请教：MPU-6050数据读取

我爱胆机妙音

先上代码：

1. #include "Wire.h"
   
2. 
   
3. // I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
   
4. // for both classes must be in the include path of your project
   
5. #include "I2Cdev.h"
   
6. #include "MPU6050.h"
   
7. 
   
8. // class default I2C address is 0x68
   
9. // specific I2C addresses may be passed as a parameter here
   
10. // AD0 low = 0x68 (default for InvenSense evaluation board)
    
11. // AD0 high = 0x69
    
12. MPU6050 accelgyro;
    
13. 
    
14. int16_t ax, ay, az;
    
15. int16_t gx, gy, gz;
    
16. 
    
17. float final_ax;
    
18. float final_ay;
    
19. float final_az;
    
20. float final_gx;
    
21. float final_gy;
    
22. float final_gz;
    
23. 
    
24. #define LED_PIN 13
    
25. bool blinkState = false;
    
26. 
    
27. void setup() {
    
28.     // join I2C bus (I2Cdev library doesn't do this automatically)
    
29.     Wire.begin();
    
30. 
    
31.     // initialize serial communication
    
32.     // (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
    
33.     // it's really up to you depending on your project)
    
34.     Serial.begin(38400);
    
35. 
    
36.     // initialize device
    
37.     Serial.println("Initializing I2C devices...");
    
38.     accelgyro.initialize();
    
39. 
    
40.     // verify connection
    
41.     Serial.println("Testing device connections...");
    
42.     Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
    
43. 
    
44.     // configure Arduino LED for
    
45.     pinMode(LED_PIN, OUTPUT);
    
46. }
    
47. 
    
48. void loop() {
    
49.     // read raw accel/gyro measurements from device
    
50.     accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
    
51.    final_ax=ax/16384;
    
52.    final_ay=ay/16384;
    
53.    final_az=az/16384;
    
54.    final_gx=gx/131;
    
55.    final_gy=gy/131;
    
56.    final_gz=gz/131;
    
57. 
    
58.     // these methods (and a few others) are also available
    
59.     //accelgyro.getAcceleration(&ax, &ay, &az);
    
60.     //accelgyro.getRotation(&gx, &gy, &gz);
    
61. 
    
62.     // display tab-separated accel/gyro x/y/z values
    
63.     Serial.print("a/g:\t");
    
64.     Serial.print(final_ax); Serial.print("\t");
    
65.     Serial.print(final_ay); Serial.print("\t");
    
66.     Serial.print(final_az); Serial.print("\t");
    
67.     Serial.print(final_gx); Serial.print("\t");
    
68.     Serial.print(final_gy); Serial.print("\t");
    
69.     Serial.println(final_gz);
    
70. 
    
71.     // blink LED to indicate activity
    
72.     blinkState = !blinkState;
    
73.     digitalWrite(LED_PIN, blinkState);
    
74. }

复制代码

已经添加过简单的算法，但为什么读出的数据全是整数？用力摇晃传感器时加速度显示为1g或-1g
怎样显示小数？谢谢各位

Randy

请看i一下下面两个帖子，看是否对你有帮助！
http://www.geek-workshop.com/for ... &extra=page%3D1
http://www.geek-workshop.com/for ... &extra=page%3D4

yimenwang

final_ax=ax/16384.0;
都这样修改一下吧!  后面加.0

玄冰之神

。。。。真郁闷。一天数据还是没调取出来

潇湘子轩

改成：final_ax=ax/16384.00;
   final_ay=ay/16384.00;
   final_az=az/16384.00;
   final_gx=gx/131.00;
   final_gy=gy/131.00;
   final_gz=gz/131.00;
试一试