_t enabled);
|
||||
bool getIntFreefallEnabled();
|
||||
void setIntFreefallEnabled(bool enabled);
|
||||
bool getIntMotionEnabled();
|
||||
void setIntMotionEnabled(bool enabled);
|
||||
bool getIntZeroMotionEnabled();
|
||||
void setIntZeroMotionEnabled(bool enabled);
|
||||
bool getIntFIFOBufferOverflowEnabled();
|
||||
void setIntFIFOBufferOverflowEnabled(bool enabled);
|
||||
bool getIntI2CMasterEnabled();
|
||||
void setIntI2CMasterEnabled(bool enabled);
|
||||
bool getIntDataReadyEnabled();
|
||||
void setIntDataReadyEnabled(bool enabled);
|
||||
|
||||
// INT_STATUS register
|
||||
uint8_t getIntStatus();
|
||||
bool getIntFreefallStatus();
|
||||
bool getIntMotionStatus();
|
||||
bool getIntZeroMotionStatus();
|
||||
bool getIntFIFOBufferOverflowStatus();
|
||||
bool getIntI2CMasterStatus();
|
||||
bool getIntDataReadyStatus();
|
||||
|
||||
// ACCEL_*OUT_* registers
|
||||
void getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my,
|
||||
int16_t* mz);
|
||||
void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);
|
||||
void getAcceleration(int16_t* x, int16_t* y, int16_t* z);
|
||||
int16_t getAccelerationX();
|
||||
int16_t getAccelerationY();
|
||||
int16_t getAccelerationZ();
|
||||
|
||||
// TEMP_OUT_* registers
|
||||
int16_t getTemperature();
|
||||
|
||||
// GYRO_*OUT_* registers
|
||||
void getRotation(int16_t* x, int16_t* y, int16_t* z);
|
||||
int16_t getRotationX();
|
||||
int16_t getRotationY();
|
||||
int16_t getRotationZ();
|
||||
|
||||
// EXT_SENS_DATA_* registers
|
||||
uint8_t getExternalSensorByte(int position);
|
||||
uint16_t getExternalSensorWord(int position);
|
||||
uint32_t getExternalSensorDWord(int position);
|
||||
|
||||
// MOT_DETECT_STATUS register
|
||||
bool getXNegMotionDetected();
|
||||
bool getXPosMotionDetected();
|
||||
bool getYNegMotionDetected();
|
||||
bool getYPosMotionDetected();
|
||||
bool getZNegMotionDetected();
|
||||
bool getZPosMotionDetected();
|
||||
bool getZeroMotionDetected();
|
||||
|
||||
// I2C_SLV*_DO register
|
||||
void setSlaveOutputByte(uint8_t num, uint8_t data);
|
||||
|
||||
// I2C_MST_DELAY_CTRL register
|
||||
bool getExternalShadowDelayEnabled();
|
||||
void setExternalShadowDelayEnabled(bool enabled);
|
||||
bool getSlaveDelayEnabled(uint8_t num);
|
||||
void setSlaveDelayEnabled(uint8_t num, bool enabled);
|
||||
|
||||
// SIGNAL_PATH_RESET register
|
||||
void resetGyroscopePath();
|
||||
void resetAccelerometerPath();
|
||||
void resetTemperaturePath();
|
||||
|
||||
// MOT_DETECT_CTRL register
|
||||
uint8_t getAccelerometerPowerOnDelay();
|
||||
void setAccelerometerPowerOnDelay(uint8_t delay);
|
||||
uint8_t getFreefallDetectionCounterDecrement();
|
||||
void setFreefallDetectionCounterDecrement(uint8_t decrement);
|
||||
uint8_t getMotionDetectionCounterDecrement();
|
||||
void setMotionDetectionCounterDecrement(uint8_t decrement);
|
||||
|
||||
// USER_CTRL register
|
||||
bool getFIFOEnabled();
|
||||
void setFIFOEnabled(bool enabled);
|
||||
bool getI2CMasterModeEnabled();
|
||||
void setI2CMasterModeEnabled(bool enabled);
|
||||
void switchSPIEnabled(bool enabled);
|
||||
void resetFIFO();
|
||||
void resetI2CMaster();
|
||||
void resetSensors();
|
||||
|
||||
// PWR_MGMT_1 register
|
||||
void reset();
|
||||
bool getSleepEnabled();
|
||||
void setSleepEnabled(bool enabled);
|
||||
bool getWakeCycleEnabled();
|
||||
void setWakeCycleEnabled(bool enabled);
|
||||
bool getTempSensorEnabled();
|
||||
void setTempSensorEnabled(bool enabled);
|
||||
uint8_t getClockSource();
|
||||
void setClockSource(uint8_t source);
|
||||
|
||||
// PWR_MGMT_2 register
|
||||
uint8_t getWakeFrequency();
|
||||
void setWakeFrequency(uint8_t frequency);
|
||||
bool getStandbyXAccelEnabled();
|
||||
void setStandbyXAccelEnabled(bool enabled);
|
||||
bool getStandbyYAccelEnabled();
|
||||
