77 lines
2.4 KiB
C++
77 lines
2.4 KiB
C++
/*
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* Library: https://github.com/bolderflight/MPU9250
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Basic_I2C.ino
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Brian R Taylor
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brian.taylor@bolderflight.com
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Copyright (c) 2017 Bolder Flight Systems
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Permission is hereby granted, free of charge, to any person obtaining a copy of this software
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and associated documentation files (the "Software"), to deal in the Software without restriction,
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including without limitation the rights to use, copy, modify, merge, publish, distribute,
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sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all copies or
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substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
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BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
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DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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/*
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* Updated by Ahmad Shamshiri on July 09, 2018 for Robojax.com
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* in Ajax, Ontario, Canada
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* watch instrucion video for this code:
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For this sketch you need to connect:
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VCC to 5V and GND to GND of Arduino
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SDA to A4 and SCL to A5
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S20A is 3.3V voltage regulator MIC5205-3.3BM5
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*/
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#include "MPU9250.h"
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float biai = 1.25;
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unsigned long previousTime;
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int interval = 300;
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int stepPin = 14;
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int dirPin = 12;
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bool pinState = LOW;
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// an MPU9250 object with the MPU-9250 sensor on I2C bus 0 with address 0x68
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MPU9250 IMU(Wire,0x68);
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int status;
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void setup() {
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// serial to display data
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Serial.begin(115200);
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while(!Serial) {}
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// start communication with IMU
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status = IMU.begin();
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if (status < 0) {
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Serial.println("IMU initialization unsuccessful");
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Serial.println("Check IMU wiring or try cycling power");
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Serial.print("Status: ");
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Serial.println(status);
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while(1) {}
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}
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pinMode(stepPin,OUTPUT);
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pinMode(dirPin,OUTPUT);
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}
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void loop() {
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// read the sensor
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digitalWrite(dirPin,HIGH);
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IMU.readSensor();
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// display the data
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if((micros() - previousTime) >= interval){
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previousTime = micros();
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pinState = !pinState;
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digitalWrite(stepPin,pinState);
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Serial.println(IMU.getAccelX_mss() + IMU.getAccelY_mss() + IMU.getAccelZ_mss() + biai +11);
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}
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}
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