moteur + accelerometre sans interruption

Rotabator.ino

@@ -1,41 +1,77 @@
  /*
-  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() {
-  // 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() {
-  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);
+  }
 }