void setStandbyYAccelEnabled(bool enabled);
|
||||
bool getStandbyZAccelEnabled();
|
||||
void setStandbyZAccelEnabled(bool enabled);
|
||||
bool getStandbyXGyroEnabled();
|
||||
void setStandbyXGyroEnabled(bool enabled);
|
||||
bool getStandbyYGyroEnabled();
|
||||
void setStandbyYGyroEnabled(bool enabled);
|
||||
bool getStandbyZGyroEnabled();
|
||||
void setStandbyZGyroEnabled(bool enabled);
|
||||
|
||||
// FIFO_COUNT_* registers
|
||||
uint16_t getFIFOCount();
|
||||
|
||||
// FIFO_R_W register
|
||||
uint8_t getFIFOByte();
|
||||
void setFIFOByte(uint8_t data);
|
||||
void getFIFOBytes(uint8_t* data, uint8_t length);
|
||||
|
||||
// WHO_AM_I register
|
||||
uint8_t getDeviceID();
|
||||
void setDeviceID(uint8_t id);
|
||||
|
||||
// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
|
||||
|
||||
// XG_OFFS_TC register
|
||||
uint8_t getOTPBankValid();
|
||||
void setOTPBankValid(bool enabled);
|
||||
int8_t getXGyroOffset();
|
||||
void setXGyroOffset(int8_t offset);
|
||||
|
||||
// YG_OFFS_TC register
|
||||
int8_t getYGyroOffset();
|
||||
void setYGyroOffset(int8_t offset);
|
||||
|
||||
// ZG_OFFS_TC register
|
||||
int8_t getZGyroOffset();
|
||||
void setZGyroOffset(int8_t offset);
|
||||
|
||||
// X_FINE_GAIN register
|
||||
int8_t getXFineGain();
|
||||
void setXFineGain(int8_t gain);
|
||||
|
||||
// Y_FINE_GAIN register
|
||||
int8_t getYFineGain();
|
||||
void setYFineGain(int8_t gain);
|
||||
|
||||
// Z_FINE_GAIN register
|
||||
int8_t getZFineGain();
|
||||
void setZFineGain(int8_t gain);
|
||||
|
||||
// XA_OFFS_* registers
|
||||
int16_t getXAccelOffset();
|
||||
void setXAccelOffset(int16_t offset);
|
||||
|
||||
// YA_OFFS_* register
|
||||
int16_t getYAccelOffset();
|
||||
void setYAccelOffset(int16_t offset);
|
||||
|
||||
// ZA_OFFS_* register
|
||||
int16_t getZAccelOffset();
|
||||
void setZAccelOffset(int16_t offset);
|
||||
|
||||
// XG_OFFS_USR* registers
|
||||
int16_t getXGyroOffsetUser();
|
||||
void setXGyroOffsetUser(int16_t offset);
|
||||
|
||||
// YG_OFFS_USR* register
|
||||
int16_t getYGyroOffsetUser();
|
||||
void setYGyroOffsetUser(int16_t offset);
|
||||
|
||||
// ZG_OFFS_USR* register
|
||||
int16_t getZGyroOffsetUser();
|
||||
void setZGyroOffsetUser(int16_t offset);
|
||||
|
||||
// INT_ENABLE register (DMP functions)
|
||||
bool getIntPLLReadyEnabled();
|
||||
void setIntPLLReadyEnabled(bool enabled);
|
||||
bool getIntDMPEnabled();
|
||||
void setIntDMPEnabled(bool enabled);
|
||||
|
||||
// DMP_INT_STATUS
|
||||
bool getDMPInt5Status();
|
||||
bool getDMPInt4Status();
|
||||
bool getDMPInt3Status();
|
||||
bool getDMPInt2Status();
|
||||
bool getDMPInt1Status();
|
||||
bool getDMPInt0Status();
|
||||
|
||||
// INT_STATUS register (DMP functions)
|
||||
bool getIntPLLReadyStatus();
|
||||
bool getIntDMPStatus();
|
||||
|
||||
// USER_CTRL register (DMP functions)
|
||||
bool getDMPEnabled();
|
||||
void setDMPEnabled(bool enabled);
|
||||
void resetDMP();
|
||||
|
||||
// BANK_SEL register
|
||||
void setMemoryBank(uint8_t bank, bool prefetchEnabled = false, bool userBank = false);
|
||||
|
||||
// MEM_START_ADDR register
|
||||
void setMemoryStartAddress(uint8_t address);
|
||||
|
||||
// MEM_R_W register
|
||||
uint8_t readMemoryByte();
|
||||
void writeMemoryByte(uint8_t data);
|
||||
void readMemoryBlock(uint8_t* data, uint16_t dataSize, uint8_t bank = 0, uint8_t address = 0);
|
||||
bool writeMemoryBlock(const uint8_t* data, uint16_t dataSize, uint8_t bank = 0, uint8_t address = 0, bool verify = true,
|
||||
bool useProgMem = false);
|
||||
bool writeProgMemoryBlock(const uint8_t* data, uint16_t dataSize, uint8_t bank = 0, uint8_t address = 0,
|
||||
bool verify = true);
|
||||
|
||||
bool writeDMPConfigurationSet(const uint8_t* data, uint16_t dataSize, bool useProgMem = false);
|
||||
bool writeProgDMPConfigurationSet(const uint8_t* data, uint16_t dataSize);
