Bonjour
Je cherche à faire des quart de tour, des demi-tours avec un robot, mais sans encodeur aux roues.
Je pensais commander une boussole, mais je me suis souvenu que j’ai un GY-521.
On trouve des tas de codes qui marchent ou pas, avec parfois trois bibliothèques, certaines introuvables.
C’est la jungle.
Je cherche uniquement à connaître la rotation de mon robot.
Camarade, toi qui connais bien ce composant, qu’utilises-tu comme code et bibliothèque?
Actuellement, je teste ce code:
#include "Wire.h" // This library allows you to communicate with I2C devices.
const int MPU_ADDR = 0x68; // I2C address of the MPU-6050. If AD0 pin is set to HIGH, the I2C address will be 0x69.
int16_t accelerometer_x, accelerometer_y, accelerometer_z; // variables for accelerometer raw data
int16_t gyro_x, gyro_y, gyro_z; // variables for gyro raw data
int16_t temperature; // variables for temperature data
char tmp_str[7]; // temporary variable used in convert function
char* convert_int16_to_str(int16_t i) { // converts int16 to string. Moreover, resulting strings will have the same length in the debug monitor.
sprintf(tmp_str, "%6d", i);
return tmp_str;
}
void setup() {
Serial.begin(9600);
Wire.begin();
Wire.beginTransmission(MPU_ADDR); // Begins a transmission to the I2C slave (GY-521 board)
Wire.write(0x6B); // PWR_MGMT_1 register
Wire.write(0); // set to zero (wakes up the MPU-6050)
Wire.endTransmission(true);
}
void loop() {
Wire.beginTransmission(MPU_ADDR);
Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H) [MPU-6000 and MPU-6050 Register Map and Descriptions Revision 4.2, p.40]
Wire.endTransmission(false); // the parameter indicates that the Arduino will send a restart. As a result, the connection is kept active.
Wire.requestFrom(MPU_ADDR, 7*2, true); // request a total of 7*2=14 registers
// "Wire.read()<<8 | Wire.read();" means two registers are read and stored in the same variable
accelerometer_x = Wire.read()<<8 | Wire.read(); // reading registers: 0x3B (ACCEL_XOUT_H) and 0x3C (ACCEL_XOUT_L)
accelerometer_y = Wire.read()<<8 | Wire.read(); // reading registers: 0x3D (ACCEL_YOUT_H) and 0x3E (ACCEL_YOUT_L)
accelerometer_z = Wire.read()<<8 | Wire.read(); // reading registers: 0x3F (ACCEL_ZOUT_H) and 0x40 (ACCEL_ZOUT_L)
temperature = Wire.read()<<8 | Wire.read(); // reading registers: 0x41 (TEMP_OUT_H) and 0x42 (TEMP_OUT_L)
gyro_x = Wire.read()<<8 | Wire.read(); // reading registers: 0x43 (GYRO_XOUT_H) and 0x44 (GYRO_XOUT_L)
gyro_y = Wire.read()<<8 | Wire.read(); // reading registers: 0x45 (GYRO_YOUT_H) and 0x46 (GYRO_YOUT_L)
gyro_z = Wire.read()<<8 | Wire.read(); // reading registers: 0x47 (GYRO_ZOUT_H) and 0x48 (GYRO_ZOUT_L)
// print out data
Serial.print("aX = "); Serial.print(convert_int16_to_str(accelerometer_x));
Serial.print(" | aY = "); Serial.print(convert_int16_to_str(accelerometer_y));
Serial.print(" | aZ = "); Serial.print(convert_int16_to_str(accelerometer_z));
// the following equation was taken from the documentation [MPU-6000/MPU-6050 Register Map and Description, p.30]
Serial.print(" | tmp = "); Serial.print(temperature/340.00+36.53);
Serial.print(" | gX = "); Serial.print(convert_int16_to_str(gyro_x));
Serial.print(" | gY = "); Serial.print(convert_int16_to_str(gyro_y));
Serial.print(" | gZ = "); Serial.print(convert_int16_to_str(gyro_z));
Serial.println();
// delay
delay(1000);
}
Ce que je vois à l’écran:
aX = 2960 | aY = 3292 | aZ = 13080 | tmp = 28.48 | gX = -1002 | gY = -9239 | gZ = -3738
aX = 12832 | aY = -668 | aZ = 16452 | tmp = 28.58 | gX = -10807 | gY = -8138 | gZ = -2576
aX = -672 | aY = -396 | aZ = 14716 | tmp = 28.44 | gX = 144 | gY = 45 | gZ = 26
aX = -1008 | aY = -332 | aZ = 14700 | tmp = 28.48 | gX = 123 | gY = 132 | gZ = 31
aX = -1216 | aY = -300 | aZ = 14640 | tmp = 28.34 | gX = 150 | gY = 92 | gZ = 34
C’est déroutant! Honnêtement, je ne vois même pas à l’écran le résultat de mes mouvements…
Suis-je incapable de lire ces données? (ok ça je l’accorde)
Ce module est-il un gadget?
Ou alors est-ce ce code qui exploite mal les capacités des composants?
En attendant, rien là-dedans ne ressemble à une rotation…
