请教一下MPU6050的使用问题，谢谢

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1. // I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class
   
2. // 10/7/2011 by Jeff Rowberg <[email protected]>
   
3. // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
   
4. //
   
5. // Changelog:
   
6. //     2011-10-07 - initial release
   
7. 
   
8. /* ============================================
   
9. I2Cdev device library code is placed under the MIT license
   
10. Copyright (c) 2011 Jeff Rowberg
    
11. 
    
12. Permission is hereby granted, free of charge, to any person obtaining a copy
    
13. of this software and associated documentation files (the "Software"), to deal
    
14. in the Software without restriction, including without limitation the rights
    
15. to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
    
16. copies of the Software, and to permit persons to whom the Software is
    
17. furnished to do so, subject to the following conditions:
    
18. 
    
19. The above copyright notice and this permission notice shall be included in
    
20. all copies or substantial portions of the Software.
    
21. 
    
22. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    
23. IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
    
24. FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
    
25. AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
    
26. LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
    
27. OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
    
28. THE SOFTWARE.
    
29. ===============================================
    
30. */
    
31. 
    
32. // Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
    
33. // is used in I2Cdev.h
    
34. #include "Wire.h"
    
35. 
    
36. // I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
    
37. // for both classes must be in the include path of your project
    
38. #include "I2Cdev.h"
    
39. #include "MPU6050.h"
    
40. 
    
41. // class default I2C address is 0x68
    
42. // specific I2C addresses may be passed as a parameter here
    
43. // AD0 low = 0x68 (default for InvenSense evaluation board)
    
44. // AD0 high = 0x69
    
45. MPU6050 accelgyro;
    
46. 
    
47. int16_t ax, ay, az;
    
48. int16_t gx, gy, gz;
    
49. 
    
50. #define LED_PIN 13
    
51. bool blinkState = false;
    
52. 
    
53. void setup() {
    
54.     // join I2C bus (I2Cdev library doesn't do this automatically)
    
55.     Wire.begin();
    
56. 
    
57.     // initialize serial communication
    
58.     // (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
    
59.     // it's really up to you depending on your project)
    
60.     Serial.begin(38400);
    
61. 
    
62.     // initialize device
    
63.     Serial.println("Initializing I2C devices...");
    
64.     accelgyro.initialize();
    
65. 
    
66.     // verify connection
    
67.     Serial.println("Testing device connections...");
    
68.     Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
    
69. 
    
70.     // configure Arduino LED for
    
71.     pinMode(LED_PIN, OUTPUT);
    
72. }
    
73. 
    
74. void loop() {
    
75.     // read raw accel/gyro measurements from device
    
76.     accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
    
77. 
    
78.     // these methods (and a few others) are also available
    
79.     //accelgyro.getAcceleration(&ax, &ay, &az);
    
80.     //accelgyro.getRotation(&gx, &gy, &gz);
    
81. 
    
82.     // display tab-separated accel/gyro x/y/z values
    
83.     Serial.print("a/g:\t");
    
84.     Serial.print(ax); Serial.print("\t");
    
85.     Serial.print(ay); Serial.print("\t");
    
86.     Serial.print(az); Serial.print("\t");
    
87.     Serial.print(gx); Serial.print("\t");
    
88.     Serial.print(gy); Serial.print("\t");
    
89.     Serial.println(gz);
    
90. 
    
91.     // blink LED to indicate activity
    
92.     blinkState = !blinkState;
    
93.     digitalWrite(LED_PIN, blinkState);
    
94. }

复制代码

这是我用官方程序在桌子上不动时得到的数据

1. #include "Wire.h"
   
2. #include "I2Cdev.h"
   
3. #include "MPU6050.h"
   
4. MPU6050 accelgyro;
   
5. 
   
6. int16_t ax, ay, az;
   
7. int16_t gx, gy, gz;
   
8. 
   
9. 
   
10. bool blinkState = false;
    
11. 
    
12. void setup() {
    
13. 
    
14.     Wire.begin();
    
15.     Serial.begin(9800);
    
16. 
    
17.     accelgyro.initialize();
    
18. 
    
19. 
    
20. }
    
21. 
    
22. void loop() {
    
23. delay(100);
    
24.     accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
    
25.     Serial.print("a/g:\t");
    
26.     Serial.print(ax/4096); Serial.print("\t");
    
27.     Serial.print(ay/4096); Serial.print("\t");
    
28.     Serial.print(az/4096); Serial.print("\t");
    
29.     Serial.print(gx/32.8); Serial.print("\t");
    
30.     Serial.print(gy/32.8); Serial.print("\t");
    
31.     Serial.println(gz/32.8);
    
32.     blinkState = !blinkState;
    
33. 
    
34. }

复制代码

下面是我改过程序得到的数据，加速度数据基本没啥变化，不知道这是什么情况，难道是我买的芯片有问题？希望高手给解惑，谢谢！

弘毅

不知道这个实验是有有帮助
http://www.geek-workshop.com/for ... thread&tid=1017

syfok

今天把我的模块地址改成0x69了，跑你的程序正常。你的程序有错误，应为/4096.0，否则取整输出了

Randy

syfok 发表于 2012-5-25 21:00
今天把我的模块地址改成0x69了，跑你的程序正常。你的程序有错误，应为/4096.0，否则取整输出了

首先，这个数字我之前也出现过，ADXL345的数字，我测过好几块是这样的，我初步怀疑的原因是芯片没有焊对在焊盘上所导致，毕竟芯片，只要你不上太高的电压是不会那么容易的坏掉的，还有你说的那个小数点，确实是需要加上.0才会有明显的小数点变化，你的问题，可以自己去用风枪重新吹一下芯片！

学慧放弃

为我的总是编译出错呢？