|
||||
|
||||
// DMP_CFG_1 register
|
||||
uint8_t getDMPConfig1();
|
||||
void setDMPConfig1(uint8_t config);
|
||||
|
||||
// DMP_CFG_2 register
|
||||
uint8_t getDMPConfig2();
|
||||
void setDMPConfig2(uint8_t config);
|
||||
|
||||
// special methods for MotionApps 2.0 implementation
|
||||
#ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20
|
||||
uint8_t* dmpPacketBuffer;
|
||||
uint16_t dmpPacketSize;
|
||||
|
||||
uint8_t dmpInitialize();
|
||||
bool dmpPacketAvailable();
|
||||
|
||||
uint8_t dmpSetFIFORate(uint8_t fifoRate);
|
||||
uint8_t dmpGetFIFORate();
|
||||
uint8_t dmpGetSampleStepSizeMS();
|
||||
uint8_t dmpGetSampleFrequency();
|
||||
int32_t dmpDecodeTemperature(int8_t tempReg);
|
||||
|
||||
// Register callbacks after a packet of FIFO data is processed
|
||||
//uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
|
||||
//uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
|
||||
uint8_t dmpRunFIFORateProcesses();
|
||||
|
||||
// Setup FIFO for various output
|
||||
uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
|
||||
uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
|
||||
uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
|
||||
// Get Fixed Point data from FIFO
|
||||
uint8_t dmpGetAccel(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetAccel(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetAccel(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuaternion(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuaternion(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuaternion(Quaternion* q, const uint8_t* packet = 0);
|
||||
uint8_t dmpGet6AxisQuaternion(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGet6AxisQuaternion(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGet6AxisQuaternion(Quaternion* q, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetRelativeQuaternion(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetRelativeQuaternion(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetRelativeQuaternion(Quaternion* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyro(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyro(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyro(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
|
||||
uint8_t dmpGetLinearAccel(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetLinearAccel(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetLinearAccel(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetLinearAccel(VectorInt16* v, VectorInt16* vRaw, VectorFloat* gravity);
|
||||
uint8_t dmpGetLinearAccelInWorld(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetLinearAccelInWorld(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetLinearAccelInWorld(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetLinearAccelInWorld(VectorInt16* v, VectorInt16* vReal, Quaternion* q);
|
||||
uint8_t dmpGetGyroAndAccelSensor(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyroAndAccelSensor(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyroAndAccelSensor(VectorInt16* g, VectorInt16* a, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyroSensor(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyroSensor(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyroSensor(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetControlData(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetTemperature(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGravity(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGravity(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGravity(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGravity(VectorFloat* v, Quaternion* q);
|
||||
