arduino摇控平衡车m2560+mpu6050+24l01 (已上传代码包) - 第8页 - 智能车 - 极客工坊

edwin 发表于 2013-5-31 07:52:36

谢谢，我直接放在上面的图中下方的文件夹中就能编译了，非常感谢 PWW999！

ch00148070 发表于 2013-6-14 03:49:05

本帖最后由 ch00148070 于 2013-6-14 03:57 编辑

请问这个偏移量#define Gry_offset -20 // 静态偏移量根据下面哪个参数来调？-20是怎么算出来的？下面这些参数小车垂直静止时都要归0吗？
Serial.print(ax/10); Serial.print("\t");
Serial.print(ay/10); Serial.print("\t");
Serial.print(az/10); Serial.print("\t");
Serial.print(gx/10); Serial.print("\t");
Serial.print(gy/10); Serial.print("\t");
Serial.print(gz/10);Serial.print("\t");
Serial.print(f_angle); Serial.print("\t");
Serial.print(omega); Serial.print("\t");//omega=Gyr_Gain * (gx +Gry_offset);调这个Gry_offset的值使它归0吗？
Serial.print(angleA); Serial.print("\t"); //angleA= atan2(ay , az) * 180 / pi+0.5(垂直静止时调这个0.5使它归0吗);
Serial.print(Output); Serial.print("\t");

我的小车现在想站起来，抖几下就往前开了。好像重心偏前，不知道怎么调？

chzhewl 发表于 2013-6-14 07:19:33

支持啊{:soso_e179:}

robotStudio 发表于 2013-6-18 11:17:59

非常好的东西。。。

shaodw 发表于 2013-6-20 13:45:56

大神，我这里6050老是编译错误，是为什么？
我替换了几次库文件了。。还是这样:Q

MPU6050\MPU6050.cpp.o: In function `MPU6050':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:42: multiple definition of `MPU6050::MPU6050()'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:42: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:42: multiple definition of `MPU6050::MPU6050()'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:42: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:52: multiple definition of `MPU6050::MPU6050(unsigned char)'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:52: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:52: multiple definition of `MPU6050::MPU6050(unsigned char)'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:52: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050::setDMPConfig2(unsigned char)':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:3140: multiple definition of `MPU6050::setDMPConfig2(unsigned char)'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:3140: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050::setDMPConfig1(unsigned char)':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:3130: multiple definition of `MPU6050::setDMPConfig1(unsigned char)'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:3130: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050::writeMemoryByte(unsigned char)':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:2932: multiple definition of `MPU6050::writeMemoryByte(unsigned char)'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:2932: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050::setMemoryStartAddress(unsigned char)':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:2922: multiple definition of `MPU6050::setMemoryStartAddress(unsigned char)'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:2922: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050::setMemoryBank(unsigned char, bool, bool)':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:2913: multiple definition of `MPU6050::setMemoryBank(unsigned char, bool, bool)'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:2913: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050::setZFineGain(signed char)':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:2779: multiple definition of `MPU6050::setZFineGain(signed char)'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:2779: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050::setYFineGain(signed char)':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:2769: multiple definition of `MPU6050::setYFineGain(signed char)'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:2769: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050::setXFineGain(signed char)':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:2759: multiple definition of `MPU6050::setXFineGain(signed char)'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:2759: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050::setFIFOByte(unsigned char)':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:2684: multiple definition of `MPU6050::setFIFOByte(unsigned char)'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:2684: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050::setSlaveOutputByte(unsigned char, unsigned char)':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:2067: multiple definition of `MPU6050::setSlaveOutputByte(unsigned char, unsigned char)'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:2067: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050::setIntEnabled(unsigned char)':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:1499: multiple definition of `MPU6050::setIntEnabled(unsigned char)'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:1499: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050::setSlave4OutputByte(unsigned char)':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:1112: multiple definition of `MPU6050::setSlave4OutputByte(unsigned char)'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:1112: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050::setSlave4Register(unsigned char)':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:1103: multiple definition of `MPU6050::setSlave4Register(unsigned char)'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:1103: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050::setSlave4Address(unsigned char)':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:1084: multiple definition of `MPU6050::setSlave4Address(unsigned char)'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:1084: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050::setSlaveRegister(unsigned char, unsigned char)':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:938: multiple definition of `MPU6050::setSlaveRegister(unsigned char, unsigned char)'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:938: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050::setSlaveAddress(unsigned char, unsigned char)':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:912: multiple definition of `MPU6050::setSlaveAddress(unsigned char, unsigned char)'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:912: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050::setZeroMotionDetectionDuration(unsigned char)':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:573: multiple definition of `MPU6050::setZeroMotionDetectionDuration(unsigned char)'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:573: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050::setZeroMotionDetectionThreshold(unsigned char)':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:542: multiple definition of `MPU6050::setZeroMotionDetectionThreshold(unsigned char)'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:542: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050::setMotionDetectionDuration(unsigned char)':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:502: multiple definition of `MPU6050::setMotionDetectionDuration(unsigned char)'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:502: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050::setMotionDetectionThreshold(unsigned char)':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:472: multiple definition of `MPU6050::setMotionDetectionThreshold(unsigned char)'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:472: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050::setFreefallDetectionDuration(unsigned char)':
G:\arduino\arduino-1.0.1\libraries\MPU6050/MPU6050.cpp:438: multiple definition of `MPU6050::setFreefallDetectionDuration(unsigned char)'
MPU6050.cpp.o:C:\Users\shadow\AppData\Local\Temp\build3457055428808906085.tmp/MPU6050.cpp:438: first defined here
MPU6050\MPU6050.cpp.o: In function `MPU6050::setFreefallDetectionThreshold(unsigned char)':

