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80 lines
2.1 KiB
C++
80 lines
2.1 KiB
C++
#include "servo.h"
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#include "Wire.h"
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#include "MPU6050.h"
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/******************************************************************************
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* manette-test.ino
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* @title: Programme pour la carte Arduino (capteur imu + 2 servomoteurs)
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* @project: Blender-EduTech - Tutoriel 6 : Labyrinthe à bille - Développer le jumeau numérique du labyrinthe
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* @lang: fr
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* @authors: Philippe Roy <philippe.roy@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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******************************************************************************/
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/******************************************************************************
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* IMU - I2C
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******************************************************************************/
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MPU6050 accelgyro;
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int16_t ax, ay, az;
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int16_t gx, gy, gz;
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int16_t mx, my, mz;
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float Axyz[3];
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float roll;
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float pitch;
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float roll_deg;
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float pitch_deg;
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String roll_txt;
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String pitch_txt;
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String serial_msg_int_txt;
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/******************************************************************************
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* Initialisation
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******************************************************************************/
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void setup() {
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// Liaison série
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Serial.begin(115200);
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// IMU
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Wire.begin();
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accelgyro.initialize();
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}
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/******************************************************************************
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* Boucle principale
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******************************************************************************/
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void loop() {
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/*****
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* Lecture des accélérations
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*****/
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accelgyro.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz);
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Axyz[0] = (double) ax / 16384;
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Axyz[1] = (double) ay / 16384;
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Axyz[2] = (double) az / 16384;
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roll = asin(-Axyz[0]);
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roll_deg = roll*57.3;
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roll_txt = String(roll_deg);
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pitch = -asin(Axyz[1]/cos(roll)); // position capteur (X vers la gauche, Y vers l'arriere, Z vers le haut)
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pitch_deg = pitch*57.3;
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pitch_txt = String(pitch_deg);
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/*****
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* Console
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*****/
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Serial.print(roll_txt);
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Serial.print(",");
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Serial.print(pitch_txt);
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Serial.println();
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}
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