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/* /*
Blink * Library: https://github.com/bolderflight/MPU9250
Basic_I2C.ino
Brian R Taylor
brian.taylor@bolderflight.com
Turns an LED on for one second, then off for one second, repeatedly. Copyright (c) 2017 Bolder Flight Systems
Most Arduinos have an on-board LED you can control. On the UNO, MEGA and ZERO Permission is hereby granted, free of charge, to any person obtaining a copy of this software
it is attached to digital pin 13, on MKR1000 on pin 6. LED_BUILTIN is set to and associated documentation files (the "Software"), to deal in the Software without restriction,
the correct LED pin independent of which board is used. including without limitation the rights to use, copy, modify, merge, publish, distribute,
If you want to know what pin the on-board LED is connected to on your Arduino sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
model, check the Technical Specs of your board at: furnished to do so, subject to the following conditions:
https://www.arduino.cc/en/Main/Products
modified 8 May 2014 The above copyright notice and this permission notice shall be included in all copies or
by Scott Fitzgerald substantial portions of the Software.
modified 2 Sep 2016
by Arturo Guadalupi
modified 8 Sep 2016
by Colby Newman
This example code is in the public domain. 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.
*/
/*
* Updated by Ahmad Shamshiri on July 09, 2018 for Robojax.com
* in Ajax, Ontario, Canada
* watch instrucion video for this code:
For this sketch you need to connect:
VCC to 5V and GND to GND of Arduino
SDA to A4 and SCL to A5
https://www.arduino.cc/en/Tutorial/BuiltInExamples/Blink S20A is 3.3V voltage regulator MIC5205-3.3BM5
*/ */
// the setup function runs once when you press reset or power the board #include "MPU9250.h"
float biai = 1.25;
unsigned long previousTime;
int interval = 300;
int stepPin = 14;
int dirPin = 12;
bool pinState = LOW;
// an MPU9250 object with the MPU-9250 sensor on I2C bus 0 with address 0x68
MPU9250 IMU(Wire,0x68);
int status;
void setup() { void setup() {
// initialize digital pin LED_BUILTIN as an output. // serial to display data
pinMode(LED_BUILTIN, OUTPUT); Serial.begin(115200);
while(!Serial) {}
// start communication with IMU
status = IMU.begin();
if (status < 0) {
Serial.println("IMU initialization unsuccessful");
Serial.println("Check IMU wiring or try cycling power");
Serial.print("Status: ");
Serial.println(status);
while(1) {}
}
pinMode(stepPin,OUTPUT);
pinMode(dirPin,OUTPUT);
} }
// the loop function runs over and over again forever
void loop() { void loop() {
digitalWrite(LED_BUILTIN, HIGH); // read the sensor
// turn the LED on (HIGH is the voltage level) digitalWrite(dirPin,HIGH);
delay(1000); IMU.readSensor();
// wait for a second // display the data
digitalWrite(LED_BUILTIN, LOW);
// turn the LED off by making the voltage LOW if((micros() - previousTime) >= interval){
delay(1000); previousTime = micros();
// wait for a second pinState = !pinState;
digitalWrite(stepPin,pinState);
Serial.println(IMU.getAccelX_mss() + IMU.getAccelY_mss() + IMU.getAccelZ_mss() + biai +11);
}
} }