uint8_t dmpGetUnquantizedAccel(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetUnquantizedAccel(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetUnquantizedAccel(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuantizedAccel(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuantizedAccel(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuantizedAccel(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetExternalSensorData(int32_t* data, uint16_t size, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetEIS(int32_t* data, const uint8_t* packet = 0);
|
||||
|
||||
uint8_t dmpGetEuler(float* data, Quaternion* q);
|
||||
uint8_t dmpGetYawPitchRoll(float* data, Quaternion* q, VectorFloat* gravity);
|
||||
|
||||
// Get Floating Point data from FIFO
|
||||
uint8_t dmpGetAccelFloat(float* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuaternionFloat(float* data, const uint8_t* packet = 0);
|
||||
|
||||
uint8_t dmpProcessFIFOPacket(const unsigned char* dmpData);
|
||||
uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t* processed = NULL);
|
||||
|
||||
uint8_t dmpSetFIFOProcessedCallback(void (*func)(void));
|
||||
|
||||
uint8_t dmpInitFIFOParam();
|
||||
uint8_t dmpCloseFIFO();
|
||||
uint8_t dmpSetGyroDataSource(uint8_t source);
|
||||
uint8_t dmpDecodeQuantizedAccel();
|
||||
uint32_t dmpGetGyroSumOfSquare();
|
||||
uint32_t dmpGetAccelSumOfSquare();
|
||||
void dmpOverrideQuaternion(long* q);
|
||||
uint16_t dmpGetFIFOPacketSize();
|
||||
#endif
|
||||
|
||||
// special methods for MotionApps 4.1 implementation
|
||||
#ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41
|
||||
uint8_t* dmpPacketBuffer;
|
||||
uint16_t dmpPacketSize;
|
||||
|
||||
uint8_t dmpInitialize();
|
||||
bool dmpPacketAvailable();
|
||||
|
||||
uint8_t dmpSetFIFORate(uint8_t fifoRate);
|
||||
uint8_t dmpGetFIFORate();
|
||||
uint8_t dmpGetSampleStepSizeMS();
|
||||
uint8_t dmpGetSampleFrequency();
|
||||
int32_t dmpDecodeTemperature(int8_t tempReg);
|
||||
|
||||
// Register callbacks after a packet of FIFO data is processed
|
||||
//uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
|
||||
//uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
|
||||
uint8_t dmpRunFIFORateProcesses();
|
||||
|
||||
// Setup FIFO for various output
|
||||
uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
|
||||
uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
|
||||
uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
|
||||
// Get Fixed Point data from FIFO
|
||||
uint8_t dmpGetAccel(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetAccel(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetAccel(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuaternion(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuaternion(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuaternion(Quaternion* q, const uint8_t* packet = 0);
|
||||
uint8_t dmpGet6AxisQuaternion(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGet6AxisQuaternion(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGet6AxisQuaternion(Quaternion* q, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetRelativeQuaternion(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetRelativeQuaternion(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetRelativeQuaternion(Quaternion* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyro(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyro(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyro(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetMag(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
|
||||
uint8_t dmpGetLinearAccel(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetLinearAccel(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetLinearAccel(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetLinearAccel(VectorInt16* v, VectorInt16* vRaw, VectorFloat* gravity);
|
||||