tanbocandy 发表于 2013-7-21 20:11:59

ranqingfa 发表于 2012-11-16 00:25 static/image/common/back.gif
车车相当酷啊，我用的香蕉电机做的真是难啊http://v.youku.com/v_show/id_XNDM5NDcwNjM2.html，劳神看一下啊 ...

你好我看了下你的平衡小车视频做的很COOL 有个问题问下你的码盘用来做什么呀顺便无耻下能把你的代码给我一份不我也是用的香蕉电机站一会儿（几秒）就倒烦啊。。。。谢谢咯

ranqingfa 发表于 2013-7-22 09:25:29

tanbocandy 发表于 2013-7-21 20:11 static/image/common/back.gif
你好我看了下你的平衡小车视频做的很COOL 有个问题问下你的码盘用来做什么呀顺便无耻下能 ...

本坛我有共享程序，你找找，小米遥控平衡车

pww999 发表于 2013-7-22 10:14:10

tanbocandy 发表于 2013-7-21 20:11 static/image/common/back.gif
你好我看了下你的平衡小车视频做的很COOL 有个问题问下你的码盘用来做什么呀顺便无耻下能 ...

没有装码盘,

tanbocandy 发表于 2013-7-24 20:17:45

ranqingfa 发表于 2013-7-22 09:25 static/image/common/back.gif
本坛我有共享程序，你找找，小米遥控平衡车

找到了谢谢

冬至_半边天、 发表于 2013-9-28 17:51:32

pww999 发表于 2012-9-22 23:59 static/image/common/back.gif
可以这样试试，或者你可以先用可调电阻测试一下L298正反转运作...,最组合代码
IN1=4;//接D4
IN2 =7;

大神真心不知道你EN 1 2怎么接线
l298不就是4个输入吗？怎么整出来6 个呢
我不会了。求大神指点啊！！！

还有你的6050是怎么放置的啊？

海之蓝 发表于 2013-10-30 11:32:42

狠好，不错( ⊙ o ⊙ )啊！

41257203 发表于 2013-11-17 23:13:32

编译老是出错，求解

41257203 发表于 2013-11-17 23:15:02

冬至_半边天、发表于 2013-9-28 17:51 static/image/common/back.gif
大神真心不知道你EN 1 2怎么接线
l298不就是4个输入吗？怎么整出来6 个呢
我不会了。求大神指点啊 ...

这两个是接pwm脚，注意看看你298N上是不是有2个跳线帽，拔掉后就可以接了

zuzuhe 发表于 2013-12-3 18:51:44

加油啊不会编程啊

zuzuhe 发表于 2013-12-8 23:09:29

用了你的程序发现我的小车只有一个轮子转动且只有一个方向求指教

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