I am currently experimenting with two MPU6050 which the AD0 is connected via PIN 7 and PIN 8 respectively, and if this is working, I plan to add another 2 more MPU6050 to it.
I am using i2cdevlib's MPU6050 library and what I did in a flow is:
Initialize one MPU6050 object
- Set MPU6050 Object as 0x68 (LOW AD0)
- Set all to HIGH, but one to LOW (to select the MPU6050)
- Calculate offset and calibrate, store everything in array. (offsets and etc)
- Repeat steps 3 to 4 unless all are calibrated.
- Start to loop between two MPU, setting everything to HIGH and the one to be used as low.
- Write the LOW's (current selected) MPU with offset that is stored in array, then getMotion6 (Raw data).
- Write selected MPU to high, repeat from step 6 to step 7.
Everything is working, however when I am having a loop to collect data, it gives me corrupted data, the problem I find is in this function.
void loop{
for (int i = 7; i <= 8; i++) {
pinMode(i, OUTPUT);
digitalWrite( i, LOW);
// Serial.print("\nWriting pin: ");
// Serial.print(i);
// Serial.println(" to LOW");
delay(2);
int index = i - 7;
Serial.print("Offsets:\t");
Serial.print(ax_offset[index]);
Serial.print("\t");
Serial.print(ay_offset[index]);
Serial.print("\t");
Serial.print(az_offset[index]);
Serial.print("\t");
Serial.print(gx_offset[index]);
Serial.print("\t");
Serial.print(gy_offset[index]);
Serial.print("\t");
Serial.println(gz_offset[index]);
accelgyro.setXAccelOffset(ax_offset[index]);
accelgyro.setYAccelOffset(ay_offset[index]);
accelgyro.setZAccelOffset(az_offset[index]);
accelgyro.setXGyroOffset(gx_offset[index]);
accelgyro.setYGyroOffset(gy_offset[index]);
accelgyro.setZGyroOffset(gz_offset[index]);
Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t");
Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t");
Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t");
Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t");
Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t");
Serial.print(accelgyro.getZGyroOffset()); Serial.println("\t");
// delay(1000);
// accelgyro.getMotion6(&ax[index], &ay[index], &az[index], &gx[index], &gy[index], &gz[index]);
int ax, ay, az, gx, gy, gz;
accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
Serial.print("PIN ");
Serial.print(i);
Serial.print("'s data is:");
Serial.print("aX:" ); Serial.print(ax); Serial.print("\t");
Serial.print("aY:" ); Serial.print(ay); Serial.print("\t");
Serial.print("aZ:" ); Serial.print(az); Serial.print("\t");
Serial.print("gX:" ); Serial.print(gx); Serial.print("\t");
Serial.print("gY:" ); Serial.print(gy); Serial.print("\t");
Serial.print("gZ:" ); Serial.println(gz);
pinMode(i, INPUT_PULLUP);
}
}
The first few loops will return accurate data (as in, all the sensors are close 0 [no motion])
I am suspecting because there is a huge difference between both sensors and the getMotion6 is comparing with the old sensor, can that be the case?
Attached is the output of my sensors reading, untouched.
13:39:39.292 -> Writing pin: 8 to HIGH
13:39:39.292 -> Offsets: -4602 -640 2493 220 -29 9
13:39:39.292 -> -4602 -640 2493 220 -29 9
13:39:39.292 -> PIN 7's data is:aX:-56 aY:4 aZ:16284 gX:7 gY:86 gZ:26
13:39:39.292 -> Offsets: -8149 780 2644 46 11 55
13:39:39.292 -> -8149 780 2644 46 11 55
13:39:39.292 -> PIN 8's data is:aX:68 aY:-4 aZ:16408 gX:-64 gY:27 gZ:2
13:39:44.293 -> Offsets: -4602 -640 2493 220 -29 9
13:39:44.293 -> -4602 -640 2493 220 -29 9
13:39:44.326 -> PIN 7's data is:aX:26 aY:44 aZ:15108 gX:53 gY:-255 gZ:-240
13:39:44.326 -> Offsets: -8149 780 2644 46 11 55
13:39:44.326 -> -8149 780 2644 46 11 55
13:39:44.326 -> PIN 8's data is:aX:-32352 aY:13320 aZ:1160 gX:-768 gY:3 gZ:24
Sometimes, it takes few rounds before the data goes corrupted but sometimes immediately on the second round, what did I do wrong in the code?
The measured values could be inaccurate.