uint8_t dmpGetLinearAccelInWorld(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetLinearAccelInWorld(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetLinearAccelInWorld(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetLinearAccelInWorld(VectorInt16* v, VectorInt16* vReal, Quaternion* q);
|
||||
uint8_t dmpGetGyroAndAccelSensor(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyroAndAccelSensor(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyroAndAccelSensor(VectorInt16* g, VectorInt16* a, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyroSensor(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyroSensor(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyroSensor(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetControlData(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetTemperature(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGravity(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGravity(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGravity(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGravity(VectorFloat* v, Quaternion* q);
|
||||
uint8_t dmpGetUnquantizedAccel(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetUnquantizedAccel(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetUnquantizedAccel(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuantizedAccel(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuantizedAccel(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuantizedAccel(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetExternalSensorData(int32_t* data, uint16_t size, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetEIS(int32_t* data, const uint8_t* packet = 0);
|
||||
|
||||
uint8_t dmpGetEuler(float* data, Quaternion* q);
|
||||
uint8_t dmpGetYawPitchRoll(float* data, Quaternion* q, VectorFloat* gravity);
|
||||
|
||||
// Get Floating Point data from FIFO
|
||||
uint8_t dmpGetAccelFloat(float* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuaternionFloat(float* data, const uint8_t* packet = 0);
|
||||
|
||||
uint8_t dmpProcessFIFOPacket(const unsigned char* dmpData);
|
||||
uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t* processed = NULL);
|
||||
|
||||
uint8_t dmpSetFIFOProcessedCallback(void (*func)(void));
|
||||
|
||||
uint8_t dmpInitFIFOParam();
|
||||
uint8_t dmpCloseFIFO();
|
||||
uint8_t dmpSetGyroDataSource(uint8_t source);
|
||||
uint8_t dmpDecodeQuantizedAccel();
|
||||
uint32_t dmpGetGyroSumOfSquare();
|
||||
uint32_t dmpGetAccelSumOfSquare();
|
||||
void dmpOverrideQuaternion(long* q);
|
||||
uint16_t dmpGetFIFOPacketSize();
|
||||
#endif
|
||||
|
||||
private:
|
||||
uint8_t devAddr;
|
||||
uint8_t buffer[14];
|
||||
};
|
||||
|
||||
#endif /* _MPU6050_H_ */
|
||||
|
|
@ -1,4 +1,4 @@
|
|||
#include "servo.h"
|
||||
#include "Servo.h"
|
||||
#include "Wire.h"
|
||||
#include "MPU6050.h"
|
||||
|
||||
|
|
@ -13,7 +13,40 @@
|
|||
******************************************************************************/
|
||||
|
||||
/******************************************************************************
|
||||
* IMU - I2C
|
||||
* Précautions :
|
||||
* - Régler l'alimentation à 6V DC - 3 A maxi
|
||||
* - Brochage pupitre : joystick -> A0, bouton -> D2, voyant -> D3
|
||||
* - Brochage capteur : IMU en I2C
|
||||
* - Brochage actionneurs : axes (x,y) -> D5/D6 (x,y)
|
||||
* - Mettre les servomoteurs à 45° soit 1000 µs
|
||||
******************************************************************************/
|
||||
|
||||
/******************************************************************************
|
||||
* Servomoteurs
|
||||
* Alimentation par servoteur : 6V DC à 1.5 A
|
||||
******************************************************************************/
|
||||
|
||||
Servo servo_x; // Servomoteur axe x
|
||||
Servo servo_y; // Servomoteur axe y
|
||||
const int servo_x_pin = 5; // Servomoteur axe x sur broche D5
|
||||
const int servo_y_pin = 6; // Servomoteur axe y sur broche D6
|
||||
int angle_x_ms; // Angle en µs : 500 -> 0° ; 1500->90° et 2500-> 180°
|
||||
int angle_y_ms; // Angle en µs : 500 -> 0° ; 1500->90° et 2500-> 180°
|
||||
const int servo_resolution = 6; // Angle en µs pleine puissance
|
||||
int servo_pas = 0; // Angle proportionelle en µs du pas en cours
|
||||
|
||||
/******************************************************************************
|
||||
* Pupitre : joystick + 1 bouton + 1 voyant
|
||||
******************************************************************************/
|
||||
|
||||
const int bt_pin = 2; // Bouton sur broche D2
|
||||
const int led_pin = 3; // Led sur broche D3
|
||||
const int jstk_x_pin = A1; // Joystick axe x sur broche A1
|
||||
const int jstk_y_pin = A0; // Joystick axe y sur broche A0
|
||||
bool mode_auto_horizontal = false; // Flag du mode de la mise à l'auto-horizontalité
|
||||
|
||||
/******************************************************************************
|
||||
* Capteur IMU - I2C
|
||||
******************************************************************************/
|
||||
|
||||
MPU6050 accelgyro;
|
||||
|
|
@ -39,10 +72,24 @@ void setup() {
|
|||
// Liaison série
|
||||
Serial.begin(115200);
|
||||
|
||||
// Servomoteurs
|
||||
servo_x.attach(servo_x_pin); // Brochage
|
||||
servo_y.attach(servo_y_pin); // Brochage
|
||||
angle_x_ms = 1000; // 500 -> 0°, 1500 -> 90° et 2500-> 180°
|
||||
angle_y_ms = 1000; // 500 -> 0°, 1500 -> 90° et 2500-> 180°
|
||||
servo_x.writeMicroseconds(angle_x_ms); // 1000 -> 45°
|
||||
servo_y.writeMicroseconds(angle_y_ms); // 1000 -> 45°
|
||||
|
||||
// Pupitre
|
||||
pinMode(bt_pin, INPUT);
|
||||
pinMode(jstk_x_pin, INPUT);
|
||||
pinMode(jstk_y_pin, INPUT);
|
||||
pinMode(led_pin, OUTPUT);
|
||||
|
||||
// IMU
|
||||
Wire.begin();
|
||||
accelgyro.initialize();
|
||||
|
||||
|
||||
}
|
||||
|
||||
/******************************************************************************
|
||||
|
|
@ -67,12 +114,112 @@ void loop() {
|
|||
pitch_txt = String(pitch_deg);
|
||||
|
||||
/*****
|
||||
* Console
|
||||
* Affiche les angles de roulie et de tangage
|
||||
*****/
|
||||
|
||||
Serial.print(roll_txt);
|
||||
Serial.print(",");
|
||||
Serial.print(pitch_txt);
|
||||
Serial.println();
|
||||
/* Serial.print(roll_txt); */
|
||||
/* Serial.print(","); */
|
||||
/* Serial.print(pitch_txt); */
|
||||
/* Serial.println(); */
|
||||
|
||||
/*****
|
||||
* Mouvement manuel : Axe x
|
||||
*****/
|
||||
|
||||
// en C : sur x de 237 à 784 (centre à 510) et sur y de 249 à 773 (centre à 511) -> ok
|
||||
// en Python de 0,25 à 0,75 avec une zone morte entre 0,48 et 0,52 (soit 491 et 532 pour une base sur 1024)
|
||||
|
||||
if ((analogRead(jstk_x_pin) <491) or (analogRead(jstk_x_pin) >532))
|
||||
{
|
||||
Serial.print("jstk_x : ");
|
||||
Serial.print(String(analogRead(jstk_x_pin)));
|
||||
Serial.println();
|
||||
|
||||
// Désactivation de l'horizontalité automatique
|
||||
if (mode_auto_horizontal)
|
||||
{
|
||||
mode_auto_horizontal = false;
|
||||
digitalWrite(led_pin, LOW);
|
||||
}
|
||||
|
||||
// Mouvement x -
|
||||
if (analogRead(jstk_x_pin) <491)
|
||||
// FIXME : faire la commande proportionelle
|
||||
/* servo_pas = round((servo_resolution/(511-249))*(511-analogRead(jstk_x_pin))); */
|
||||
/* angle_x_ms=angle_x_ms-servo_pas; */
|
||||
angle_x_ms=angle_x_ms-servo_resolution;
|
||||
if (angle_x_ms<600)
|
||||
angle_x_ms=600;
|
||||
|
||||
// Mouvement x +
|
||||
if (analogRead(jstk_x_pin) >532)
|
||||
// FIXME : faire la commande proportionelle
|
||||
/* servo_pas = round((servo_resolution/(773-511))*(analogRead(jstk_x_pin)-511)); */
|
||||
/* angle_x_ms=angle_x_ms+servo_pas; */
|
||||
angle_x_ms=angle_x_ms+servo_resolution;
|
||||
if (angle_x_ms>1600)
|
||||
angle_x_ms=1600;
|
||||
|
||||
servo_x.writeMicroseconds(angle_x_ms);
|
||||
Serial.print("angle_x_ms : ");
|
||||
Serial.print(String(angle_x_ms));
|
||||
Serial.print(" µs -> ");
|
||||
Serial.print(String(servo_x.read()));
|
||||
Serial.print("° ; servo_pas : ");
|
||||
Serial.print(String(servo_pas));
|
||||
Serial.println(" µs");
|
||||
}
|
||||
|
||||
/*****
|
||||
* Mouvement manuel : Axe y
|
||||
*****/
|
||||
|
||||
// en C : sur x de 249 à 773 (centre à 511) et sur y de 237 à 784 (centre à 510) -> ok
|
||||
// en Python de 0,25 à 0,75 avec une zone morte entre 0,48 et 0,52 (soit 491 et 532 pour une base sur 1024)
|
||||
|
||||
if ((analogRead(jstk_y_pin) <491) or (analogRead(jstk_y_pin) >532))
|
||||
{
|
||||
Serial.print("jstk_y : ");
|
||||
Serial.print(String(analogRead(jstk_y_pin)));
|
||||
Serial.println();
|
||||
// Désactivation de l'horizontalité automatique
|
||||
if (mode_auto_horizontal)
|
||||
{
|
||||
mode_auto_horizontal = false;
|
||||
digitalWrite(led_pin, LOW);
|
||||
}
|
||||
|
||||
// Mouvement y -
|
||||
if (analogRead(jstk_y_pin) <491)
|
||||
angle_y_ms=angle_y_ms-servo_resolution;
|
||||
if (angle_y_ms<600)
|
||||
angle_y_ms=600;
|
||||
|
||||
// Mouvement y +
|
||||
if (analogRead(jstk_y_pin) >532)
|
||||
angle_y_ms=angle_y_ms+servo_resolution;
|
||||
if (angle_y_ms>1600)
|
||||
angle_y_ms=1600;
|
||||
|
||||
servo_y.writeMicroseconds(angle_y_ms);
|
||||
Serial.print("angle_y_ms : ");
|
||||
Serial.print(String(angle_y_ms));
|
||||
Serial.print(" -> ");
|
||||
Serial.print(String(servo_y.read()));
|
||||
Serial.println("°");
|
||||
}
|
||||
|
||||
/*****
|
||||
* Mise à l'horizontale automatique
|
||||
*****/
|
||||
|
||||
if (digitalRead(bt_pin) == HIGH)
|
||||
{
|
||||
Serial.print("Mise à l'horizontale automatique");
|
||||
Serial.println();
|
||||
mode_auto_horizontal = true;
|
||||
}
|
||||
if (mode_auto_horizontal)
|
||||
digitalWrite(led_pin, HIGH); // Led
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -11,7 +11,7 @@
|
|||
******************************************************************************/
|
||||
|
||||
/******************************************************************************
|
||||
* Servo-moteurs
|
||||
* Servomoteur
|
||||
******************************************************************************/
|
||||
|
||||
Servo servo;
|
||||
|
|
@ -29,11 +29,12 @@ void setup() {
|
|||
// Liaison série
|
||||
Serial.begin(115200);
|
||||
|
||||
// Servo-moteurs
|
||||
servo.attach(9); // Servo sur broche D9
|
||||
// Servomoteur
|
||||
servo.attach(6); // Servomoteur sur broche D9
|
||||
servo_sens = true;
|
||||
angle_ms = 1500; // Position centrale (90°, 500 -> 0° et 2500-> 180°)
|
||||
servo.writeMicroseconds(angle_ms);
|
||||
angle_ms = 600; // 500 -> 0°, 1500 -> 90° et 2500-> 180°
|
||||
servo.writeMicroseconds(angle_ms); // 600 -> 9°
|
||||
/* servo.write(10); */
|
||||
}
|
||||
|
||||
/******************************************************************************
|
||||
|
|
@ -51,7 +52,7 @@ void loop() {
|
|||
Serial.println("°");
|
||||
|
||||
// Sens
|
||||
if (servo.read()==170) {
|
||||
if (servo.read()==90) {
|
||||
servo_sens=false;
|
||||
}
|
||||
if (servo.read()==10) {
|
||||
|
|
@ -61,13 +62,15 @@ void loop() {
|
|||
// Mouvement
|
||||
if (servo_sens) {
|
||||
angle_ms=angle_ms+1; // Résolution à 180/2000 soit 0,09°
|
||||
//servo1.write(servo1.read()+1); // Résolution à 1°
|
||||
/* servo.write(servo.read()+1); // Résolution à 1° */
|
||||
/* delay(100); */
|
||||
} else {
|
||||
angle_ms=angle_ms-1; // Résolution à 180/2000 soit 0,09°
|
||||
//servo1.write(servo1.read()-1); // Résolution à 1°
|
||||
/* servo.write(servo.read()-1); // Résolution à 1° */
|
||||
/* delay(100); */
|
||||
}
|
||||
servo.writeMicroseconds(angle_ms);
|
||||
delay(10);
|
||||
delay(5);
|
||||
|
||||
// Test des positions
|
||||
/* angle_ms =1500; */
|
||||
|
|
|
|||
Loading…
Reference in New Issue